+ python -m lidar_slam --no-model /working/6dcbed11-6d69-459f-ab03-dc6521747d62 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/6dcbed11-6d69-459f-ab03-dc6521747d62 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 0.004860624 Adjusted end_distance from 9.223372036854776e+18 to 160.964860624 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004860624 meters 0.11104501032663303 Centerline is valid? [0, False] SLAMing on 0.034860624 meters 0.1179888141332112 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999976e-01 2.06205586e-04 -7.41562403e-05 7.90674211e-04] [-2.06187365e-04 9.99999949e-01 2.45646304e-04 4.56549051e-04] [ 7.42068901e-05 -2.45631008e-04 9.99999967e-01 -9.19244843e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06486062399999999 meters 0.1224361281295303 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999951e-01 2.76478021e-04 -1.43537502e-04 1.33418750e-03] [-2.76434674e-04 9.99999916e-01 3.01927167e-04 1.17541569e-03] [ 1.43620966e-04 -3.01887474e-04 9.99999944e-01 -1.47507518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09486062399999999 meters 0.12595572418626738 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 1.00000000e+00 -2.29049826e-05 5.48398989e-06 1.12984380e-03] [ 2.29055954e-05 9.99999993e-01 -1.11771900e-04 2.69318467e-03] [-5.48142972e-06 1.11772026e-04 9.99999994e-01 -1.57056954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12486062399999999 meters 0.13620777180611118 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999999e-01 4.30299639e-05 3.33987814e-05 1.40293866e-03] [-4.30295180e-05 9.99999999e-01 -1.33514031e-05 3.07939933e-03] [-3.33993559e-05 1.33499660e-05 9.99999999e-01 -2.02443100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.154860624 meters 0.1411938267783509 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999987e-01 -3.72658417e-05 1.59343173e-04 1.00009810e-03] [ 3.72778661e-05 9.99999996e-01 -7.54597101e-05 2.82103193e-03] [-1.59340361e-04 7.54656491e-05 9.99999984e-01 -1.79917599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.184860624 meters 0.14159215609355497 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999973e-01 8.20318847e-05 2.19444455e-04 1.59829647e-03] [-8.20702717e-05 9.99999981e-01 1.74924697e-04 3.31070091e-03] [-2.19430102e-04 -1.74942702e-04 9.99999961e-01 -2.84820039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.214860624 meters 0.14832696272027973 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999974e-01 7.19039633e-05 2.17767943e-04 2.28511734e-03] [-7.19437753e-05 9.99999981e-01 1.82816160e-04 4.54290309e-03] [-2.17754794e-04 -1.82831822e-04 9.99999960e-01 -3.80339247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.244860624 meters 0.14558126101314584 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999933e-01 1.49199107e-04 3.35106606e-04 2.59533020e-03] [-1.49296954e-04 9.99999946e-01 2.91984609e-04 4.65925375e-03] [-3.35063024e-04 -2.92034620e-04 9.99999901e-01 -4.55832431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.274860624 meters 0.15582360414727486 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.01 [[ 9.99999756e-01 6.27471317e-04 3.06135781e-04 4.60580885e-03] [-6.27778909e-04 9.99999297e-01 1.00569583e-03 4.79884828e-03] [-3.05504520e-04 -1.00588777e-03 9.99999447e-01 -7.22795152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30486062399999997 meters 0.15405871180773975 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.01 [[ 9.99999722e-01 5.53849360e-04 4.99998231e-04 4.75175219e-03] [-5.54311980e-04 9.99999418e-01 9.25580118e-04 5.32989057e-03] [-4.99485308e-04 -9.25857015e-04 9.99999447e-01 -7.95650094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33486062399999994 meters 0.16307866450129227 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99999613e-01 7.19855524e-04 5.05586853e-04 5.86886252e-03] [-7.20456929e-04 9.99999032e-01 1.19034551e-03 6.11538084e-03] [-5.04729487e-04 -1.19070930e-03 9.99999164e-01 -9.49082255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36486062399999997 meters 0.16179682054907824 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99999505e-01 7.91258421e-04 6.02433752e-04 6.36098966e-03] [-7.92027685e-04 9.99998870e-01 1.27776187e-03 6.28699179e-03] [-6.01422032e-04 -1.27823838e-03 9.99999002e-01 -1.04051615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.394860624 meters 0.17718757456266596 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.02 [[ 0.99998283 -0.00111666 0.00575262 0.02144746] [ 0.00104744 0.99992718 0.01202201 0.00304804] [-0.00576563 -0.01201577 0.99991119 -0.01977673] [ 0. 0. 0. 1. ]] SLAMing on 0.42486062399999996 meters 0.1824574450450626 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.02 [[ 9.99983240e-01 -4.41569959e-04 5.77279479e-03 2.44577264e-02] [ 3.68640809e-04 9.99920193e-01 1.26282139e-02 4.00993601e-03] [-5.77791033e-03 -1.26258742e-02 9.99903597e-01 -2.35445473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45486062399999994 meters 0.1832085785495974 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.02 [[ 0.99999654 -0.00234544 0.00118866 0.05230401] [ 0.00232988 0.99991375 0.01292517 0.00884038] [-0.00121887 -0.01292235 0.99991576 -0.0224627 ] [ 0. 0. 0. 1. ]] SLAMing on 0.48486062399999996 meters 0.2131188408331774 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.03 [[ 0.99999443 0.00247802 0.00223485 0.05373899] [-0.00251895 0.99982563 0.01850294 0.00554557] [-0.00218861 -0.01850847 0.99982631 -0.02702259] [ 0. 0. 0. 1. ]] SLAMing on 0.514860624 meters 0.179601318999488 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.00, Z:-0.04 [[ 9.99980449e-01 5.59349088e-03 2.79560827e-03 -3.53061820e-02] [-5.66695866e-03 9.99619323e-01 2.70017422e-02 6.46393225e-05] [-2.64351005e-03 -2.70170569e-02 9.99631477e-01 -3.85685144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.544860624 meters 0.20576153502757197 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 9.99993621e-01 3.56164569e-03 2.69826164e-04 3.30624441e-02] [-3.56436760e-03 9.99934604e-01 1.08665740e-02 1.56979751e-02] [-2.31105632e-04 -1.08674664e-02 9.99940921e-01 -2.21752308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5748606239999999 meters 0.17696917053624314 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:0.00 [[ 9.99991596e-01 3.54029389e-03 -2.06745432e-03 1.88457656e-02] [-3.60246072e-03 9.99516529e-01 -3.08825139e-02 4.17312267e-02] [ 1.95712159e-03 3.08897023e-02 9.99520883e-01 2.53395533e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.604860624 meters 0.19658170496690303 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.03 [[ 0.99997647 0.0055799 -0.0039905 0.03328519] [-0.0054975 0.99977737 0.02037123 0.01931237] [ 0.00410328 -0.02034881 0.99978452 -0.02828272] [ 0. 0. 0. 1. ]] SLAMing on 0.634860624 meters 0.2324545741153399 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.07 [[ 9.99949607e-01 1.00314838e-02 -3.90306547e-04 7.50678760e-02] [-9.96408457e-03 9.96473014e-01 8.33201657e-02 -1.63553162e-02] [ 1.22475483e-03 -8.33120779e-02 9.96522753e-01 -7.01828152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6648606239999999 meters 0.23648050231773998 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.07 [[ 0.9999753 0.00695415 -0.00102297 0.08100206] [-0.0068525 0.99689561 0.07843582 -0.01439304] [ 0.00156525 -0.07842687 0.99691864 -0.07290658] [ 0. 0. 0. 1. ]] SLAMing on 0.6948606239999999 meters 0.21516740598462408 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.02 [[ 0.99998959 -0.00110529 -0.00442616 0.09531681] [ 0.00101536 0.99979409 -0.02026694 0.03678759] [ 0.00444765 0.02026223 0.99978481 -0.01963278] [ 0. 0. 0. 1. ]] SLAMing on 0.724860624 meters 0.20954711111177265 Centerline is valid? [False, False] Translation: X:0.09, Y:0.04, Z:-0.02 [[ 0.99999004 -0.00137668 -0.00424514 0.0948514 ] [ 0.00129043 0.99979407 -0.020252 0.03613511] [ 0.00427214 0.02024632 0.99978589 -0.01982275] [ 0. 0. 0. 1. ]] SLAMing on 0.754860624 meters 0.20510771027857574 Centerline is valid? [False, False] Translation: X:0.09, Y:0.04, Z:-0.02 [[ 0.9999909 -0.00175152 -0.00389103 0.09392805] [ 0.00167314 0.9997975 -0.02005409 0.03592788] [ 0.00392537 0.02004739 0.99979132 -0.02035272] [ 0. 0. 0. 1. ]] SLAMing on 0.784860624 meters 0.18980624607359994 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.00 [[ 0.99990944 -0.00830678 -0.01058785 0.07741734] [ 0.00784412 0.99904367 -0.04301402 0.04903718] [ 0.01093504 0.04292707 0.99901836 -0.00269132] [ 0. 0. 0. 1. ]] SLAMing on 0.8148606239999999 meters 0.18382043930878209 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.00 [[ 0.99991343 -0.00824836 -0.01025129 0.07713041] [ 0.00780977 0.99908241 -0.04211121 0.04700989] [ 0.01058923 0.0420275 0.99906034 -0.00394253] [ 0. 0. 0. 1. ]] SLAMing on 0.844860624 meters 0.18266435511640736 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.01 [[ 0.99991816 -0.0082605 -0.00976906 0.07659708] [ 0.00785017 0.99911511 -0.04132024 0.04518329] [ 0.01010174 0.04124017 0.99909819 -0.00515121] [ 0. 0. 0. 1. ]] SLAMing on 0.874860624 meters 0.1754219309538003 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:-0.01 [[ 0.99992149 -0.00855909 -0.00915144 0.07533872] [ 0.0081777 0.99912851 -0.04093101 0.04415936] [ 0.0094938 0.04085296 0.99912006 -0.00572838] [ 0. 0. 0. 1. ]] SLAMing on 0.9048606239999999 meters 0.1685151799147109 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:-0.01 [[ 0.99992352 -0.00879044 -0.00870004 0.07433202] [ 0.00842915 0.99913476 -0.04072688 0.04380706] [ 0.00905052 0.04065043 0.99913244 -0.00597776] [ 0. 0. 0. 1. ]] SLAMing on 0.9348606239999999 meters 0.15824124889633753 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:-0.02 [[ 0.99991062 -0.01308065 -0.00276501 0.08001436] [ 0.01300308 0.99956623 -0.02642471 0.03961822] [ 0.00310946 0.0263864 0.99964698 -0.01548646] [ 0. 0. 0. 1. ]] SLAMing on 0.964860624 meters 0.15473526732004206 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.03 [[ 0.99980686 -0.01953734 0.00212983 0.08658661] [ 0.01956205 0.9997333 -0.01227389 0.03375318] [-0.00188946 0.01231318 0.9999224 -0.027225 ] [ 0. 0. 0. 1. ]] SLAMing on 0.994860624 meters 0.14768706493995473 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.03 [[ 0.99980733 -0.01947572 0.00244753 0.08679378] [ 0.01950257 0.99974395 -0.01147546 0.03271723] [-0.00222341 0.01152099 0.99993116 -0.02896863] [ 0. 0. 0. 1. ]] SLAMing on 1.024860624 meters 0.149526090927108 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.03 [[ 0.99980601 -0.01953162 0.00254088 0.08712087] [ 0.0195594 0.99974362 -0.01140753 0.03336063] [-0.00231742 0.01145501 0.9999317 -0.02983217] [ 0. 0. 0. 1. ]] SLAMing on 1.054860624 meters 0.149526090927108 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.03 [[ 0.9998656 -0.0160499 0.00334497 0.08501323] [ 0.01607385 0.99984444 -0.00726113 0.03031649] [-0.00322791 0.00731392 0.99996804 -0.0293731 ] [ 0. 0. 0. 1. ]] SLAMing on 1.084860624 meters 0.14400617823933803 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.03 [[ 0.99991093 -0.01272913 0.0040123 0.08417847] [ 0.01274322 0.99991266 -0.00350579 0.03295809] [-0.00396732 0.00355661 0.99998581 -0.03105398] [ 0. 0. 0. 1. ]] SLAMing on 1.1148606239999999 meters 0.13845228771353074 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.03 [[ 9.99951728e-01 -8.81287868e-03 4.34451216e-03 8.38958705e-02] [ 8.81012110e-03 9.99960977e-01 6.53457594e-04 3.39434048e-02] [-4.35010147e-03 -6.15150372e-04 9.99990349e-01 -3.21128698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1448606239999999 meters 0.13409426495856214 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:-0.03 [[ 0.99997548 -0.00509956 0.00480028 0.08313646] [ 0.00507815 0.99997715 0.00446194 0.03529447] [-0.00482292 -0.00443745 0.99997852 -0.032749 ] [ 0. 0. 0. 1. ]] SLAMing on 1.174860624 meters 0.13619572887674342 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:-0.03 [[ 0.99997806 -0.00517683 0.00413244 0.08473336] [ 0.0051638 0.99998168 0.00315685 0.03938798] [-0.00414871 -0.00313544 0.99998648 -0.03238186] [ 0. 0. 0. 1. ]] SLAMing on 1.204860624 meters 0.13293354221519127 Centerline is valid? [False, False] Translation: X:0.09, Y:0.05, Z:-0.03 [[ 9.99975874e-01 -5.76583889e-03 3.87378315e-03 8.51513511e-02] [ 5.76388991e-03 9.99983256e-01 5.14095636e-04 4.70321982e-02] [-3.87668248e-03 -4.91755173e-04 9.99992365e-01 -3.10844006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.234860624 meters 0.12238856802618858 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 9.99968168e-01 -6.63681377e-03 4.42903903e-03 8.31160249e-02] [ 6.63897079e-03 9.99977850e-01 -4.72493487e-04 4.83876231e-02] [-4.42580508e-03 5.01882707e-04 9.99990080e-01 -2.97920407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.264860624 meters 0.12613612632462248 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 9.99966632e-01 -6.80267548e-03 4.52308268e-03 8.30655992e-02] [ 6.80534809e-03 9.99976678e-01 -5.75755410e-04 4.89572943e-02] [-4.51906052e-03 6.06517351e-04 9.99989605e-01 -3.00918382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.294860624 meters 0.1243262273551165 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 9.99966424e-01 -6.82757286e-03 4.53147549e-03 8.31718773e-02] [ 6.83006889e-03 9.99976531e-01 -5.35573362e-04 4.91241017e-02] [-4.52771248e-03 5.66505670e-04 9.99989589e-01 -3.03446911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3248606239999998 meters 0.11811546904992197 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 9.99965961e-01 -6.80852701e-03 4.66054887e-03 8.33321764e-02] [ 6.80968465e-03 9.99976787e-01 -2.32568594e-04 4.86644648e-02] [-4.65885723e-03 2.64297545e-04 9.99989113e-01 -3.11748954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3548606239999998 meters 0.11878562974069817 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 9.99969143e-01 -6.42731208e-03 4.51693342e-03 8.45171174e-02] [ 6.42457760e-03 9.99979170e-01 6.19634134e-04 4.75725025e-02] [-4.52082191e-03 -5.90595625e-04 9.99989607e-01 -3.28198836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3848606239999999 meters 0.17110285778460524 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-0.03 [[ 9.99925591e-01 -1.11081519e-02 5.04189140e-03 1.36963002e-01] [ 1.11069426e-02 9.99938280e-01 2.67771463e-04 4.66994354e-02] [-5.04455466e-03 -2.11751540e-04 9.99987254e-01 -3.47839112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.414860624 meters 0.11496470660124082 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 0.9999245 -0.01221004 0.0013836 0.0792088 ] [ 0.01221655 0.99991387 -0.00479714 0.05167576] [-0.00132491 0.00481368 0.99998754 -0.02763994] [ 0. 0. 0. 1. ]] SLAMing on 1.444860624 meters 0.11383240553985398 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 0.999928 -0.01192887 0.00129929 0.07996785] [ 0.0119343 0.99991971 -0.0042597 0.05089589] [-0.00124837 0.0042749 0.99999008 -0.02863594] [ 0. 0. 0. 1. ]] SLAMing on 1.474860624 meters 0.11204692103375181 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 0.99993385 -0.01144659 0.00113016 0.08123693] [ 0.01145035 0.99992874 -0.0033771 0.04974183] [-0.00109142 0.00338981 0.99999366 -0.03023187] [ 0. 0. 0. 1. ]] SLAMing on 1.504860624 meters 0.11089728062134743 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 9.99971089e-01 -7.54735080e-03 9.26617909e-04 8.21568007e-02] [ 7.54556014e-03 9.99969687e-01 1.92099389e-03 4.68506498e-02] [-9.41088235e-04 -1.91394650e-03 9.99997726e-01 -3.25029008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.534860624 meters 0.10998217403471748 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 9.99972574e-01 -7.36816173e-03 7.49271043e-04 8.30765449e-02] [ 7.36666241e-03 9.99970897e-01 1.98449196e-03 4.76714876e-02] [-7.63871295e-04 -1.97891790e-03 9.99997750e-01 -3.33455857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.564860624 meters 0.10828489283489795 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 9.99972938e-01 -7.33966952e-03 5.01987131e-04 8.36017600e-02] [ 7.33880811e-03 9.99971631e-01 1.69682450e-03 4.88159264e-02] [-5.14427021e-04 -1.69309459e-03 9.99998434e-01 -3.32291992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5948606239999998 meters 0.10668894921438588 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 9.99973077e-01 -7.33618309e-03 1.60468668e-04 8.42240858e-02] [ 7.33598062e-03 9.99972337e-01 1.22789260e-03 5.03778722e-02] [-1.69472274e-04 -1.22668234e-03 9.99999233e-01 -3.28583155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6248606239999999 meters 0.10517386770871372 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 9.99994637e-01 -3.24538931e-03 4.39841266e-04 8.39376642e-02] [ 3.24281207e-03 9.99978275e-01 5.73872790e-03 4.98530095e-02] [-4.58456116e-04 -5.73727080e-03 9.99983437e-01 -3.36548473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.654860624 meters 0.10323637402280363 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:-0.03 [[ 9.99994447e-01 -3.33194444e-03 6.54189631e-05 8.43488081e-02] [ 3.33157747e-03 9.99982058e-01 4.97845071e-03 5.14064830e-02] [-8.20057105e-05 -4.97820512e-03 9.99987605e-01 -3.27249345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.684860624 meters 0.10230449841776312 Centerline is valid? [False, False] Translation: X:0.09, Y:0.05, Z:-0.03 [[ 9.99995103e-01 -3.07037125e-03 -6.04857343e-04 8.58792175e-02] [ 3.07284533e-03 9.99986739e-01 4.13278970e-03 5.38447301e-02] [ 5.92160123e-04 -4.13462810e-03 9.99991277e-01 -3.23997154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.714860624 meters 0.0994769221821017 Centerline is valid? [False, True] Translation: X:0.09, Y:0.06, Z:-0.03 [[ 0.99999477 -0.00305869 -0.00104794 0.08672736] [ 0.0030622 0.99998964 0.0033674 0.05575899] [ 0.00103763 -0.00337059 0.99999378 -0.03187812] [ 0. 0. 0. 1. ]] SLAMing on 1.744860624 meters 0.09847408523939884 Centerline is valid? [True, True] Translation: X:0.12, Y:0.06, Z:-0.04 [[ 9.99991026e-01 -1.35295690e-03 -4.01458208e-03 1.16249239e-01] [ 1.35311743e-03 9.99999084e-01 3.72710174e-05 5.95344195e-02] [ 4.01452797e-03 -4.27028840e-05 9.99991941e-01 -3.69648357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.774860624 meters 0.09802432380541423 Centerline is valid? [True, True] Translation: X:0.15, Y:0.06, Z:-0.03 [[ 9.99979361e-01 5.59497846e-04 -6.40040977e-03 1.46245743e-01] [-5.59150166e-04 9.99999842e-01 5.61106850e-05 6.32082804e-02] [ 6.40044015e-03 -5.25307368e-05 9.99979516e-01 -3.42410357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8048606239999998 meters 0.09599428406292113 Centerline is valid? [True, True] Translation: X:0.17, Y:0.07, Z:-0.04 [[ 9.99975216e-01 1.29280872e-03 -6.92068249e-03 1.74502048e-01] [-1.29244020e-03 9.99999163e-01 5.77211124e-05 6.53309737e-02] [ 6.92075132e-03 -4.87751136e-05 9.99976050e-01 -3.53072585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8348606239999998 meters 0.09834887965298447 Centerline is valid? [True, True] Translation: X:0.20, Y:0.07, Z:-0.04 [[ 9.99952612e-01 2.93358155e-03 -9.28267847e-03 2.03001868e-01] [-2.93296358e-03 9.99995696e-01 8.01851532e-05 6.78888400e-02] [ 9.28287374e-03 -5.29555956e-05 9.99956912e-01 -4.31149713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8648606239999999 meters 0.09445319930703594 Centerline is valid? [True, True] Translation: X:0.23, Y:0.07, Z:-0.04 [[ 9.99918909e-01 6.31213845e-03 -1.10604183e-02 2.32688887e-01] [-6.31145664e-03 9.99980078e-01 9.65474351e-05 7.45217092e-02] [ 1.10608073e-02 -2.67322556e-05 9.99938827e-01 -4.15581005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8948606239999999 meters 0.09503014436577396 Centerline is valid? [True, True] Translation: X:0.26, Y:0.08, Z:-0.05 [[ 9.99892862e-01 7.57949902e-03 -1.25226132e-02 2.62230231e-01] [-7.57872635e-03 9.99971275e-01 1.09156555e-04 7.80208071e-02] [ 1.25230808e-02 -1.42394016e-05 9.99921583e-01 -4.51016687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.924860624 meters 0.09535904829126904 Centerline is valid? [True, True] Translation: X:0.29, Y:0.09, Z:-0.04 [[ 9.99852382e-01 1.05926394e-02 -1.35281315e-02 2.91027666e-01] [-1.05921902e-02 9.99943896e-01 1.04857926e-04 8.54807424e-02] [ 1.35284832e-02 3.84500937e-05 9.99908485e-01 -4.20369699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.954860624 meters 0.09509823007054251 Centerline is valid? [True, True] Translation: X:0.32, Y:0.09, Z:-0.05 [[ 9.99808975e-01 1.17177119e-02 -1.56431503e-02 3.20073586e-01] [-1.17170673e-02 9.99931344e-01 1.32863014e-04 8.89951764e-02] [ 1.56436332e-02 5.04542104e-05 9.99877630e-01 -4.77623777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.984860624 meters 0.09533253921999 Centerline is valid? [True, True] Translation: X:0.35, Y:0.09, Z:-0.05 [[ 9.99820693e-01 1.22738258e-02 -1.44199859e-02 3.49092149e-01] [-1.22735096e-02 9.99924672e-01 1.10423042e-04 9.14724512e-02] [ 1.44202549e-02 6.65805928e-05 9.99896021e-01 -4.88186586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0148606239999998 meters 0.09278547697555799 Centerline is valid? [True, True] Translation: X:0.38, Y:0.09, Z:-0.05 [[ 9.99795655e-01 1.18921480e-02 -1.63470474e-02 3.78868621e-01] [-1.18915273e-02 9.99929284e-01 1.35175836e-04 9.30798129e-02] [ 1.63474990e-02 5.92431475e-05 9.99866369e-01 -4.74289346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.044860624 meters 0.09268592135149707 Centerline is valid? [True, True] Translation: X:0.41, Y:0.09, Z:-0.05 [[ 9.99818019e-01 1.11602291e-02 -1.54718255e-02 4.08039222e-01] [-1.11597804e-02 9.99937721e-01 1.15334947e-04 9.39126832e-02] [ 1.54721491e-02 5.73482175e-05 9.99880297e-01 -4.62743337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.074860624 meters 0.09355058542893528 Centerline is valid? [True, True] Translation: X:0.44, Y:0.09, Z:-0.05 [[ 9.99855329e-01 9.03985636e-03 -1.44084142e-02 4.35586893e-01] [-9.03917552e-03 9.99959140e-01 1.12377211e-04 9.38623370e-02] [ 1.44088414e-02 1.78792323e-05 9.99896187e-01 -5.25862660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.104860624 meters 0.09074334881883979 Centerline is valid? [True, True] Translation: X:0.46, Y:0.09, Z:-0.05 [[ 9.99890242e-01 3.78355268e-03 -1.43244425e-02 4.64847366e-01] [-3.78232677e-03 9.99992841e-01 1.12671870e-04 9.06132195e-02] [ 1.43247663e-02 -5.84797807e-05 9.99897394e-01 -4.82007059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.134860624 meters 0.08866156871714073 Centerline is valid? [True, True] Translation: X:0.49, Y:0.09, Z:-0.04 [[ 9.99894158e-01 -5.29357083e-04 -1.45393167e-02 4.94012818e-01] [ 5.31046921e-04 9.99999853e-01 1.12364950e-04 8.78558457e-02] [ 1.45392550e-02 -1.20074117e-04 9.99894292e-01 -4.32517266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.164860624 meters 0.09176332397803684 Centerline is valid? [True, True] Translation: X:0.52, Y:0.08, Z:-0.06 [[ 9.99903247e-01 -4.27744612e-03 -1.32363183e-02 5.20994399e-01] [ 4.27912115e-03 9.99990840e-01 9.82292583e-05 8.15798573e-02] [ 1.32357768e-02 -1.54859564e-04 9.99912391e-01 -6.03733577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.194860624 meters 0.08933287748424097 Centerline is valid? [True, True] Translation: X:0.55, Y:0.08, Z:-0.05 [[ 9.99877520e-01 -8.26190531e-03 -1.32923348e-02 5.50489400e-01] [ 8.26396567e-03 9.99965848e-01 1.00084154e-04 8.01162673e-02] [ 1.32910539e-02 -2.09919294e-04 9.99911648e-01 -4.70195377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2248606239999997 meters 0.08846406379392478 Centerline is valid? [True, True] Translation: X:0.58, Y:0.07, Z:-0.05 [[ 9.99791943e-01 -1.67489730e-02 -1.16422410e-02 5.80021451e-01] [ 1.67511398e-02 9.99859686e-01 8.86193901e-05 7.24207941e-02] [ 1.16391232e-02 -2.83621760e-04 9.99932223e-01 -4.70081452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.254860624 meters 0.09184140010729631 Centerline is valid? [True, True] Translation: X:0.61, Y:0.07, Z:-0.05 [[ 9.99740831e-01 -1.88689060e-02 -1.27371901e-02 6.10009108e-01] [ 1.88717113e-02 9.99821908e-01 1.00077687e-04 6.96153420e-02] [ 1.27330334e-02 -3.40424325e-04 9.99918874e-01 -5.10203467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.284860624 meters 0.09065487461510217 Centerline is valid? [True, True] Translation: X:0.64, Y:0.06, Z:-0.05 [[ 9.99673996e-01 -2.31745015e-02 -1.07165380e-02 6.40841774e-01] [ 2.31767609e-02 9.99731379e-01 8.66775538e-05 6.45289385e-02] [ 1.07116506e-02 -3.35023935e-04 9.99942573e-01 -5.22145992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.314860624 meters 0.09058034846044803 Centerline is valid? [True, True] Translation: X:0.67, Y:0.06, Z:-0.05 [[ 9.99596171e-01 -2.66374535e-02 -9.89648090e-03 6.72989832e-01] [ 2.66395678e-02 9.99645100e-01 8.18505365e-05 6.07943941e-02] [ 9.89078835e-03 -3.45455456e-04 9.99951025e-01 -5.24279114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.344860624 meters 0.09158410744868292 Centerline is valid? [True, True] Translation: X:0.70, Y:0.05, Z:-0.05 [[ 9.99489407e-01 -3.04749987e-02 -9.60208774e-03 7.04581108e-01] [ 3.04771525e-02 9.99535461e-01 7.80326307e-05 5.38219730e-02] [ 9.59524915e-03 -3.70637081e-04 9.99953896e-01 -5.24433288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.374860624 meters 0.09041542920262122 Centerline is valid? [True, True] Translation: X:0.74, Y:0.05, Z:-0.05 [[ 9.99418873e-01 -3.29004078e-02 -8.91507568e-03 7.36624763e-01] [ 3.29023842e-02 9.99458567e-01 7.50705956e-05 5.13980802e-02] [ 8.90777891e-03 -3.68354215e-04 9.99960257e-01 -5.17366325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.404860624 meters 0.09163424355691982 Centerline is valid? [True, True] Translation: X:0.77, Y:0.05, Z:-0.05 [[ 9.99388507e-01 -3.35684062e-02 -9.78642197e-03 7.67527211e-01] [ 3.35708118e-02 9.99436338e-01 8.16002611e-05 4.84621469e-02] [ 9.77816655e-03 -4.10088494e-04 9.99952108e-01 -5.44461711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4348606239999997 meters 0.0947743269507206 Centerline is valid? [True, True] Translation: X:0.80, Y:0.04, Z:-0.06 [[ 9.99383178e-01 -3.32168049e-02 -1.13976911e-02 7.98248436e-01] [ 3.32200461e-02 9.99448057e-01 9.51133393e-05 4.40407999e-02] [ 1.13882409e-02 -4.73686495e-04 9.99935040e-01 -6.06309517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.464860624 meters 0.09344702779356304 Centerline is valid? [True, True] Translation: X:0.83, Y:0.04, Z:-0.06 [[ 9.99327270e-01 -3.51577350e-02 -1.04374751e-02 8.30215692e-01] [ 3.51605767e-02 9.99381672e-01 8.88318805e-05 4.00137590e-02] [ 1.04278982e-02 -4.55759764e-04 9.99945524e-01 -6.19090320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4948606239999997 meters 0.09133877516077869 Centerline is valid? [True, True] Translation: X:0.86, Y:0.04, Z:-0.06 [[ 9.99283221e-01 -3.59994568e-02 -1.17082276e-02 8.61810811e-01] [ 3.60030702e-02 9.99351675e-01 9.79227672e-05 4.11419077e-02] [ 1.16971117e-02 -5.19384719e-04 9.99931452e-01 -5.85358524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.524860624 meters 0.09132159285582322 Centerline is valid? [True, True] Translation: X:0.89, Y:0.04, Z:-0.06 [[ 9.99319857e-01 -3.52541339e-02 -1.08152519e-02 8.92861596e-01] [ 3.52571790e-02 9.99378268e-01 9.09595471e-05 3.62256802e-02] [ 1.08053210e-02 -4.72212953e-04 9.99941509e-01 -5.92323828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.554860624 meters 0.08895312504227253 Centerline is valid? [True, True] Translation: X:0.92, Y:0.03, Z:-0.06 [[ 9.99262376e-01 -3.76465222e-02 -7.57913304e-03 9.24753238e-01] [ 3.76481002e-02 9.99291057e-01 6.55832203e-05 3.14694008e-02] [ 7.57129089e-03 -3.50874804e-04 9.99971276e-01 -6.04419174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.584860624 meters 0.08750778177584674 Centerline is valid? [True, True] Translation: X:0.96, Y:0.03, Z:-0.06 [[ 9.99323384e-01 -3.63932814e-02 -5.32004280e-03 9.55645287e-01] [ 3.63940378e-02 9.99337517e-01 4.53992956e-05 2.98441632e-02] [ 5.31486613e-03 -2.38986416e-04 9.99985847e-01 -6.00088259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.614860624 meters 0.08724571897511138 Centerline is valid? [True, True] Translation: X:0.99, Y:0.03, Z:-0.06 [[ 9.99427371e-01 -3.29944425e-02 -7.50316435e-03 9.87168821e-01] [ 3.29959002e-02 9.99455485e-01 7.05383594e-05 2.74045328e-02] [ 7.49675138e-03 -3.18071629e-04 9.99971848e-01 -6.29503971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6448606239999997 meters 0.08893366948373653 Centerline is valid? [True, True] Translation: X:1.02, Y:0.02, Z:-0.07 [[ 9.99523088e-01 -2.95648576e-02 -8.91719590e-03 1.01856018e+00] [ 2.95667411e-02 9.99562805e-01 7.94373915e-05 2.41729486e-02] [ 8.91094879e-03 -3.43051930e-04 9.99960238e-01 -6.96265110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.674860624 meters 0.08389185920536918 Centerline is valid? [True, True] Translation: X:1.05, Y:0.03, Z:-0.06 [[ 9.99539178e-01 -2.98815200e-02 -5.34107641e-03 1.05013513e+00] [ 2.98821940e-02 9.99553426e-01 4.64167491e-05 2.51123113e-02] [ 5.33730422e-03 -2.05998440e-04 9.99985735e-01 -6.45043414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7048606239999997 meters 0.08179578767418655 Centerline is valid? [True, True] Translation: X:1.08, Y:0.03, Z:-0.06 [[ 9.99615011e-01 -2.75390473e-02 -3.38079204e-03 1.08097719e+00] [ 2.75393053e-02 9.99620721e-01 2.97817120e-05 2.56468693e-02] [ 3.37868962e-03 -1.22874911e-04 9.99994285e-01 -6.23121592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.734860624 meters 0.08033247796618584 Centerline is valid? [True, True] Translation: X:1.11, Y:0.03, Z:-0.06 [[ 9.99693511e-01 -2.46723638e-02 -2.03941474e-03 1.11157010e+00] [ 2.46724506e-02 9.99695589e-01 1.74195203e-05 2.61916832e-02] [ 2.03836414e-03 -6.77315410e-05 9.99997920e-01 -6.09125311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7648606239999998 meters 0.08054056486837222 Centerline is valid? [True, True] Translation: X:1.14, Y:0.02, Z:-0.06 [[ 9.99758874e-01 -2.18911766e-02 -1.72355030e-03 1.14170127e+00] [ 2.18912361e-02 9.99760358e-01 1.56558225e-05 2.36341922e-02] [ 1.72279454e-03 -5.33826942e-05 9.99998515e-01 -6.49982250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.794860624 meters 0.07642066414847258 Centerline is valid? [True, True] Translation: X:1.17, Y:0.03, Z:-0.06 [[ 9.99858725e-01 -1.68029074e-02 -4.39581378e-04 1.17268894e+00] [ 1.68029111e-02 9.99858821e-01 4.67361186e-06 2.72204279e-02] [ 4.39440788e-04 -1.20591984e-05 9.99999903e-01 -5.78764033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.824860624 meters 0.07653152751881204 Centerline is valid? [True, True] Translation: X:1.20, Y:0.03, Z:-0.06 [[ 9.99888874e-01 -1.46761118e-02 -2.61748364e-03 1.20410898e+00] [ 1.46762373e-02 9.99892298e-01 2.87296342e-05 2.63814821e-02] [ 2.61678009e-03 -6.71412525e-05 9.99996574e-01 -6.08004334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.854860624 meters 0.07436086290006037 Centerline is valid? [True, True] Translation: X:1.23, Y:0.03, Z:-0.06 [[ 9.99914174e-01 -1.29185352e-02 2.18096054e-03 1.23481778e+00] [ 1.29186073e-02 9.99916551e-01 -1.89769493e-05 2.53008093e-02] [-2.18053338e-03 4.71502933e-05 9.99997622e-01 -6.09698497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.884860624 meters 0.07409459318752276 Centerline is valid? [True, True] Translation: X:1.27, Y:0.02, Z:-0.06 [[ 9.99962455e-01 -8.63304948e-03 7.47417645e-04 1.26667155e+00] [ 8.63305413e-03 9.99962734e-01 -3.00283829e-06 2.45877047e-02] [-7.47363868e-04 9.45522254e-06 9.99999721e-01 -6.07324745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9148606239999997 meters 0.07377118839227427 Centerline is valid? [True, True] Translation: X:1.30, Y:0.02, Z:-0.06 [[ 9.99967086e-01 -7.29221267e-03 3.55687736e-03 1.29721576e+00] [ 7.29236948e-03 9.99973410e-01 -3.11190461e-05 2.26484211e-02] [-3.55655586e-03 5.70560857e-05 9.99993674e-01 -6.14075084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.944860624 meters 0.07325706193643824 Centerline is valid? [True, True] Translation: X:1.33, Y:0.02, Z:-0.06 [[ 9.99968812e-01 -6.45971904e-03 4.54389315e-03 1.32809168e+00] [ 6.45995547e-03 9.99979134e-01 -3.73565108e-05 2.05281112e-02] [-4.54355702e-03 6.67086932e-05 9.99989676e-01 -6.26500049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9748606239999997 meters 0.07325706193643824 Centerline is valid? [True, True] Translation: X:1.36, Y:0.02, Z:-0.06 [[ 9.99969419e-01 -6.36508070e-03 4.54391201e-03 1.36064529e+00] [ 6.36530653e-03 9.99979741e-01 -3.52382434e-05 2.01332729e-02] [-4.54359566e-03 6.41605586e-05 9.99989676e-01 -6.44275296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.004860624 meters 0.07205069225012177 Centerline is valid? [True, True] Translation: X:1.39, Y:0.02, Z:-0.07 [[ 9.99941370e-01 -7.04074515e-03 8.22703976e-03 1.39158261e+00] [ 7.04157926e-03 9.99975205e-01 -7.24239197e-05 1.71493184e-02] [-8.22632586e-03 1.30351026e-04 9.99966155e-01 -6.50546513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.034860624 meters 0.07295475177881702 Centerline is valid? [True, True] Translation: X:1.42, Y:0.01, Z:-0.07 [[ 9.99947463e-01 -8.54473166e-03 5.66202935e-03 1.42144786e+00] [ 8.54513504e-03 9.99963489e-01 -4.70554804e-05 1.06818508e-02] [-5.66142055e-03 9.54358136e-05 9.99983969e-01 -6.90969364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.064860624 meters 0.0721904853708361 Centerline is valid? [True, True] Translation: X:1.45, Y:0.01, Z:-0.07 [[ 9.99916359e-01 -9.16324362e-03 9.12743986e-03 1.45205486e+00] [ 9.16436672e-03 9.99958003e-01 -8.12292137e-05 6.80864008e-03] [-9.12631221e-03 1.64869626e-04 9.99958341e-01 -6.99863733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.094860624 meters 0.07279541818176358 Centerline is valid? [True, True] Translation: X:1.48, Y:0.00, Z:-0.07 [[ 9.99924620e-01 -9.29988153e-03 8.01667255e-03 1.48359642e+00] [ 9.30074089e-03 9.99956745e-01 -6.99215390e-05 3.89300509e-03] [-8.01567552e-03 1.44477262e-04 9.99967864e-01 -7.23255385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.124860624 meters 0.07209788865538962 Centerline is valid? [True, True] Translation: X:1.51, Y:0.00, Z:-0.07 [[ 9.99872437e-01 -1.04663194e-02 1.20650596e-02 1.51434057e+00] [ 1.04683879e-02 9.99945199e-01 -1.08302369e-04 3.00336858e-04] [-1.20632649e-02 2.34590278e-04 9.99927209e-01 -7.26541484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.154860624 meters 0.07149802892877481 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.00, Z:-0.07 [[ 9.99797731e-01 -1.11482407e-02 1.67396001e-02 1.54560150e+00] [ 1.11523312e-02 9.99937799e-01 -1.51024406e-04 -2.96086090e-03] [-1.67368752e-02 3.37679422e-04 9.99859872e-01 -7.20230983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1848606239999997 meters 0.07193307549903187 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.01, Z:-0.07 [[ 9.99770487e-01 -1.19959514e-02 1.77502252e-02 1.57714263e+00] [ 1.20005704e-02 9.99927979e-01 -1.53730512e-04 -6.38026171e-03] [-1.77471027e-02 3.66708057e-04 9.99842441e-01 -7.29299901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.214860624 meters 0.07166406276336648 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.01, Z:-0.07 [[ 9.99609408e-01 -1.38720358e-02 2.42610320e-02 1.60696325e+00] [ 1.38815774e-02 9.99903621e-01 -2.24909583e-04 -1.35875651e-02] [-2.42555738e-02 5.61603127e-04 9.99705633e-01 -7.15996731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2448606239999997 meters 0.07228924880111612 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.02, Z:-0.07 [[ 9.99654779e-01 -1.47383398e-02 2.17509787e-02 1.63885489e+00] [ 1.47460750e-02 9.99891252e-01 -1.95273087e-04 -1.62498891e-02] [-2.17457353e-02 5.15947239e-04 9.99763400e-01 -7.34623336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.274860624 meters 0.07228339581820716 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.02, Z:-0.07 [[ 9.99501362e-01 -1.53871355e-02 2.75728773e-02 1.66978327e+00] [ 1.54001740e-02 9.99881376e-01 -2.60569563e-04 -1.98087477e-02] [-2.75655970e-02 6.85066740e-04 9.99619762e-01 -7.28923761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.304860624 meters 0.07209216847814308 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.02, Z:-0.07 [[ 9.99383840e-01 -1.65628052e-02 3.09453245e-02 1.70177812e+00] [ 1.65796702e-02 9.99862506e-01 -2.88463220e-04 -2.36325403e-02] [-3.09362920e-02 8.01348755e-04 9.99521037e-01 -7.36358732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.334860624 meters 0.07265227053247914 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.03, Z:-0.08 [[ 9.99336369e-01 -1.85929547e-02 3.13228929e-02 1.73307881e+00] [ 1.86114493e-02 9.99826747e-01 -2.98974003e-04 -3.02246382e-02] [-3.13119073e-02 8.81740028e-04 9.99509273e-01 -7.63345313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.364860624 meters 0.07302364448852988 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.03, Z:-0.08 [[ 9.99374455e-01 -1.82976233e-02 3.02637633e-02 1.76563495e+00] [ 1.83149073e-02 9.99832225e-01 -2.93987913e-04 -3.34872669e-02] [-3.02533066e-02 8.48082032e-04 9.99541904e-01 -7.93464872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3948606239999997 meters 0.07327149926996855 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.04, Z:-0.08 [[ 9.99355827e-01 -1.86184511e-02 3.06803426e-02 1.79816216e+00] [ 1.86365504e-02 9.99826278e-01 -3.04058177e-04 -3.67972811e-02] [-3.06693517e-02 8.75638062e-04 9.99529201e-01 -8.11861012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.424860624 meters 0.07379832899938203 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.04, Z:-0.08 [[ 9.99381913e-01 -1.79086805e-02 3.02501313e-02 1.83016126e+00] [ 1.79261464e-02 9.99839267e-01 -3.06261358e-04 -4.02337092e-02] [-3.02397844e-02 8.48340344e-04 9.99542313e-01 -8.40091754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4548606239999997 meters 0.07375812968780493 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.04, Z:-0.08 [[ 9.99408615e-01 -1.67715800e-02 3.00188854e-02 1.86251712e+00] [ 1.67884692e-02 9.99859015e-01 -3.10647863e-04 -4.04004255e-02] [-3.00094432e-02 8.14435283e-04 9.99549283e-01 -8.49938211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.484860624 meters 0.07362099372895818 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.04, Z:-0.09 [[ 9.99424935e-01 -1.48719520e-02 3.04733507e-02 1.89473892e+00] [ 1.48886647e-02 9.99889106e-01 -3.21589238e-04 -3.97006902e-02] [-3.04651887e-02 7.75111803e-04 9.99535528e-01 -8.68351284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5148606239999998 meters 0.07305480078777334 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.04, Z:-0.09 [[ 9.99468881e-01 -1.02676342e-02 3.09278568e-02 1.92483253e+00] [ 1.02829742e-02 9.99947072e-01 -3.36976849e-04 -3.65460533e-02] [-3.09227599e-02 6.54828226e-04 9.99521563e-01 -8.83206745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.544860624 meters 0.07273088707410301 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.03, Z:-0.09 [[ 9.99504129e-01 -6.95374251e-03 3.07106073e-02 1.95756706e+00] [ 6.96727716e-03 9.99975673e-01 -3.33726472e-04 -3.46519060e-02] [-3.07075395e-02 5.47530299e-04 9.99528262e-01 -8.95007067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.574860624 meters 0.07220528719983148 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.03, Z:-0.09 [[ 9.99494943e-01 -3.51738331e-03 3.15830144e-02 1.98895524e+00] [ 3.53008626e-03 9.99993709e-01 -3.46457912e-04 -3.21876281e-02] [-3.15815971e-02 4.57773696e-04 9.99501072e-01 -9.11545464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6048606239999996 meters 0.07200930951448825 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.03, Z:-0.09 [[ 9.99490147e-01 -2.29301032e-04 3.19279319e-02 2.02027004e+00] [ 2.40575651e-04 9.99999910e-01 -3.49286043e-04 -2.98517743e-02] [-3.19278490e-02 3.56789042e-04 9.99490113e-01 -9.33654789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.634860624 meters 0.07176766014467809 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.03, Z:-0.09 [[ 9.99475003e-01 3.90371999e-03 3.21633245e-02 2.05159363e+00] [-3.89435071e-03 9.99992354e-01 -3.53942247e-04 -2.62136903e-02] [-3.21644603e-02 2.28501163e-04 9.99482564e-01 -9.43698429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6648606239999997 meters 0.07172428265147829 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.02, Z:-0.10 [[ 9.99393544e-01 1.11615560e-02 3.29843058e-02 2.08272940e+00] [-1.11554530e-02 9.99937708e-01 -3.69054426e-04 -1.86089424e-02] [-3.29863704e-02 8.75737323e-07 9.99455802e-01 -9.54007931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.694860624 meters 0.07197618875922933 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.02, Z:-0.10 [[ 9.99380423e-01 1.49441699e-02 3.18659920e-02 2.11425901e+00] [-1.49402277e-02 9.99888323e-01 -3.61824417e-04 -1.55218179e-02] [-3.18678405e-02 -1.14484939e-04 9.99492085e-01 -9.75441113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7248606239999997 meters 0.07243396671399721 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.01, Z:-0.10 [[ 9.99317610e-01 1.83157652e-02 3.20756330e-02 2.14516504e+00] [-1.83132745e-02 9.99832229e-01 -3.71452300e-04 -1.24323193e-02] [-3.20770551e-02 -2.16211048e-04 9.99485375e-01 -9.97825378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.754860624 meters 0.07293164837351339 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.01, Z:-0.10 [[ 9.99222024e-01 2.27407480e-02 3.22211836e-02 2.17764713e+00] [-2.27404865e-02 9.99741332e-01 -3.74621378e-04 -9.07075710e-03] [-3.22213681e-02 -3.58395457e-04 9.99480693e-01 -1.00925478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.784860624 meters 0.07402672260453162 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.00, Z:-0.10 [[ 9.99039165e-01 2.89674433e-02 3.28881945e-02 2.20836282e+00] [-2.89702707e-02 9.99580197e-01 -3.90644771e-04 -2.49636980e-03] [-3.28857040e-02 -5.62510472e-04 9.99458961e-01 -1.02244239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.814860624 meters 0.07471516844337253 Centerline is valid? [True, True] Translation: X:2.24, Y:0.00, Z:-0.10 [[ 9.98950656e-01 3.18900891e-02 3.28726141e-02 2.23886914e+00] [-3.18943310e-02 9.99491168e-01 -3.95453049e-04 3.04613978e-04] [-3.28684985e-02 -6.53411951e-04 9.99459471e-01 -1.03677900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.844860624 meters 0.07553324631282636 Centerline is valid? [True, True] Translation: X:2.27, Y:0.00, Z:-0.10 [[ 9.98846265e-01 3.48756021e-02 3.30125908e-02 2.26842127e+00] [-3.48814910e-02 9.99391377e-01 -3.97695566e-04 3.16177210e-03] [-3.30063685e-02 -7.54291659e-04 9.99454857e-01 -1.04798434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8748606239999996 meters 0.07639923342687338 Centerline is valid? [True, True] Translation: X:2.30, Y:0.01, Z:-0.11 [[ 9.98772545e-01 3.71058606e-02 3.28109428e-02 2.29652166e+00] [-3.71128895e-02 9.99311001e-01 -3.94979260e-04 6.31312977e-03] [-3.28029921e-02 -8.23214453e-04 9.99461498e-01 -1.06574649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.904860624 meters 0.07598976910565804 Centerline is valid? [True, True] Translation: X:2.33, Y:0.00, Z:-0.10 [[ 9.98689893e-01 4.00165593e-02 3.18931286e-02 2.32647994e+00] [-4.00247499e-02 9.99198616e-01 -3.81821955e-04 2.21384182e-03] [-3.18828491e-02 -8.95192767e-04 9.99491212e-01 -1.04804381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9348606239999997 meters 0.0761254754144144 Centerline is valid? [True, True] Translation: X:2.35, Y:0.00, Z:-0.11 [[ 9.98714782e-01 3.96609086e-02 3.15562302e-02 2.35494710e+00] [-3.96687565e-02 9.99212814e-01 -3.77567919e-04 5.07621452e-05] [-3.15463643e-02 -8.74713750e-04 9.99501907e-01 -1.06726165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.964860624 meters 0.07638873031071929 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.00, Z:-0.11 [[ 9.98698222e-01 3.96373621e-02 3.21051442e-02 2.38273167e+00] [-3.96455222e-02 9.99213734e-01 -3.82620929e-04 -2.37595891e-03] [-3.20950671e-02 -8.90702365e-04 9.99484424e-01 -1.08775294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9948606239999997 meters 0.07605249978050571 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.01, Z:-0.11 [[ 9.98814441e-01 3.72604029e-02 3.13268951e-02 2.41066331e+00] [-3.72670680e-02 9.99305273e-01 -3.71291382e-04 -6.43249634e-03] [-3.13189659e-02 -7.96610336e-04 9.99509123e-01 -1.10610165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0248606239999996 meters 0.07500204199492264 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.02, Z:-0.11 [[ 9.99043707e-01 3.06641527e-02 3.11669942e-02 2.43899253e+00] [-3.06676266e-02 9.99529570e-01 -3.66670784e-04 -1.69608852e-02] [-3.11635759e-02 -5.89497599e-04 9.99514124e-01 -1.12054526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.054860624 meters 0.07450643589705529 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.02, Z:-0.11 [[ 9.99166121e-01 2.66566383e-02 3.09271167e-02 2.46837269e+00] [-2.66581880e-02 9.99644542e-01 -3.62295047e-04 -2.35481295e-02] [-3.09257810e-02 -4.62467953e-04 9.99521577e-01 -1.13962100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084860624 meters 0.07404112758578936 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.03, Z:-0.12 [[ 9.99264042e-01 2.26898344e-02 3.09280858e-02 2.49934503e+00] [-2.26895491e-02 9.99742494e-01 -3.60225601e-04 -3.11673399e-02] [-3.09282951e-02 -3.41783831e-04 9.99521547e-01 -1.15562062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.114860623999999 meters 0.07373760098161682 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.04, Z:-0.12 [[ 9.99349086e-01 1.81641314e-02 3.11683794e-02 2.53192223e+00] [-1.81616438e-02 9.99834998e-01 -3.62935275e-04 -3.88946380e-02] [-3.11698289e-02 -2.03369969e-04 9.99514082e-01 -1.17151823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144860624 meters 0.07361829552674623 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.05, Z:-0.12 [[ 9.99451988e-01 9.93488856e-03 3.15756346e-02 2.56328208e+00] [-9.92823783e-03 9.99950646e-01 -3.67409604e-04 -5.46700785e-02] [-3.15777264e-02 5.37178501e-05 9.99501298e-01 -1.19172359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.174860624 meters 0.07378519173905917 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.06, Z:-0.12 [[ 9.99475943e-01 6.15559723e-03 3.17796916e-02 2.59588766e+00] [-6.14678428e-03 9.99981038e-01 -3.75003543e-04 -6.29292392e-02] [-3.17813973e-02 1.79464112e-04 9.99494828e-01 -1.20181726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.204860624 meters 0.07394405894609159 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.07, Z:-0.12 [[ 9.99479204e-01 2.40987336e-03 3.21794047e-02 2.62799915e+00] [-2.39870225e-03 9.99997049e-01 -3.85750710e-04 -7.07763892e-02] [-3.21802393e-02 3.08361002e-04 9.99482034e-01 -1.22069514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2348606239999995 meters 0.0748460871960226 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.08, Z:-0.12 [[ 9.99486113e-01 -3.92485800e-03 3.18136134e-02 2.65975683e+00] [ 3.93917167e-03 9.99992166e-01 -3.87259611e-04 -8.15299863e-02] [-3.18118442e-02 5.12379888e-04 9.99493744e-01 -1.22144085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.264860624 meters 0.07535569612542631 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.09, Z:-0.13 [[ 9.99471605e-01 -5.44116552e-03 3.20453390e-02 2.69122751e+00] [ 5.45664678e-03 9.99985034e-01 -3.95671562e-04 -8.72231484e-02] [-3.20427065e-02 5.70322587e-04 9.99486338e-01 -1.25235215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.294860624 meters 0.0758303367682767 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.09, Z:-0.13 [[ 9.99491359e-01 -6.82160698e-03 3.11526768e-02 2.72284204e+00] [ 6.83707121e-03 9.99976551e-01 -3.89904571e-04 -9.05683826e-02] [-3.11492865e-02 6.02699319e-04 9.99514562e-01 -1.27144903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.324860624 meters 0.07625964750478986 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.09, Z:-0.13 [[ 9.99493435e-01 -7.56592632e-03 3.09132792e-02 2.75475185e+00] [ 7.58165688e-03 9.99971182e-01 -3.91676136e-04 -9.37140034e-02] [-3.09094249e-02 6.25851602e-04 9.99521994e-01 -1.29822575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.354860624 meters 0.07636279904305607 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.10, Z:-0.13 [[ 9.99539004e-01 -9.03453335e-03 2.89854558e-02 2.78698453e+00] [ 9.04920403e-03 9.99958985e-01 -3.75001457e-04 -9.73031806e-02] [-2.89808790e-02 6.37123886e-04 9.99579763e-01 -1.30733416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384860624 meters 0.07741100300229499 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.10, Z:-0.14 [[ 9.99534183e-01 -1.00570375e-02 2.88144653e-02 2.81821903e+00] [ 1.00719165e-02 9.99949208e-01 -3.71274439e-04 -1.02737153e-01] [-2.88092678e-02 6.61318380e-04 9.99584708e-01 -1.35468247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.414860624 meters 0.07674180538251167 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.10, Z:-0.13 [[ 9.99514764e-01 -1.00209034e-02 2.94926864e-02 2.85082406e+00] [ 1.00366204e-02 9.99949558e-01 -3.84920322e-04 -1.01935048e-01] [-2.94873415e-02 6.80740442e-04 9.99564922e-01 -1.34271153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4448606239999995 meters 0.07720208392578405 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.10, Z:-0.14 [[ 9.99515889e-01 -1.07605304e-02 2.91924508e-02 2.88289378e+00] [ 1.07763975e-02 9.99941858e-01 -3.86257256e-04 -1.04072432e-01] [-2.91865971e-02 7.00659718e-04 9.99573735e-01 -1.37364090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.474860624 meters 0.07826245037633617 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.11, Z:-0.14 [[ 9.99506362e-01 -1.37349795e-02 2.82556754e-02 2.91249126e+00] [ 1.37513017e-02 9.99905373e-01 -3.83419033e-04 -1.09095633e-01] [-2.82477354e-02 7.71782080e-04 9.99600655e-01 -1.41517671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504860624 meters 0.07788071159162528 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.11, Z:-0.14 [[ 9.99468091e-01 -1.57771577e-02 2.85414995e-02 2.94472417e+00] [ 1.57945037e-02 9.99875186e-01 -3.82388576e-04 -1.09285025e-01] [-2.85319041e-02 8.32983999e-04 9.99592535e-01 -1.40649919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.534860624 meters 0.07892000982338152 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.11, Z:-0.14 [[ 9.99461661e-01 -1.83288866e-02 2.72110455e-02 2.97533889e+00] [ 1.83458542e-02 9.99831631e-01 -3.74014060e-04 -1.12466513e-01] [-2.71996087e-02 8.73022586e-04 9.99629641e-01 -1.43881845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.564860624 meters 0.08355655294122165 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.13, Z:-0.15 [[ 9.99360646e-01 -2.42736494e-02 2.62504961e-02 3.00485062e+00] [ 2.42914985e-02 9.99704853e-01 -3.61234891e-04 -1.25122875e-01] [-2.62339799e-02 9.98667823e-04 9.99655331e-01 -1.51360049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.594860624 meters 0.08233438427613154 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.12, Z:-0.15 [[ 9.99297098e-01 -2.69950327e-02 2.60111207e-02 3.03580591e+00] [ 2.70134821e-02 9.99635005e-01 -3.58104055e-04 -1.22687590e-01] [-2.59919598e-02 1.06050329e-03 9.99661589e-01 -1.49186319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624860624 meters 0.07919101317999229 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.11, Z:-0.14 [[ 9.99246790e-01 -2.94693344e-02 2.52470086e-02 3.06762542e+00] [ 2.94874991e-02 9.99565089e-01 -3.47407422e-04 -1.12042649e-01] [-2.52257905e-02 1.09161690e-03 9.99681183e-01 -1.43792889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6548606239999994 meters 0.08473584568399614 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.13, Z:-0.15 [[ 9.99181394e-01 -3.12586585e-02 2.56795375e-02 3.09767079e+00] [ 3.12780614e-02 9.99510659e-01 -3.54158834e-04 -1.26605045e-01] [-2.56559009e-02 1.15707507e-03 9.99670164e-01 -1.53910271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684860624 meters 0.0784692131571288 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.11, Z:-0.14 [[ 9.99129531e-01 -3.25923057e-02 2.60369289e-02 3.13113330e+00] [ 3.26125844e-02 9.99468005e-01 -3.54474917e-04 -1.08576472e-01] [-2.60115243e-02 1.20329790e-03 9.99660919e-01 -1.43439904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.714860624 meters 0.08718102794674307 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.13, Z:-0.16 [[ 9.99039733e-01 -3.50898782e-02 2.62357076e-02 3.16036889e+00] [ 3.51116330e-02 9.99383328e-01 -3.68855713e-04 -1.29223166e-01] [-2.62065856e-02 1.28968005e-03 9.99655717e-01 -1.56983612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744860624 meters 0.0878523682442254 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.13, Z:-0.16 [[ 9.99012040e-01 -3.61071366e-02 2.59078710e-02 3.19218201e+00] [ 3.61286752e-02 9.99347080e-01 -3.63594564e-04 -1.29505887e-01] [-2.58778269e-02 1.29925240e-03 9.99664269e-01 -1.59202923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7748606239999996 meters 0.07987114213428231 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.11, Z:-0.15 [[ 9.98986167e-01 -3.68731086e-02 2.58265923e-02 3.22569522e+00] [ 3.68946792e-02 9.99319095e-01 -3.59037164e-04 -1.07834569e-01] [-2.57957681e-02 1.31153700e-03 9.99666373e-01 -1.49131519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804860624 meters 0.0800630361832298 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.11, Z:-0.15 [[ 9.98962872e-01 -3.73349932e-02 2.60629777e-02 3.25795667e+00] [ 3.73572689e-02 9.99301906e-01 -3.68138984e-04 -1.06735765e-01] [-2.60310389e-02 1.34139885e-03 9.99660235e-01 -1.50939884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.834860624 meters 0.08065073645021366 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.10, Z:-0.15 [[ 9.98926826e-01 -3.76681609e-02 2.69500640e-02 3.28959715e+00] [ 3.76922581e-02 9.99289320e-01 -3.86524032e-04 -1.04394184e-01] [-2.69163515e-02 1.40191799e-03 9.99636706e-01 -1.53441569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864860623999999 meters 0.08065073645021366 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.10, Z:-0.16 [[ 9.98936105e-01 -3.74213427e-02 2.69499793e-02 3.32223328e+00] [ 3.74455058e-02 9.99298594e-01 -3.92302574e-04 -1.04996825e-01] [-2.69163959e-02 1.40104081e-03 9.99636706e-01 -1.55219408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.894860624 meters 0.08027087295488869 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.10, Z:-0.16 [[ 9.98927454e-01 -3.77518865e-02 2.68092800e-02 3.35465097e+00] [ 3.77761132e-02 9.99286149e-01 -3.97594333e-04 -1.02144803e-01] [-2.67751322e-02 1.40991829e-03 9.99640488e-01 -1.56544744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924860624 meters 0.08026358326415525 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.10, Z:-0.16 [[ 9.98950099e-01 -3.73744998e-02 2.64923997e-02 3.38777743e+00] [ 3.73981515e-02 9.99300365e-01 -3.97692543e-04 -1.01074327e-01] [-2.64590011e-02 1.38804178e-03 9.99648936e-01 -1.59168807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.954860624 meters 0.08012578508999281 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.10, Z:-0.16 [[ 9.98922287e-01 -3.75165042e-02 2.73272256e-02 3.42106163e+00] [ 3.75419194e-02 9.99294966e-01 -4.17391000e-04 -9.61402547e-02] [-2.72923000e-02 1.44285768e-03 9.99626454e-01 -1.61061523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9848606239999995 meters 0.0799468254549104 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.09, Z:-0.16 [[ 9.98930305e-01 -3.70230957e-02 2.77044604e-02 3.45332289e+00] [ 3.70492504e-02 9.99313348e-01 -4.31165475e-04 -9.37672241e-02] [-2.76694740e-02 1.45713375e-03 9.99616065e-01 -1.62881726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.014860624 meters 0.08114637754981885 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.09, Z:-0.17 [[ 9.98922343e-01 -3.74187868e-02 2.74588325e-02 3.48463822e+00] [ 3.74447928e-02 9.99298604e-01 -4.33330628e-04 -9.47057217e-02] [-2.74233583e-02 1.46105394e-03 9.99622841e-01 -1.65910993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044860624 meters 0.0808007189123752 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.09, Z:-0.17 [[ 9.98919711e-01 -3.72257900e-02 2.78145915e-02 3.51813331e+00] [ 3.72525500e-02 9.99305784e-01 -4.44339978e-04 -9.15275596e-02] [-2.77787413e-02 1.48002442e-03 9.99613001e-01 -1.67487160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.074860623999999 meters 0.08062000075925965 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.09, Z:-0.17 [[ 9.98915843e-01 -3.68714518e-02 2.84189001e-02 3.55045594e+00] [ 3.68994804e-02 9.99318875e-01 -4.62291675e-04 -8.98255716e-02] [-2.83824979e-02 1.51043312e-03 9.99595995e-01 -1.69074013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104860624 meters 0.0823938393411103 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.09, Z:-0.17 [[ 9.98842257e-01 -3.81184491e-02 2.93449940e-02 3.58101024e+00] [ 3.81491543e-02 9.99271937e-01 -4.86996921e-04 -9.00710860e-02] [-2.93050655e-02 1.60591981e-03 9.99569224e-01 -1.72431161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.134860624 meters 0.08324688632335611 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.09, Z:-0.17 [[ 9.98805909e-01 -3.87948718e-02 2.96936835e-02 3.61265547e+00] [ 3.88266424e-02 9.99245840e-01 -4.93894214e-04 -8.90714259e-02] [-2.96521291e-02 1.64621049e-03 9.99558923e-01 -1.74845947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164860624 meters 0.08275342258572638 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.09, Z:-0.18 [[ 9.98788469e-01 -3.88111646e-02 3.02537089e-02 3.64586938e+00] [ 3.88443059e-02 9.99245146e-01 -5.08268800e-04 -8.65150971e-02] [-3.02111452e-02 1.68283734e-03 9.99542123e-01 -1.76187591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1948606239999995 meters 0.08467892709846449 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.09, Z:-0.18 [[ 9.98731637e-01 -4.07599134e-02 2.95592236e-02 3.67594097e+00] [ 4.07927742e-02 9.99167499e-01 -5.09265825e-04 -8.64090872e-02] [-2.95138579e-02 1.71442262e-03 9.99562901e-01 -1.80128887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224860624 meters 0.08534393854314104 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.09, Z:-0.18 [[ 9.98698086e-01 -4.17185171e-02 2.93546920e-02 3.70804622e+00] [ 4.17513167e-02 9.99127906e-01 -5.05044020e-04 -8.53003595e-02] [-2.93080223e-02 1.72998354e-03 9.99568931e-01 -1.82557187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.254860624 meters 0.08358072468167767 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.08, Z:-0.18 [[ 9.98647650e-01 -4.28450830e-02 2.94477338e-02 3.74042007e+00] [ 4.28786292e-02 9.99080159e-01 -5.08356241e-04 -7.87246860e-02] [-2.93988660e-02 1.77034722e-03 9.99566192e-01 -1.82812724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284860623999999 meters 0.08599470484783424 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.08, Z:-0.19 [[ 9.98593831e-01 -4.47466851e-02 2.84270152e-02 3.76999076e+00] [ 4.47787538e-02 9.98996807e-01 -4.92197472e-04 -7.93493734e-02] [-2.83764732e-02 1.76443167e-03 9.99595750e-01 -1.87030993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.314860624 meters 0.08414328535741553 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.07, Z:-0.19 [[ 9.98563808e-01 -4.56036638e-02 2.81180988e-02 3.80200670e+00] [ 4.56353303e-02 9.98958048e-01 -4.85174494e-04 -7.33337053e-02] [-2.80666754e-02 1.76765642e-03 9.99604490e-01 -1.87505580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344860624 meters 0.08698878151309979 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.08, Z:-0.19 [[ 9.98537498e-01 -4.57384102e-02 2.88246956e-02 3.83340563e+00] [ 4.57719048e-02 9.98951791e-01 -5.02920944e-04 -7.84916219e-02] [-2.87714784e-02 1.82154664e-03 9.99584356e-01 -1.91631272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.374860624 meters 0.08592556287625337 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.07, Z:-0.19 [[ 9.98552512e-01 -4.58901062e-02 2.80531625e-02 3.86564288e+00] [ 4.59220871e-02 9.98944901e-01 -4.96477102e-04 -7.43689401e-02] [-2.80007802e-02 1.78401823e-03 9.99606309e-01 -1.93063220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4048606239999994 meters 0.0889879780103279 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.08, Z:-0.20 [[ 9.98531993e-01 -4.56580155e-02 2.91411233e-02 3.89709433e+00] [ 4.56926432e-02 9.98955409e-01 -5.23125740e-04 -7.88596381e-02] [-2.90867979e-02 1.85389274e-03 9.99575170e-01 -1.97062430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.434860624 meters 0.08954263741465127 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.08, Z:-0.20 [[ 9.98512676e-01 -4.55984670e-02 2.98867069e-02 3.92817086e+00] [ 4.56350601e-02 9.98958030e-01 -5.43089654e-04 -7.56753364e-02] [-2.98308018e-02 1.90616357e-03 9.99553145e-01 -1.98418175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464860624 meters 0.08381828434202554 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.06, Z:-0.20 [[ 9.98548893e-01 -4.53512681e-02 2.90408330e-02 3.96109409e+00] [ 4.53858446e-02 9.98969390e-01 -5.32227375e-04 -6.13611593e-02] [-2.89867660e-02 1.84949779e-03 9.99578084e-01 -1.95256732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.494860624 meters 0.08704436611563249 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.07, Z:-0.20 [[ 9.98552889e-01 -4.51918370e-02 2.91517645e-02 3.99244896e+00] [ 4.52267997e-02 9.98976598e-01 -5.40751810e-04 -6.73232662e-02] [-2.90974930e-02 1.85841030e-03 9.99574851e-01 -2.00088788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5248606239999996 meters 0.08726288157780622 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.07, Z:-0.20 [[ 9.98591827e-01 -4.45328340e-02 2.88303783e-02 4.02461178e+00] [ 4.45669792e-02 9.99006251e-01 -5.42539236e-04 -6.65276242e-02] [-2.87775673e-02 1.82665811e-03 9.99584171e-01 -2.03520803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.554860624 meters 0.08437229540479531 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.06, Z:-0.20 [[ 9.98636260e-01 -4.34617056e-02 2.89257890e-02 4.05675643e+00] [ 4.34958085e-02 9.99053458e-01 -5.50518999e-04 -5.89743043e-02] [-2.88744830e-02 1.80791881e-03 9.99581410e-01 -2.02914194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584860624 meters 0.09037285878908943 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.07, Z:-0.21 [[ 9.98730066e-01 -4.11071169e-02 2.91283325e-02 4.08572270e+00] [ 4.11410702e-02 9.99153187e-01 -5.67040763e-04 -6.77223837e-02] [-2.90803568e-02 1.76469143e-03 9.99575519e-01 -2.10352098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.614860623999999 meters 0.08389696685226994 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.05, Z:-0.21 [[ 9.98788780e-01 -3.95520096e-02 2.92679227e-02 4.11809047e+00] [ 3.95855877e-02 9.99216022e-01 -5.68513259e-04 -5.20009754e-02] [-2.92224914e-02 1.72641259e-03 9.99571441e-01 -2.06171930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644860624 meters 0.08873329579117607 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.06, Z:-0.21 [[ 9.98881867e-01 -3.74776608e-02 2.88173742e-02 4.14775569e+00] [ 3.75094164e-02 9.99296116e-01 -5.61986965e-04 -5.97318924e-02] [-2.87760281e-02 1.64228148e-03 9.99584535e-01 -2.13161442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.674860624 meters 0.0805953240346975 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.04, Z:-0.21 [[ 9.99052750e-01 -3.15412814e-02 2.99791742e-02 4.17912048e+00] [ 3.15730080e-02 9.99501277e-01 -5.85384924e-04 -3.69495373e-02] [-2.99457591e-02 1.53136312e-03 9.99550352e-01 -2.08865798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704860624 meters 0.07991289930319923 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.03, Z:-0.21 [[ 9.99129536e-01 -2.84979530e-02 3.04636872e-02 4.20903272e+00] [ 2.85293157e-02 9.99592779e-01 -5.95265570e-04 -3.35567311e-02] [-3.04343179e-02 1.46385556e-03 9.99535697e-01 -2.10526748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7348606239999995 meters 0.07954039990969286 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.03, Z:-0.21 [[ 9.99210967e-01 -2.53518170e-02 3.05733228e-02 4.23835964e+00] [ 2.53819485e-02 9.99677648e-01 -5.97792931e-04 -3.10548644e-02] [-3.05483122e-02 1.37333176e-03 9.99532348e-01 -2.13866028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764860624 meters 0.07721219587549694 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.02, Z:-0.21 [[ 9.99247778e-01 -2.25425269e-02 3.15549016e-02 4.27021037e+00] [ 2.25731633e-02 9.99745005e-01 -6.14945268e-04 -2.23974457e-02] [-3.15329928e-02 1.32677664e-03 9.99501831e-01 -2.12981100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.794860624 meters 0.07594598699471461 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.01, Z:-0.22 [[ 9.99362642e-01 -1.66818222e-02 3.15598996e-02 4.30038888e+00] [ 1.67096408e-02 9.99860193e-01 -6.17898684e-04 -1.30841833e-02] [-3.15451796e-02 1.14485945e-03 9.99501671e-01 -2.15009566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824860623999999 meters 0.07578031675565267 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.01, Z:-0.22 [[ 9.99408231e-01 -1.39702421e-02 3.14327817e-02 4.33134591e+00] [ 1.39964624e-02 9.99901856e-01 -6.14287283e-04 -1.02654836e-02] [-3.14211151e-02 1.05387152e-03 9.99505679e-01 -2.17098716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.854860624 meters 0.07425572807584138 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.00, Z:-0.22 [[ 9.99458446e-01 -1.12982622e-02 3.09057244e-02 4.36359541e+00] [ 1.13222189e-02 9.99935721e-01 -6.00255566e-04 -3.04927961e-03] [-3.08969560e-02 9.49851872e-04 9.99522124e-01 -2.16604083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884860624 meters 0.07407965513217381 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.00, Z:-0.22 [[ 9.99468615e-01 -8.90991010e-03 3.13544540e-02 4.39386029e+00] [ 8.93372502e-03 9.99959902e-01 -6.19527455e-04 -9.88064131e-04] [-3.13476768e-02 8.99310318e-04 9.99508136e-01 -2.19430013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.914860624 meters 0.0737938893520897 Centerline is valid? [True, True] Translation: X:4.43, Y:0.00, Z:-0.22 [[ 9.99495915e-01 -7.64134818e-03 3.08143800e-02 4.42611988e+00] [ 7.66373825e-03 9.99970448e-01 -6.08570117e-04 2.40533034e-04] [-3.08088191e-02 8.44416688e-04 9.99524939e-01 -2.21334407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9448606239999995 meters 0.07449548693993649 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.00, Z:-0.23 [[ 9.99530151e-01 -7.48710432e-03 2.97224004e-02 4.45715353e+00] [ 7.50806924e-03 9.99971638e-01 -5.93815055e-04 -9.37720400e-04] [-2.97171115e-02 8.16693891e-04 9.99558015e-01 -2.26455547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.974860624 meters 0.0747879658160831 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.00, Z:-0.23 [[ 9.99549464e-01 -7.84831231e-03 2.89702023e-02 4.48921234e+00] [ 7.86854276e-03 9.99968872e-01 -5.84383176e-04 -2.09688125e-03] [-2.89647141e-02 8.12073166e-04 9.99580105e-01 -2.28911736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004860624 meters 0.07474132127049114 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.00, Z:-0.23 [[ 9.99568659e-01 -8.89529743e-03 2.79887281e-02 4.52102200e+00] [ 8.91485043e-03 9.99960097e-01 -5.73895948e-04 -2.29446999e-03] [-2.79825063e-02 8.23163728e-04 9.99608074e-01 -2.30767297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.034860623999999 meters 0.07490662830168934 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.00, Z:-0.23 [[ 9.99545324e-01 -9.27121490e-03 2.86912873e-02 4.55428224e+00] [ 9.29185380e-03 9.99956658e-01 -5.86099485e-04 -3.67678411e-03] [-2.86846099e-02 8.52428247e-04 9.99588148e-01 -2.32697003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064860624 meters 0.07518500228684023 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.00, Z:-0.24 [[ 9.99571530e-01 -1.11170160e-02 2.70770717e-02 4.58597094e+00] [ 1.11363834e-02 9.99937829e-01 -5.64571733e-04 -4.85823316e-03] [-2.70691120e-02 8.65870483e-04 9.99633189e-01 -2.35226099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.094860624 meters 0.07572354882609789 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.01, Z:-0.24 [[ 9.99548747e-01 -1.13802897e-02 2.77991406e-02 4.61848619e+00] [ 1.14007252e-02 9.99934843e-01 -5.76724476e-04 -6.95611923e-03] [-2.77907660e-02 8.93394592e-04 9.99613363e-01 -2.37836579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124860624 meters 0.07464607276248705 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.00, Z:-0.24 [[ 9.99541158e-01 -1.10617981e-02 2.81976997e-02 4.65142589e+00] [ 1.10829062e-02 9.99938407e-01 -5.92393487e-04 -3.29123642e-03] [-2.81894100e-02 9.04634132e-04 9.99602190e-01 -2.35722047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1548606239999994 meters 0.07487358265120614 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.00, Z:-0.24 [[ 9.99536767e-01 -1.08997922e-02 2.84156007e-02 4.68281223e+00] [ 1.09214326e-02 9.99940175e-01 -6.06473303e-04 -3.31924580e-03] [-2.84072903e-02 9.16531432e-04 9.99596011e-01 -2.36632314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184860624 meters 0.0755253807079771 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.01, Z:-0.24 [[ 9.99534796e-01 -1.03735388e-02 2.86806939e-02 4.71434353e+00] [ 1.03954170e-02 9.99945778e-01 -6.13816303e-04 -5.80978963e-03] [-2.86727713e-02 9.11678525e-04 9.99588436e-01 -2.39461611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.214860624 meters 0.07452321414203229 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.00, Z:-0.24 [[ 9.99484173e-01 -9.48446854e-03 3.06827674e-02 4.74684627e+00] [ 9.50930634e-03 9.99954565e-01 -6.63681031e-04 -3.89130140e-03] [-3.06750787e-02 9.55110521e-04 9.99528953e-01 -2.38162368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244860624 meters 0.0747798893937524 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.01, Z:-0.24 [[ 9.99477866e-01 -9.21621918e-03 3.09686343e-02 4.77914889e+00] [ 9.24160639e-03 9.99957066e-01 -6.76734407e-04 -5.08603252e-03] [-3.09610678e-02 9.62580989e-04 9.99520128e-01 -2.39976042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2748606239999996 meters 0.07526819499557133 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.01, Z:-0.24 [[ 9.99460493e-01 -8.94978718e-03 3.16010310e-02 4.81029385e+00] [ 8.97636733e-03 9.99959467e-01 -6.99347063e-04 -7.40474219e-03] [-3.15934911e-02 9.82632222e-04 9.99500318e-01 -2.42601633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304860624 meters 0.07479149844141007 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.01, Z:-0.24 [[ 9.99435337e-01 -9.06702428e-03 3.23542396e-02 4.84313549e+00] [ 9.09523995e-03 9.99958375e-01 -7.25015916e-04 -6.02499503e-03] [-3.23463191e-02 1.01887610e-03 9.99476202e-01 -2.42064694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.334860624 meters 0.07423651868056053 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.01, Z:-0.24 [[ 9.99405284e-01 -8.54118184e-03 3.34084875e-02 4.87527387e+00] [ 8.57104069e-03 9.99962986e-01 -7.50637197e-04 -5.00573000e-03] [-3.34008396e-02 1.03653629e-03 9.99441499e-01 -2.41541856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364860623999999 meters 0.07504483336597094 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.01, Z:-0.25 [[ 9.99390525e-01 -8.91244552e-03 3.37512400e-02 4.90683280e+00] [ 8.94341514e-03 9.99959713e-01 -7.66724251e-04 -8.65683213e-03] [-3.37430468e-02 1.06810830e-03 9.99429971e-01 -2.45076796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.394860624 meters 0.07425757157222929 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.01, Z:-0.25 [[ 9.99429936e-01 -8.93989678e-03 3.25558143e-02 4.93942319e+00] [ 8.96892493e-03 9.99959500e-01 -7.45714785e-04 -6.74447883e-03] [-3.25478292e-02 1.03728033e-03 9.99469641e-01 -2.45009444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424860624 meters 0.07524713405056746 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.01, Z:-0.25 [[ 9.99423940e-01 -9.37441437e-03 3.26175973e-02 4.97086435e+00] [ 9.40404770e-03 9.99955496e-01 -7.55213134e-04 -1.13431362e-02] [-3.26090660e-02 1.06151553e-03 9.99467619e-01 -2.49405085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.454860624 meters 0.07575443748100162 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.01, Z:-0.25 [[ 9.99442907e-01 -1.06724263e-02 3.16223801e-02 5.00320845e+00] [ 1.07012421e-02 9.99942465e-01 -7.42140625e-04 -1.39773044e-02] [-3.16126403e-02 1.08012593e-03 9.99499612e-01 -2.52626302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4848606239999995 meters 0.07641603583652314 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.02, Z:-0.26 [[ 9.99450750e-01 -1.13634514e-02 3.11298869e-02 5.03466769e+00] [ 1.13916682e-02 9.99934847e-01 -7.29213739e-04 -1.66676388e-02] [-3.11195723e-02 1.08343456e-03 9.99515082e-01 -2.55403182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.514860624 meters 0.07676857441414393 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.02, Z:-0.26 [[ 9.99460437e-01 -1.19604723e-02 3.05905691e-02 5.06711325e+00] [ 1.19881745e-02 9.99927878e-01 -7.22327410e-04 -1.96539393e-02] [-3.05797234e-02 1.08866275e-03 9.99531738e-01 -2.58321156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544860624 meters 0.07806313090907668 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.03, Z:-0.26 [[ 9.99480716e-01 -1.35941059e-02 2.92147026e-02 5.09829607e+00] [ 1.36202509e-02 9.99906998e-01 -6.96105706e-04 -2.50118867e-02] [-2.92025227e-02 1.09365581e-03 9.99572917e-01 -2.62745963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.574860623999999 meters 0.0775059909834708 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.03, Z:-0.26 [[ 9.99488045e-01 -1.45994563e-02 2.84693655e-02 5.13022720e+00] [ 1.46249371e-02 9.99892814e-01 -6.86996059e-04 -2.50058052e-02] [-2.84562842e-02 1.10300703e-03 9.99594429e-01 -2.63352086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604860624 meters 0.07779323830882824 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.03, Z:-0.26 [[ 9.99481619e-01 -1.51563587e-02 2.84038425e-02 5.16214536e+00] [ 1.51819042e-02 9.99884514e-01 -6.83917669e-04 -2.73485910e-02] [-2.83901966e-02 1.11478756e-03 9.99596296e-01 -2.64581081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.634860624 meters 0.07786068164835372 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.03, Z:-0.27 [[ 9.99461067e-01 -1.51987102e-02 2.90959655e-02 5.19486400e+00] [ 1.52257090e-02 9.99883833e-01 -7.06584529e-04 -2.97513698e-02] [-2.90818464e-02 1.14921043e-03 9.99576373e-01 -2.65771595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664860624 meters 0.07962840827430318 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.04, Z:-0.27 [[ 9.99446388e-01 -1.54097989e-02 2.94865329e-02 5.22663278e+00] [ 1.54378584e-02 9.99880567e-01 -7.24172434e-04 -3.58015327e-02] [-2.94718519e-02 1.17898044e-03 9.99564915e-01 -2.69310598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6948606239999995 meters 0.07738701539528331 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.03, Z:-0.27 [[ 9.99415804e-01 -1.47373995e-02 3.08360125e-02 5.25931474e+00] [ 1.47680221e-02 9.99890654e-01 -7.65553625e-04 -3.13232671e-02] [-3.08213584e-02 1.22049330e-03 9.99524164e-01 -2.66186699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724860624 meters 0.07611295605642639 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.03, Z:-0.27 [[ 9.99440205e-01 -1.41449701e-02 3.03182668e-02 5.29297988e+00] [ 1.41744678e-02 9.99899250e-01 -7.58224623e-04 -2.85644009e-02] [-3.03044872e-02 1.18754547e-03 9.99540008e-01 -2.66029240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.754860624 meters 0.07669370964729773 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.03, Z:-0.27 [[ 9.99421090e-01 -1.36329609e-02 3.11709256e-02 5.32386971e+00] [ 1.36642663e-02 9.99906326e-01 -7.91508851e-04 -3.19486336e-02] [-3.11572151e-02 1.21697847e-03 9.99513755e-01 -2.68361098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784860623999999 meters 0.07669370964729773 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.03, Z:-0.27 [[ 9.99424610e-01 -1.33724965e-02 3.11708961e-02 5.35651016e+00] [ 1.34037123e-02 9.99909852e-01 -7.92692249e-04 -3.29593378e-02] [-3.11574858e-02 1.21004187e-03 9.99513755e-01 -2.70141300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.814860624 meters 0.0768346624432319 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.03, Z:-0.27 [[ 9.99402463e-01 -1.27257140e-02 3.21368023e-02 5.38790352e+00] [ 1.27588819e-02 9.99918260e-01 -8.27220947e-04 -3.47809501e-02] [-3.21236484e-02 1.23675632e-03 9.99483137e-01 -2.71918064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844860624 meters 0.07538847446859999 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.03, Z:-0.27 [[ 9.99426471e-01 -1.23815061e-02 3.15186836e-02 5.42128151e+00] [ 1.24133979e-02 9.99922618e-01 -8.16358953e-04 -3.08964154e-02] [-3.15061368e-02 1.20714471e-03 9.99502829e-01 -2.71116105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.874860624 meters 0.07704392238516468 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.04, Z:-0.28 [[ 9.99455823e-01 -1.02119498e-02 3.13651641e-02 5.45269576e+00] [ 1.02427539e-02 9.99947204e-01 -8.21591492e-04 -3.62199360e-02] [-3.13551181e-02 1.14241006e-03 9.99507655e-01 -2.76391934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9048606239999994 meters 0.07598051310055197 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.03, Z:-0.28 [[ 9.99481805e-01 -8.96287972e-03 3.09158166e-02 5.48477989e+00] [ 8.99243530e-03 9.99959233e-01 -8.17094182e-04 -3.31732601e-02] [-3.09072327e-02 1.09467925e-03 9.99521658e-01 -2.77474049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934860624 meters 0.07718189887794831 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.04, Z:-0.28 [[ 9.99527312e-01 -8.79248840e-03 2.94592021e-02 5.51522122e+00] [ 8.81950977e-03 9.99960797e-01 -7.87434151e-04 -3.74279076e-02] [-2.94511237e-02 1.04687766e-03 9.99565673e-01 -2.82230931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964860624 meters 0.07559147826983535 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.03, Z:-0.28 [[ 9.99536516e-01 -8.47645132e-03 2.92387084e-02 5.54819313e+00] [ 8.50291776e-03 9.99963545e-01 -7.80967871e-04 -3.45518564e-02] [-2.92310226e-02 1.02922024e-03 9.99572152e-01 -2.81913424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.994860623999999 meters 0.0774006293839596 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.04, Z:-0.29 [[ 9.99546824e-01 -8.93284838e-03 2.87463204e-02 5.57900165e+00] [ 8.95886503e-03 9.99959567e-01 -7.76373727e-04 -4.15074853e-02] [-2.87382229e-02 1.03355630e-03 9.99586438e-01 -2.87161662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0248606239999996 meters 0.07716528054574866 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.04, Z:-0.29 [[ 9.99571272e-01 -9.75847114e-03 2.76051358e-02 5.61093608e+00] [ 9.78293037e-03 9.99951864e-01 -7.51119313e-04 -4.21091233e-02] [-2.75964773e-02 1.02085641e-03 9.99618623e-01 -2.87835450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.054860624 meters 0.0770838407571323 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.04, Z:-0.29 [[ 9.99554474e-01 -1.06742979e-02 2.78731523e-02 5.64321989e+00] [ 1.06997391e-02 9.99942464e-01 -7.63756800e-04 -4.28941128e-02] [-2.78633961e-02 1.06165198e-03 9.99611176e-01 -2.88313067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084860624 meters 0.07794915654113048 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.05, Z:-0.29 [[ 9.99545978e-01 -1.14262933e-02 2.78797000e-02 5.67405829e+00] [ 1.14522264e-02 9.99934124e-01 -7.70676016e-04 -4.72132329e-02] [-2.78690575e-02 1.08961075e-03 9.99610989e-01 -2.90602714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.114860623999999 meters 0.07948397828706105 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.05, Z:-0.29 [[ 9.99477173e-01 -1.41947756e-02 2.90497576e-02 5.70459202e+00] [ 1.42244196e-02 9.99898496e-01 -8.14047324e-04 -5.32551260e-02] [-2.90352537e-02 1.22683766e-03 9.99577635e-01 -2.91895600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144860624 meters 0.07867729135108763 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.05, Z:-0.29 [[ 9.99460876e-01 -1.56749254e-02 2.88488207e-02 5.73651170e+00] [ 1.57046682e-02 9.99876350e-01 -8.04685078e-04 -5.32542078e-02] [-2.88326402e-02 1.25731241e-03 9.99583462e-01 -2.91087655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.174860624 meters 0.07998631265355638 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.06, Z:-0.29 [[ 9.99398111e-01 -1.74702018e-02 2.99701314e-02 5.76730594e+00] [ 1.75033122e-02 9.99846450e-01 -8.42769389e-04 -5.93828740e-02] [-2.99508062e-02 1.36683870e-03 9.99550439e-01 -2.93640334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204860623999999 meters 0.07873919928680172 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.06, Z:-0.29 [[ 9.99350242e-01 -1.86207170e-02 3.08603813e-02 5.79959776e+00] [ 1.86565646e-02 9.99825569e-01 -8.74044927e-04 -5.92959915e-02] [-3.08387230e-02 1.44922571e-03 9.99523323e-01 -2.92170586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2348606239999995 meters 0.07974260586585177 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.06, Z:-0.29 [[ 9.99280459e-01 -2.11661049e-02 3.14731689e-02 5.83076025e+00] [ 2.12050271e-02 9.99774740e-01 -9.03381362e-04 -6.36363541e-02] [-3.14469582e-02 1.57012074e-03 9.99504189e-01 -2.93111977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264860624 meters 0.08006394760406291 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.07, Z:-0.29 [[ 9.99162644e-01 -2.39792342e-02 3.31512892e-02 5.86238747e+00] [ 2.40238872e-02 9.99710934e-01 -9.49223789e-04 -6.72149901e-02] [-3.31189446e-02 1.74485178e-03 9.99449894e-01 -2.93248218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.294860624 meters 0.08332040695389582 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.08, Z:-0.30 [[ 9.99148518e-01 -2.50455088e-02 3.27866125e-02 5.89333665e+00] [ 2.50900626e-02 9.99684745e-01 -9.48121566e-04 -7.75187089e-02] [-3.27525302e-02 1.76993242e-03 9.99461925e-01 -2.97351928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324860623999999 meters 0.08310056562681002 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.08, Z:-0.30 [[ 9.99093428e-01 -2.69098786e-02 3.29875944e-02 5.92534374e+00] [ 2.69561652e-02 9.99636156e-01 -9.59147090e-04 -7.83982843e-02] [-3.29497815e-02 1.84749660e-03 9.99455301e-01 -2.97893135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.354860624 meters 0.08342196434445283 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.08, Z:-0.30 [[ 9.99062387e-01 -2.76287219e-02 3.33316844e-02 5.95719090e+00] [ 2.76763373e-02 9.99616468e-01 -9.67914368e-04 -8.12997361e-02] [-3.32921584e-02 1.88950578e-03 9.99443876e-01 -2.99412931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384860624 meters 0.08540964008772298 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.09, Z:-0.30 [[ 9.98975555e-01 -2.99781886e-02 3.38991007e-02 5.98691745e+00] [ 3.00291630e-02 9.99548527e-01 -9.95470061e-04 -8.76174674e-02] [-3.38539538e-02 2.01241188e-03 9.99424765e-01 -3.01352007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.414860624 meters 0.08585804299597323 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.09, Z:-0.30 [[ 9.98976240e-01 -3.09374225e-02 3.30052793e-02 6.01920364e+00] [ 3.09863562e-02 9.99519335e-01 -9.72015105e-04 -8.99217646e-02] [-3.29593431e-02 1.99373333e-03 9.99454705e-01 -3.03943045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4448606239999995 meters 0.08692964070703678 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.09, Z:-0.31 [[ 9.98981280e-01 -3.15035574e-02 3.23098824e-02 6.04962890e+00] [ 3.15508332e-02 9.99501693e-01 -9.54280504e-04 -9.35946599e-02] [-3.22637189e-02 1.97271207e-03 9.99477444e-01 -3.06919105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.474860624 meters 0.0893347804226815 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.10, Z:-0.31 [[ 9.98948681e-01 -3.44059916e-02 3.02945760e-02 6.07996967e+00] [ 3.44489248e-02 9.99406058e-01 -8.96249322e-04 -1.00135459e-01] [-3.02457465e-02 1.93892265e-03 9.99540612e-01 -3.11853890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504860624 meters 0.0891504345636097 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.10, Z:-0.31 [[ 9.98913679e-01 -3.55830615e-02 3.00883436e-02 6.11188240e+00] [ 3.56259071e-02 9.99364801e-01 -8.88942818e-04 -1.01424698e-01] [-3.00376002e-02 1.95990167e-03 9.99546848e-01 -3.12566043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.534860623999999 meters 0.08957200651758404 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.10, Z:-0.31 [[ 9.98882821e-01 -3.65429556e-02 2.99620077e-02 6.14376926e+00] [ 3.65859298e-02 9.99330117e-01 -8.87146307e-04 -1.03277163e-01] [-2.99095177e-02 1.98234312e-03 9.99550645e-01 -3.14632174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564860624 meters 0.09032826027326694 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.11, Z:-0.32 [[ 9.98886754e-01 -3.68178850e-02 2.94906052e-02 6.17614981e+00] [ 3.68595730e-02 9.99320075e-01 -8.71043467e-04 -1.05587176e-01] [-2.94384839e-02 1.95708490e-03 9.99564678e-01 -3.16737081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.594860624 meters 0.0897396131884548 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.10, Z:-0.32 [[ 9.98874834e-01 -3.75918626e-02 2.89122359e-02 6.20822930e+00] [ 3.76325515e-02 9.99291271e-01 -8.64288953e-04 -1.04645542e-01] [-2.88592547e-02 1.95135769e-03 9.99581580e-01 -3.17940829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624860624 meters 0.09203806399581262 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.11, Z:-0.32 [[ 9.98856063e-01 -3.78841301e-02 2.91780398e-02 6.23889306e+00] [ 3.79256448e-02 9.99280185e-01 -8.70508041e-04 -1.10149579e-01] [-2.91240585e-02 1.97610821e-03 9.99573851e-01 -3.21270237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6548606239999994 meters 0.0929532756480322 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.11, Z:-0.32 [[ 9.98811879e-01 -3.81087626e-02 3.03735653e-02 6.27217218e+00] [ 3.81540316e-02 9.99271454e-01 -9.12020194e-04 -1.13927192e-01] [-3.03166807e-02 2.06981057e-03 9.99538201e-01 -3.22333869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684860624 meters 0.09297381889265843 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.12, Z:-0.32 [[ 9.98732918e-01 -3.93522992e-02 3.13680448e-02 6.30388810e+00] [ 3.94014868e-02 9.99223007e-01 -9.51260544e-04 -1.15913732e-01] [-3.13062378e-02 2.18600282e-03 9.99507449e-01 -3.22732307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.714860624 meters 0.09419788356683183 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.12, Z:-0.32 [[ 9.98660096e-01 -4.02944773e-02 3.24710351e-02 6.33574932e+00] [ 4.03479032e-02 9.99185200e-01 -9.91513886e-04 -1.19627346e-01] [-3.24046252e-02 2.30032353e-03 9.99472185e-01 -3.24488570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.744860623999999 meters 0.09516737160755663 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.12, Z:-0.33 [[ 9.98624793e-01 -4.11307130e-02 3.25082600e-02 6.36628658e+00] [ 4.11850740e-02 9.99151030e-01 -1.00410697e-03 -1.23280488e-01] [-3.24393618e-02 2.34158120e-03 9.99470962e-01 -3.26261758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7748606239999996 meters 0.09683055138968735 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.13, Z:-0.33 [[ 9.98510522e-01 -4.31449814e-02 3.33953272e-02 6.39682459e+00] [ 4.32035202e-02 9.99065758e-01 -1.03295858e-03 -1.28220582e-01] [-3.33195609e-02 2.47421571e-03 9.99441687e-01 -3.27732226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804860624 meters 0.0965267966051848 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.13, Z:-0.33 [[ 9.98436609e-01 -4.48186731e-02 3.34009574e-02 6.42848287e+00] [ 4.48781687e-02 9.98991933e-01 -1.03331339e-03 -1.28785031e-01] [-3.33209752e-02 2.53067172e-03 9.99441498e-01 -3.27786742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.834860624 meters 0.09742644170175033 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.13, Z:-0.33 [[ 9.98433010e-01 -4.53269153e-02 3.28176011e-02 6.45999966e+00] [ 4.53845309e-02 9.98969078e-01 -1.01247621e-03 -1.31294510e-01] [-3.27378763e-02 2.50030110e-03 9.99460845e-01 -3.29680788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864860623999999 meters 0.10014697988695634 Centerline is valid? [True, False] Translation: X:6.45, Y:-0.13, Z:-0.33 [[ 9.98306656e-01 -4.37082567e-02 3.83849982e-02 6.45361150e+00] [ 4.38068266e-02 9.99038522e-01 -1.73021721e-03 -1.32407108e-01] [-3.82724671e-02 3.40881231e-03 9.99261526e-01 -3.33322842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.894860624 meters 0.10283523836796424 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.13, Z:-0.33 [[ 0.99880629 -0.04332091 0.02256755 6.45609591] [ 0.04350538 0.99902315 -0.00774822 -0.13058367] [-0.02220985 0.00872078 0.99971529 -0.32593626] [ 0. 0. 0. 1. ]] SLAMing on 7.924860624 meters 0.10353214712314826 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.13, Z:-0.33 [[ 0.99880732 -0.04326703 0.02262523 6.4561539 ] [ 0.04344677 0.99902749 -0.00751356 -0.13107501] [-0.02227814 0.00848759 0.99971578 -0.32627468] [ 0. 0. 0. 1. ]] SLAMing on 7.954860623999999 meters 0.10449912274205302 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.13, Z:-0.33 [[ 0.99880616 -0.04326391 0.02268252 6.45613252] [ 0.04344197 0.99902842 -0.00741714 -0.13132335] [-0.02233959 0.00839366 0.9997152 -0.32644518] [ 0. 0. 0. 1. ]] SLAMing on 7.9848606239999995 meters 0.10544739945256353 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.13, Z:-0.33 [[ 0.99880415 -0.04325668 0.0227845 6.45608393] [ 0.0434327 0.99902977 -0.00728781 -0.13158759] [-0.02244715 0.00826869 0.99971384 -0.32673038] [ 0. 0. 0. 1. ]] SLAMing on 8.014860624 meters 0.0976879288416052 Centerline is valid? [False, True] Translation: X:6.45, Y:-0.13, Z:-0.32 [[ 0.99907606 -0.03957197 0.01676574 6.4470912 ] [ 0.03984074 0.99907773 -0.0160126 -0.13066437] [-0.01611662 0.01666577 0.99973122 -0.32289143] [ 0. 0. 0. 1. ]] SLAMing on 8.044860624 meters 0.09795142644858199 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.14, Z:-0.33 [[ 9.99059275e-01 -4.01442154e-02 1.64014222e-02 6.47904940e+00] [ 4.01600942e-02 9.99193053e-01 -6.39783482e-04 -1.40168005e-01] [-1.63625035e-02 1.29786428e-03 9.99865283e-01 -3.33115904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.074860624000001 meters 0.09866728827863618 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.14, Z:-0.34 [[ 9.99085102e-01 -3.97519518e-02 1.57715142e-02 6.51210642e+00] [ 3.97666243e-02 9.99208804e-01 -6.17674481e-04 -1.42828474e-01] [-1.57344820e-02 1.24428925e-03 9.99875431e-01 -3.35613465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104860624 meters 0.09721605826549043 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.14, Z:-0.33 [[ 9.99090943e-01 -3.95673461e-02 1.58654677e-02 6.54499565e+00] [ 3.95822347e-02 9.99216121e-01 -6.25393556e-04 -1.41307602e-01] [-1.58282859e-02 1.25281570e-03 9.99873940e-01 -3.34796548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.134860624 meters 0.09825937175532364 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.14, Z:-0.34 [[ 9.99126646e-01 -3.86499424e-02 1.58784955e-02 6.57591004e+00] [ 3.86648269e-02 9.99252037e-01 -6.31366651e-04 -1.43669963e-01] [-1.58422166e-02 1.24475452e-03 9.99873729e-01 -3.35985603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164860624000001 meters 0.09607258057225282 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.14, Z:-0.34 [[ 9.99135631e-01 -3.79331416e-02 1.70019750e-02 6.60787752e+00] [ 3.79502400e-02 9.99279396e-01 -6.84043331e-04 -1.40899621e-01] [-1.69637754e-02 1.32868110e-03 9.99855222e-01 -3.35754894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.194860624 meters 0.09541839281599364 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.14, Z:-0.34 [[ 9.99161505e-01 -3.72021325e-02 1.70964269e-02 6.64038209e+00] [ 3.72192561e-02 9.99306889e-01 -6.84388229e-04 -1.40637709e-01] [-1.70591164e-02 1.32013066e-03 9.99853611e-01 -3.36660474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224860624 meters 0.0956940013978241 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.14, Z:-0.33 [[ 9.99155254e-01 -3.58645257e-02 2.00627417e-02 6.67045327e+00] [ 3.58880619e-02 9.99355484e-01 -8.14200504e-04 -1.41680184e-01] [-2.00206101e-02 1.53352563e-03 9.99798391e-01 -3.34697555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.254860624 meters 0.09483054945292499 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.14, Z:-0.34 [[ 9.99165513e-01 -3.54330158e-02 2.03169758e-02 6.70296493e+00] [ 3.54569693e-02 9.99370868e-01 -8.19863303e-04 -1.40957063e-01] [-2.02751435e-02 1.53955752e-03 9.99793253e-01 -3.35485860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284860624 meters 0.09484999849668707 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.14, Z:-0.34 [[ 9.99160697e-01 -3.56819248e-02 2.01171873e-02 6.73538149e+00] [ 3.57055489e-02 9.99362020e-01 -8.16253321e-04 -1.41712668e-01] [-2.00752275e-02 1.53386345e-03 9.99797296e-01 -3.37467105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.314860624000001 meters 0.09625336471620174 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.15, Z:-0.34 [[ 9.99153895e-01 -3.57205672e-02 2.03846956e-02 6.76623134e+00] [ 3.57449370e-02 9.99360599e-01 -8.32270277e-04 -1.46382735e-01] [-2.03419324e-02 1.56021575e-03 9.99791864e-01 -3.39518930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344860624 meters 0.0981292236185145 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.15, Z:-0.34 [[ 9.99122703e-01 -3.70441922e-02 1.95333363e-02 6.79586759e+00] [ 3.70669812e-02 9.99312458e-01 -8.05791005e-04 -1.51073784e-01] [-1.94900565e-02 1.52912590e-03 9.99808881e-01 -3.42080712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.374860624 meters 0.09880564146897204 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.15, Z:-0.34 [[ 9.99113613e-01 -3.74457208e-02 1.92303610e-02 6.82815044e+00] [ 3.74677890e-02 9.99297525e-01 -7.88438793e-04 -1.54156236e-01] [-1.91873284e-02 1.50825904e-03 9.99814769e-01 -3.44463461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404860624000001 meters 0.0993295183360646 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.16, Z:-0.35 [[ 9.99094353e-01 -3.81620941e-02 1.88183170e-02 6.85989552e+00] [ 3.81834767e-02 9.99270442e-01 -7.78141538e-04 -1.56129234e-01] [-1.87748924e-02 1.49598558e-03 9.99822617e-01 -3.46221853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.434860624 meters 0.10023034571151876 Centerline is valid? [True, False] Translation: X:6.86, Y:-0.16, Z:-0.35 [[ 9.99092878e-01 -3.81807054e-02 1.88588179e-02 6.85993086e+00] [ 3.82012254e-02 9.99269801e-01 -7.28910159e-04 -1.56065448e-01] [-1.88172169e-02 1.44867890e-03 9.99821891e-01 -3.46447789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464860624 meters 0.10198474345821362 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.16, Z:-0.35 [[ 9.99070846e-01 -3.86452699e-02 1.90784408e-02 6.85897406e+00] [ 3.86741560e-02 9.99251216e-01 -1.14730692e-03 -1.55267550e-01] [-1.90198172e-02 1.88408349e-03 9.99817332e-01 -3.45851331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.494860624000001 meters 0.10236997749487753 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.16, Z:-0.35 [[ 9.99055855e-01 -3.89437399e-02 1.92557616e-02 6.85821112e+00] [ 3.89782102e-02 9.99239055e-01 -1.41792414e-03 -1.55018789e-01] [-1.91858897e-02 2.16714053e-03 9.99813585e-01 -3.45302678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524860624 meters 0.10387585539154114 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.15, Z:-0.35 [[ 9.99039921e-01 -3.92350140e-02 1.94897467e-02 6.85745697e+00] [ 3.92733192e-02 9.99227246e-01 -1.58640720e-03 -1.54825224e-01] [-1.94124432e-02 2.35031116e-03 9.99808798e-01 -3.45023964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.554860624 meters 0.13550289477996422 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.16, Z:-0.35 [[ 9.98958716e-01 -4.08754581e-02 2.02652476e-02 6.94298454e+00] [ 4.09496128e-02 9.99155902e-01 -3.25766840e-03 -1.58659233e-01] [-2.01149830e-02 4.08413029e-03 9.99789331e-01 -3.46267288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584860624000001 meters 0.10219892186362432 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.16, Z:-0.35 [[ 9.98957390e-01 -3.90535156e-02 2.36422523e-02 6.85634187e+00] [ 3.90862491e-02 9.99235414e-01 -9.23838596e-04 -1.56992120e-01] [-2.35880966e-02 1.84696236e-03 9.99720056e-01 -3.47735396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.614860624 meters 0.10864193050516642 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.16, Z:-0.35 [[ 9.98947219e-01 -3.92185936e-02 2.37982187e-02 6.85595315e+00] [ 3.92533684e-02 9.99228793e-01 -9.95673452e-04 -1.56858187e-01] [-2.37408165e-02 1.92878547e-03 9.99716286e-01 -3.47717339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644860624000001 meters 0.10962382298324873 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.16, Z:-0.35 [[ 9.98933884e-01 -3.94237039e-02 2.40180648e-02 6.85542026e+00] [ 3.94606120e-02 9.99220560e-01 -1.06448715e-03 -1.56738632e-01] [-2.39573781e-02 2.01111982e-03 9.99710958e-01 -3.47724936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.674860624 meters 0.1482175603319264 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.16, Z:-0.35 [[ 9.98820979e-01 -4.12817708e-02 2.55434562e-02 6.94673730e+00] [ 4.14138061e-02 9.99131206e-01 -4.66158065e-03 -1.61727889e-01] [-2.53288259e-02 5.71393629e-03 9.99662844e-01 -3.51605464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704860624 meters 0.1482175603319264 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.16, Z:-0.35 [[ 9.98820979e-01 -4.12817708e-02 2.55434562e-02 6.94673730e+00] [ 4.14138061e-02 9.99131206e-01 -4.66158065e-03 -1.61727889e-01] [-2.53288259e-02 5.71393629e-03 9.99662844e-01 -3.51605464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.734860624000001 meters 0.10809980782943669 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.16, Z:-0.35 [[ 9.98823827e-01 -4.11444167e-02 2.56534423e-02 6.85678087e+00] [ 4.11982452e-02 9.99149754e-01 -1.57308751e-03 -1.59055247e-01] [-2.55669068e-02 2.62811409e-03 9.99669659e-01 -3.50221866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764860624 meters 0.10812590609637492 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.16, Z:-0.36 [[ 9.98735397e-01 -3.67188404e-02 3.43414172e-02 6.84613692e+00] [ 3.68705615e-02 9.99312844e-01 -3.79501416e-03 -1.61247937e-01] [-3.41784707e-02 5.05640231e-03 9.99402954e-01 -3.55393580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.794860624 meters 0.10723975416541763 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.16, Z:-0.36 [[ 9.98758188e-01 -3.62702015e-02 3.41548592e-02 6.84702254e+00] [ 3.63998197e-02 9.99332245e-01 -3.18069206e-03 -1.62270361e-01] [-3.40166878e-02 4.41997295e-03 9.99411491e-01 -3.56118918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824860624000001 meters 0.1062146032947745 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.16, Z:-0.35 [[ 0.99918892 -0.03621196 0.01761219 6.85046853] [ 0.03634999 0.99931037 -0.00758063 -0.16092726] [-0.01732553 0.00821468 0.99981616 -0.34930504] [ 0. 0. 0. 1. ]] SLAMing on 8.854860624 meters 0.10853052952867037 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.16, Z:-0.36 [[ 0.99919266 -0.03058629 0.02604808 6.84067139] [ 0.03081749 0.99948871 -0.00852094 -0.16453977] [-0.02577414 0.0093168 0.99962437 -0.35541383] [ 0. 0. 0. 1. ]] SLAMing on 8.884860624 meters 0.10852074415696517 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.17, Z:-0.36 [[ 0.99920411 -0.0302021 0.02605729 6.84109474] [ 0.03041347 0.99950733 -0.007754 -0.16630552] [-0.02581026 0.00854032 0.99963038 -0.35615575] [ 0. 0. 0. 1. ]] SLAMing on 8.914860624000001 meters 0.10919142567093879 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.17, Z:-0.35 [[ 0.99948479 -0.03073562 0.00924575 6.84505878] [ 0.03084393 0.99945444 -0.01180985 -0.16623471] [-0.00887772 0.01208894 0.99988752 -0.34975227] [ 0. 0. 0. 1. ]] SLAMing on 8.944860624 meters 0.11183464748583086 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.17, Z:-0.35 [[ 0.99949127 -0.03037372 0.00972783 6.84449111] [ 0.03047334 0.9994829 -0.01026187 -0.1709235 ] [-0.00941111 0.01055308 0.99990003 -0.35055685] [ 0. 0. 0. 1. ]] SLAMing on 8.974860624 meters 0.11422811719103951 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.18, Z:-0.35 [[ 9.99600363e-01 -2.62062156e-02 1.05994647e-02 6.84305796e+00] [ 2.62542085e-02 9.99645552e-01 -4.41432426e-03 -1.75384249e-01] [-1.04800250e-02 4.69084069e-03 9.99934080e-01 -3.51980302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004860624 meters 0.11529119467926231 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.18, Z:-0.35 [[ 9.99688174e-01 -2.22257534e-02 1.13828726e-02 6.84163817e+00] [ 2.22150078e-02 9.99752644e-01 1.06960033e-03 -1.79551685e-01] [-1.14038296e-02 -8.16396196e-04 9.99934641e-01 -3.52998880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.034860624 meters 0.11679464706931188 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.18, Z:-0.35 [[ 9.99694941e-01 -2.18530709e-02 1.15094544e-02 6.84172974e+00] [ 2.18307049e-02 9.99759548e-01 2.06534625e-03 -1.82149197e-01] [-1.15518211e-02 -1.81345670e-03 9.99931631e-01 -3.53650125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064860624000001 meters 0.12350688407258649 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.19, Z:-0.35 [[ 9.99700513e-01 -2.13144637e-02 1.20240478e-02 6.84135935e+00] [ 2.12657916e-02 9.99765197e-01 4.16135215e-03 -1.88291298e-01] [-1.21099215e-02 -3.90440498e-03 9.99919049e-01 -3.54979486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.094860624 meters 0.12566512339355235 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.19, Z:-0.36 [[ 9.99709246e-01 -2.08000839e-02 1.21975697e-02 6.84150105e+00] [ 2.07352158e-02 9.99770307e-01 5.42069652e-03 -1.91613739e-01] [-1.23075190e-02 -5.16620119e-03 9.99910914e-01 -3.55820834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124860624 meters 0.12760890935908503 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.20, Z:-0.36 [[ 9.99720083e-01 -2.02087815e-02 1.23029166e-02 6.84179379e+00] [ 2.01272650e-02 9.99774883e-01 6.71394579e-03 -1.95109234e-01] [-1.24358276e-02 -6.46444238e-03 9.99901776e-01 -3.56627142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.154860624000001 meters 0.13120442999744522 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.20, Z:-0.36 [[ 9.99669508e-01 -1.64757459e-02 1.97338315e-02 6.83110499e+00] [ 1.64470126e-02 9.99863430e-01 1.61746430e-03 -2.01606912e-01] [-1.97577854e-02 -1.29236716e-03 9.99803961e-01 -3.60361418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184860624 meters 0.13270014256876086 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.20, Z:-0.36 [[ 9.99680288e-01 -1.58276914e-02 1.97181510e-02 6.83159592e+00] [ 1.57743208e-02 9.99871489e-01 2.85928212e-03 -2.04836109e-01] [-1.97608728e-02 -2.54732754e-03 9.99801490e-01 -3.61066659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.214860624 meters 0.13386755265174516 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.20, Z:-0.35 [[ 9.99857860e-01 -1.65055054e-02 3.43923066e-03 6.83396116e+00] [ 1.65128963e-02 9.99861380e-01 -2.13179862e-03 -2.04975247e-01] [-3.40356750e-03 2.18828726e-03 9.99991814e-01 -3.53665059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244860624000001 meters 0.1277230747251393 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.21, Z:-0.35 [[ 9.99874370e-01 -1.54772503e-02 3.42033747e-03 6.83445804e+00] [ 1.54782185e-02 9.99880172e-01 -2.56761533e-04 -2.10643200e-01] [-3.41595365e-03 3.09670007e-04 9.99994118e-01 -3.54200714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.274860624 meters 0.12812639637127463 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.21, Z:-0.35 [[ 9.99887042e-01 -1.46672167e-02 3.28264746e-03 6.83523950e+00] [ 1.46639774e-02 9.99891969e-01 1.00868477e-03 -2.13993999e-01] [-3.29708743e-03 -9.60434165e-04 9.99994103e-01 -3.54827630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304860624 meters 0.12878146661591616 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.22, Z:-0.36 [[ 9.99894631e-01 -1.41403337e-02 3.28288187e-03 6.83544493e+00] [ 1.41340573e-02 9.99898252e-01 1.92724562e-03 -2.16847636e-01] [-3.30979974e-03 -1.88064211e-03 9.99992754e-01 -3.55070834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.334860624000001 meters 0.12692374412051943 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.22, Z:-0.36 [[ 9.99908239e-01 -1.31972320e-02 3.05738832e-03 6.83652976e+00] [ 1.31871603e-02 9.99907629e-01 3.29129639e-03 -2.20319400e-01] [-3.10054191e-03 -3.25067611e-03 9.99989910e-01 -3.55834014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364860624 meters 0.13010866807126895 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.23, Z:-0.36 [[ 9.99922150e-01 -1.21368326e-02 2.89692946e-03 6.83688706e+00] [ 1.21223008e-02 9.99914110e-01 4.98220567e-03 -2.26175779e-01] [-2.95714884e-03 -4.94670036e-03 9.99983393e-01 -3.55613711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.394860624 meters 0.12967761138706035 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.23, Z:-0.36 [[ 9.99923299e-01 -6.37414256e-03 1.06191909e-02 6.82699897e+00] [ 6.34813335e-03 9.99976772e-01 2.48117457e-03 -2.30502614e-01] [-1.06347596e-02 -2.41357222e-03 9.99940537e-01 -3.60677485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424860624 meters 0.1295220984371568 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.23, Z:-0.36 [[ 9.99932312e-01 -5.48428957e-03 1.02612581e-02 6.82817496e+00] [ 5.44710141e-03 9.99978508e-01 3.64857742e-03 -2.33629207e-01] [-1.02810475e-02 -3.59243634e-03 9.99940695e-01 -3.61131545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.454860624 meters 0.13039438824043384 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.24, Z:-0.36 [[ 9.99938101e-01 -4.79513357e-03 1.00399796e-02 6.82891301e+00] [ 4.74925893e-03 9.99978197e-01 4.58806340e-03 -2.36454999e-01] [-1.00617611e-02 -4.54009694e-03 9.99939072e-01 -3.61389487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484860624000001 meters 0.12879997288507278 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.24, Z:-0.36 [[ 9.99946417e-01 -3.64292459e-03 9.68985125e-03 6.82975049e+00] [ 3.58305455e-03 9.99974430e-01 6.18883374e-03 -2.41923162e-01] [-9.71214893e-03 -6.15378285e-03 9.99933900e-01 -3.61276308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.514860624 meters 0.1275589663138392 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.24, Z:-0.36 [[ 9.99950314e-01 -3.01962752e-03 9.50003952e-03 6.83024546e+00] [ 2.95254163e-03 9.99970664e-01 7.06776076e-03 -2.44783167e-01] [-9.52110283e-03 -7.03936033e-03 9.99929896e-01 -3.61290312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544860624 meters 0.11484621268132801 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.25, Z:-0.36 [[ 9.99945856e-01 -6.16567610e-03 8.38274433e-03 6.83273870e+00] [ 6.13728806e-03 9.99975359e-01 3.40800254e-03 -2.46095865e-01] [-8.40355041e-03 -3.35637070e-03 9.99959057e-01 -3.61185222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.574860624000001 meters 0.1067032223314379 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.25, Z:-0.36 [[ 9.99955799e-01 -5.05983953e-03 7.92457037e-03 6.83347715e+00] [ 5.02169470e-03 9.99975746e-01 4.82601231e-03 -2.51134467e-01] [-7.94879701e-03 -4.78600422e-03 9.99956954e-01 -3.60604095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604860624 meters 0.11190309121227957 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.25, Z:-0.36 [[ 9.99959740e-01 -4.63987837e-03 7.68046167e-03 6.83384931e+00] [ 4.59948379e-03 9.99975542e-01 5.26872884e-03 -2.52960757e-01] [-7.70472009e-03 -5.23319056e-03 9.99956625e-01 -3.60236162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.634860624 meters 0.10662380234450079 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.25, Z:-0.36 [[ 9.99963752e-01 -4.13208368e-03 7.44451039e-03 6.83437740e+00] [ 4.08817189e-03 9.99974214e-01 5.90413952e-03 -2.54998748e-01] [-7.46871483e-03 -5.87349107e-03 9.99954859e-01 -3.60148184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664860624000001 meters 0.10544945988952921 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.26, Z:-0.36 [[ 9.99966547e-01 -3.75521254e-03 7.26660046e-03 6.83466531e+00] [ 3.70885736e-03 9.99972756e-01 6.38220711e-03 -2.56755032e-01] [-7.29036903e-03 -6.35504282e-03 9.99953231e-01 -3.59912109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.694860624 meters 0.10120731134981611 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.26, Z:-0.36 [[ 9.99971479e-01 -3.04298726e-03 6.91234689e-03 6.83510427e+00] [ 2.99295645e-03 9.99969335e-01 7.23673942e-03 -2.60283088e-01] [-6.93415623e-03 -7.21584467e-03 9.99949923e-01 -3.59225135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724860624 meters 0.1038751404474496 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.26, Z:-0.36 [[ 9.99973131e-01 -2.64415165e-03 6.83714228e-03 6.83528119e+00] [ 2.59067804e-03 9.99966082e-01 7.81811061e-03 -2.62334084e-01] [-6.85758265e-03 -7.80018771e-03 9.99946064e-01 -3.59153966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.754860624 meters 0.10142735738856222 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.26, Z:-0.36 [[ 9.99974384e-01 -2.25030685e-03 6.79470948e-03 6.83532423e+00] [ 2.19297692e-03 9.99962036e-01 8.43313074e-03 -2.64617333e-01] [-6.81342866e-03 -8.41801408e-03 9.99941355e-01 -3.58988961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784860624 meters 0.10296068394659955 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.27, Z:-0.36 [[ 9.99964331e-01 -5.89915949e-03 6.04462985e-03 6.83684865e+00] [ 5.87263352e-03 9.99973090e-01 4.39674519e-03 -2.65127552e-01] [-6.07040429e-03 -4.36109047e-03 9.99972065e-01 -3.58744182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.814860624000001 meters 0.1025069723770459 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.27, Z:-0.36 [[ 9.99967936e-01 -5.21837637e-03 6.07417211e-03 6.83677396e+00] [ 5.18386242e-03 9.99970409e-01 5.68402627e-03 -2.69687402e-01] [-6.10365376e-03 -5.65235634e-03 9.99965398e-01 -3.58565252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844860624 meters 0.10402374632076496 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.27, Z:-0.36 [[ 9.99970349e-01 -4.83654286e-03 5.99243363e-03 6.83682580e+00] [ 4.79887938e-03 9.99968743e-01 6.28369071e-03 -2.71951221e-01] [-6.02263766e-03 -6.25474743e-03 9.99962302e-01 -3.58281991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.874860624 meters 0.10175588483584072 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.28, Z:-0.36 [[ 9.99974098e-01 -4.13966785e-03 5.88778388e-03 6.83697277e+00] [ 4.09569329e-03 9.99963776e-01 7.46132998e-03 -2.76142672e-01] [-5.91845803e-03 -7.43702216e-03 9.99954830e-01 -3.57993805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904860624000001 meters 0.10328103370099763 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.28, Z:-0.36 [[ 9.99961757e-01 -7.30971894e-03 4.80121063e-03 6.83967155e+00] [ 7.29170495e-03 9.99966351e-01 3.75881891e-03 -2.76457046e-01] [-4.82852499e-03 -3.72366615e-03 9.99981410e-01 -3.58505023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.934860624 meters 0.10200512034659787 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.28, Z:-0.36 [[ 9.99965136e-01 -6.97221005e-03 4.59517675e-03 6.83997897e+00] [ 6.95323809e-03 9.99967290e-01 4.13179127e-03 -2.77898721e-01] [-4.62383415e-03 -4.09969586e-03 9.99980906e-01 -3.58226702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964860624 meters 0.09956143277313745 Centerline is valid? [False, True] Translation: X:6.84, Y:-0.28, Z:-0.36 [[ 9.99969750e-01 -6.52261088e-03 4.23735823e-03 6.84078023e+00] [ 6.50341776e-03 9.99968603e-01 4.52759835e-03 -2.79038547e-01] [-4.26675695e-03 -4.49990408e-03 9.99980773e-01 -3.58210898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.994860624000001 meters 0.10130196390090103 Centerline is valid? [True, False] Translation: X:6.84, Y:-0.28, Z:-0.36 [[ 9.99978166e-01 -5.59393345e-03 3.51778768e-03 6.84235920e+00] [ 5.57536500e-03 9.99970590e-01 5.26628466e-03 -2.81136290e-01] [-3.54714347e-03 -5.24655672e-03 9.99979946e-01 -3.58164888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024860624 meters 0.09543884430110831 Centerline is valid? [False, True] Translation: X:6.84, Y:-0.28, Z:-0.36 [[ 9.99980619e-01 -5.32052388e-03 3.23333983e-03 6.84286436e+00] [ 5.30291139e-03 9.99971188e-01 5.43152790e-03 -2.81804073e-01] [-3.26214525e-03 -5.41427652e-03 9.99980022e-01 -3.57961371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.054860624 meters 0.09398673063237142 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.28, Z:-0.36 [[ 9.99990442e-01 -2.50614963e-03 3.58269558e-03 6.87344952e+00] [ 2.50721510e-03 9.99996814e-01 -2.92932459e-04 -2.79120409e-01] [-3.58195003e-03 3.01912248e-04 9.99993539e-01 -3.56150262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084860624000001 meters 0.09749660739252615 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.29, Z:-0.36 [[ 9.99998327e-01 -3.27073920e-04 1.79968196e-03 6.90337409e+00] [ 3.27337635e-04 9.99999936e-01 -1.46241661e-04 -2.89087833e-01] [-1.79963402e-03 1.46830520e-04 9.99998370e-01 -3.60245369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.114860624 meters 0.08973893676130842 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.27, Z:-0.36 [[ 9.99992307e-01 3.91855538e-03 1.76554064e-04 6.93517478e+00] [-3.91855289e-03 9.99992322e-01 -1.44384586e-05 -2.74964743e-01] [-1.76609286e-04 1.37465111e-05 9.99999984e-01 -3.56802695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144860624 meters 0.08874730200543435 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.28, Z:-0.36 [[ 9.99982481e-01 5.91061763e-03 -3.19580085e-04 6.96528579e+00] [-5.91060974e-03 9.99982532e-01 2.56378877e-05 -2.75504085e-01] [ 3.19726038e-04 -2.37485254e-05 9.99999949e-01 -3.57278540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.174860624 meters 0.09136698273996008 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.28, Z:-0.36 [[ 9.99969948e-01 7.74267147e-03 3.91449666e-04 6.99296001e+00] [-7.74265895e-03 9.99970025e-01 -3.34952172e-05 -2.84495161e-01] [-3.91697275e-04 3.04633494e-05 9.99999923e-01 -3.61188326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204860624 meters 0.09133280225633875 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.29, Z:-0.36 [[ 9.99952340e-01 9.73230692e-03 7.74232856e-04 7.02184386e+00] [-9.73226010e-03 9.99952638e-01 -6.42162258e-05 -2.87663840e-01] [-7.74821159e-04 5.66781297e-05 9.99999698e-01 -3.62299201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.234860624000001 meters 0.08855440564660194 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.28, Z:-0.36 [[ 9.99946615e-01 1.01569710e-02 1.89805363e-03 7.05138904e+00] [-1.01566913e-02 9.99948407e-01 -1.56953115e-04 -2.83863228e-01] [-1.89954987e-03 1.37666791e-04 9.99998186e-01 -3.60555450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264860624 meters 0.08934344207446715 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.29, Z:-0.36 [[ 9.99950342e-01 9.80570093e-03 1.77833909e-03 7.07887476e+00] [-9.80545403e-03 9.99951915e-01 -1.47501569e-04 -2.88286199e-01] [-1.77969993e-03 1.30056822e-04 9.99998408e-01 -3.61681740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.294860624 meters 0.08942543229325835 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.29, Z:-0.36 [[ 9.99956936e-01 9.00142354e-03 2.25829593e-03 7.10766726e+00] [-9.00102622e-03 9.99959473e-01 -1.86036860e-04 -2.91207734e-01] [-2.25987900e-03 1.65701868e-04 9.99997433e-01 -3.62125488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324860624000001 meters 0.0910815053724666 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.30, Z:-0.36 [[ 9.99976497e-01 6.45352293e-03 2.31467418e-03 7.13660622e+00] [-6.45310129e-03 9.99979161e-01 -1.89582062e-04 -2.97618953e-01] [-2.31584941e-03 1.74640780e-04 9.99997303e-01 -3.63180280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.354860624 meters 0.09167133416045345 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.30, Z:-0.36 [[ 9.99985665e-01 5.04071749e-03 1.80577082e-03 7.16625158e+00] [-5.04045831e-03 9.99987286e-01 -1.48052824e-04 -3.01592301e-01] [-1.80649415e-03 1.38948789e-04 9.99998359e-01 -3.64808587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384860624 meters 0.09233716805764265 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.31, Z:-0.37 [[ 9.99993146e-01 3.46103360e-03 1.31502658e-03 7.19675337e+00] [-3.46089571e-03 9.99994005e-01 -1.07119616e-04 -3.05274287e-01] [-1.31538944e-03 1.02567711e-04 9.99999130e-01 -3.66436420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.414860624000001 meters 0.09235555250905145 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.31, Z:-0.37 [[ 9.99997536e-01 2.17212971e-03 4.58186025e-04 7.22646140e+00] [-2.17211262e-03 9.99997640e-01 -3.78026212e-05 -3.07895684e-01] [-4.58267056e-04 3.68072964e-05 9.99999894e-01 -3.66984035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444860624 meters 0.09424851626278073 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.31, Z:-0.37 [[ 9.99998092e-01 -1.90076060e-03 -4.51491529e-04 7.25678804e+00] [ 1.90077742e-03 9.99998193e-01 3.68142645e-05 -3.13789007e-01] [ 4.51420738e-04 -3.76723791e-05 9.99999897e-01 -3.68988878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.474860624 meters 0.09337710774816936 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.31, Z:-0.37 [[ 9.99991883e-01 -3.98574167e-03 -5.90241143e-04 7.28805432e+00] [ 3.98577103e-03 9.99992056e-01 4.85771449e-05 -3.14532326e-01] [ 5.90042837e-04 -5.09293166e-05 9.99999825e-01 -3.68093224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504860624 meters 0.09793006873907002 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.33, Z:-0.37 [[ 9.99973193e-01 -7.31731234e-03 -2.64851361e-04 7.31656916e+00] [ 7.31731836e-03 9.99973228e-01 2.17882733e-05 -3.25595081e-01] [ 2.64684839e-04 -2.37256910e-05 9.99999965e-01 -3.70812460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.534860624 meters 0.10256846408553572 Centerline is valid? [True, False] Translation: X:7.32, Y:-0.33, Z:-0.37 [[ 9.99970320e-01 -7.69798961e-03 3.16318103e-04 7.31538585e+00] [ 7.69794993e-03 9.99970362e-01 1.26463189e-04 -3.26269045e-01] [-3.17282241e-04 -1.24024435e-04 9.99999942e-01 -3.70821143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564860624 meters 0.1026616410012576 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.33, Z:-0.37 [[ 9.99971028e-01 -7.60065636e-03 4.15649465e-04 7.31540596e+00] [ 7.60047923e-03 9.99971025e-01 4.26097087e-04 -3.26807199e-01] [-4.18876039e-04 -4.22925607e-04 9.99999823e-01 -3.71171210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.594860624 meters 0.10157486934226555 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.33, Z:-0.37 [[ 9.99971595e-01 -7.52171830e-03 4.82045015e-04 7.31555000e+00] [ 7.52141007e-03 9.99971510e-01 6.38080823e-04 -3.27035832e-01] [-4.86830746e-04 -6.34437040e-04 9.99999680e-01 -3.71587127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624860624 meters 0.10157486934226555 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.33, Z:-0.37 [[ 9.99971595e-01 -7.52171830e-03 4.82045015e-04 7.31555000e+00] [ 7.52141007e-03 9.99971510e-01 6.38080823e-04 -3.27035832e-01] [-4.86830746e-04 -6.34437040e-04 9.99999680e-01 -3.71587127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.654860624000001 meters 0.10657679162825212 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.33, Z:-0.37 [[ 9.99971624e-01 -7.51174489e-03 5.70372805e-04 7.31568036e+00] [ 7.51134277e-03 9.99971542e-01 7.03904566e-04 -3.26818124e-01] [-5.75644125e-04 -6.99600326e-04 9.99999590e-01 -3.72047889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684860624 meters 0.10625020675954414 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.33, Z:-0.37 [[ 9.99970186e-01 -7.69322520e-03 6.64995581e-04 7.31569345e+00] [ 7.69287354e-03 9.99970269e-01 5.29757806e-04 -3.25883443e-01] [-6.69051356e-04 -5.24626284e-04 9.99999639e-01 -3.72371531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.714860624 meters 0.11085157019201684 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.33, Z:-0.37 [[ 9.99970367e-01 -7.66572501e-03 7.08246192e-04 7.31584765e+00] [ 7.66529758e-03 9.99970439e-01 6.04260331e-04 -3.25717217e-01] [-7.12857348e-04 -5.98813508e-04 9.99999567e-01 -3.72704419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744860624000001 meters 0.11248043907193428 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.33, Z:-0.37 [[ 9.99989873e-01 -4.19703084e-03 1.62440779e-03 7.31357757e+00] [ 4.18942035e-03 9.99980364e-01 4.66046939e-03 -3.26923842e-01] [-1.64393603e-03 -4.65361686e-03 9.99987821e-01 -3.72135015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.774860624 meters 0.10731352918432094 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.33, Z:-0.37 [[ 9.99989419e-01 -4.28817745e-03 1.66551440e-03 7.31335234e+00] [ 4.28052499e-03 9.99980390e-01 4.57135589e-03 -3.26929635e-01] [-1.68508453e-03 -4.56417824e-03 9.99988164e-01 -3.71924615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804860624 meters 0.11843766519691931 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.33, Z:-0.37 [[ 9.99987882e-01 -4.41344621e-03 2.18130943e-03 7.31247028e+00] [ 4.40261086e-03 9.99978070e-01 4.94744893e-03 -3.28402891e-01] [-2.20309689e-03 -4.93778552e-03 9.99985382e-01 -3.72139619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.834860624000001 meters 0.12069082812221495 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.33, Z:-0.37 [[ 9.99987583e-01 -4.42507855e-03 2.29168403e-03 7.31216044e+00] [ 4.41346624e-03 9.99977521e-01 5.04766096e-03 -3.29008449e-01] [-2.31396881e-03 -5.03748401e-03 9.99984635e-01 -3.72006828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864860624 meters 0.11861251081076565 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.33, Z:-0.37 [[ 9.99986256e-01 -4.68352012e-03 2.35626871e-03 7.31171297e+00] [ 4.67234202e-03 9.99977911e-01 4.72733011e-03 -3.28563645e-01] [-2.37835721e-03 -4.71625585e-03 9.99986050e-01 -3.71562214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.894860624 meters 0.12090992839980108 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.33, Z:-0.37 [[ 9.99985130e-01 -4.96439454e-03 2.25712681e-03 7.31196015e+00] [ 4.95493808e-03 9.99979004e-01 4.17606333e-03 -3.26630957e-01] [-2.27781104e-03 -4.16481730e-03 9.99988733e-01 -3.71626829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924860624 meters 0.11213536609772118 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.33, Z:-0.37 [[ 9.99985575e-01 -5.01003741e-03 1.93624859e-03 7.31258460e+00] [ 5.00268307e-03 9.99980325e-01 3.78460277e-03 -3.25387428e-01] [-1.95517149e-03 -3.77486174e-03 9.99990964e-01 -3.71512944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.954860624 meters 0.11163186319563878 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.32, Z:-0.37 [[ 9.99986415e-01 -4.93549887e-03 1.67637040e-03 7.31345010e+00] [ 4.92939812e-03 9.99981283e-01 3.62410412e-03 -3.24292934e-01] [-1.69422578e-03 -3.61579139e-03 9.99992028e-01 -3.71964849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984860624000001 meters 0.11265292516740529 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.32, Z:-0.37 [[ 9.99987148e-01 -4.89904721e-03 1.30504766e-03 7.31431836e+00] [ 4.89480629e-03 9.99982793e-01 3.23323613e-03 -3.22625858e-01] [-1.32086498e-03 -3.22680662e-03 9.99993921e-01 -3.72121690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.014860624 meters 0.11265213086133177 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.32, Z:-0.37 [[ 9.99986678e-01 -5.05459392e-03 1.04639388e-03 7.31465393e+00] [ 5.05173714e-03 9.99983554e-01 2.71499112e-03 -3.21223466e-01] [-1.06009985e-03 -2.70966884e-03 9.99995767e-01 -3.71807289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044860624 meters 0.11327693751819388 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.37 [[ 9.99986690e-01 -5.09919861e-03 7.86011116e-04 7.31525023e+00] [ 5.09733790e-03 9.99984244e-01 2.35138236e-03 -3.19769898e-01] [-7.97988897e-04 -2.34734449e-03 9.99996927e-01 -3.71857184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.074860624000001 meters 0.10996056570898433 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.37 [[ 9.99986901e-01 -5.09626319e-03 4.75159172e-04 7.31588293e+00] [ 5.09527437e-03 9.99984898e-01 2.05951888e-03 -3.18594493e-01] [-4.85647846e-04 -2.05707084e-03 9.99997766e-01 -3.71803689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104860624 meters 0.11390787078528625 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.37 [[ 9.99985800e-01 -5.32200883e-03 2.74201602e-04 7.31626472e+00] [ 5.32160723e-03 9.99984796e-01 1.44507905e-03 -3.16336896e-01] [-2.81888157e-04 -1.44359934e-03 9.99998918e-01 -3.71753664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.134860624 meters 0.108850374365808 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.37 [[ 9.99984676e-01 -5.53078476e-03 2.39673822e-04 7.31617846e+00] [ 5.53052452e-03 9.99984131e-01 1.07320227e-03 -3.15383794e-01] [-2.45605669e-04 -1.07186030e-03 9.99999395e-01 -3.71521825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164860624000001 meters 0.11480267405915874 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.37 [[ 9.99985102e-01 -5.45623546e-03 1.57844095e-04 7.31650532e+00] [ 5.45606398e-03 9.99984546e-01 1.06709270e-03 -3.15106946e-01] [-1.63663965e-04 -1.06621560e-03 9.99999418e-01 -3.71720760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.194860624 meters 0.11281418524560191 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99985646e-01 -5.35785086e-03 4.43163765e-05 7.31690944e+00] [ 5.35779871e-03 9.99985038e-01 1.10329083e-03 -3.14973505e-01] [-5.02269812e-05 -1.10303755e-03 9.99999390e-01 -3.71926430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224860624 meters 0.11755779189269606 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99985911e-01 -5.30821763e-03 3.61801658e-05 7.31737550e+00] [ 5.30817233e-03 9.99985245e-01 1.15447179e-03 -3.14381782e-01] [-4.23078194e-05 -1.15426347e-03 9.99999333e-01 -3.72570369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.254860624 meters 0.11860965642671385 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99985644e-01 -5.35826428e-03 -4.18183776e-05 7.31755062e+00] [ 5.35830420e-03 9.99985123e-01 1.02133841e-03 -3.13731119e-01] [ 3.63451544e-05 -1.02154782e-03 9.99999478e-01 -3.72593985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284860624 meters 0.10546435996467934 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99984411e-01 -5.58259029e-03 -1.13453485e-04 7.31745978e+00] [ 5.58266524e-03 9.99984191e-01 6.71356185e-04 -3.12759435e-01] [ 1.09703785e-04 -6.71979092e-04 9.99999768e-01 -3.72291154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.314860624 meters 0.11912351542164952 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99984337e-01 -5.59470447e-03 -1.60990207e-04 7.31749332e+00] [ 5.59480499e-03 9.99984150e-01 6.30885373e-04 -3.12544514e-01] [ 1.57458038e-04 -6.31776200e-04 9.99999788e-01 -3.72216125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344860624 meters 0.11976028428973191 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99985020e-01 -5.47027672e-03 -1.91744154e-04 7.31776373e+00] [ 5.47042145e-03 9.99984746e-01 7.62583540e-04 -3.12691880e-01] [ 1.87569686e-04 -7.63621037e-04 9.99999691e-01 -3.72492408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.374860624 meters 0.12204749244617842 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99985878e-01 -5.31117058e-03 -1.85493801e-04 7.31800193e+00] [ 5.31135328e-03 9.99985396e-01 9.98787660e-04 -3.13060467e-01] [ 1.80186361e-04 -9.99758779e-04 9.99999484e-01 -3.72833822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404860624000001 meters 0.12302793133968007 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99986615e-01 -5.17163954e-03 -1.57956112e-04 7.31813462e+00] [ 5.17183375e-03 9.99985839e-01 1.25491870e-03 -3.13596889e-01] [ 1.51463888e-04 -1.25571883e-03 9.99999200e-01 -3.73119755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.434860624 meters 0.1251519033223767 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99987496e-01 -4.99719942e-03 -1.91071730e-04 7.31857830e+00] [ 4.99749281e-03 9.99986284e-01 1.56713643e-03 -3.14011101e-01] [ 1.83237816e-04 -1.56807171e-03 9.99998754e-01 -3.73681560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464860624 meters 0.1100421152670648 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99988099e-01 -4.87116905e-03 -2.72532228e-04 7.31893175e+00] [ 4.87163903e-03 9.99986600e-01 1.75128771e-03 -3.14201134e-01] [ 2.63997757e-04 -1.75259455e-03 9.99998429e-01 -3.73954651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.494860624000001 meters 0.12789077175588762 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99989141e-01 -4.64743546e-03 -3.46097052e-04 7.31941941e+00] [ 4.64814381e-03 9.99987045e-01 2.07481635e-03 -3.14624187e-01] [ 3.36449993e-04 -2.07640253e-03 9.99997788e-01 -3.74443720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524860624 meters 0.10897402497627003 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.37 [[ 9.99990507e-01 -4.33063613e-03 -4.81349553e-04 7.31993567e+00] [ 4.33181517e-03 9.99987552e-01 2.47599469e-03 -3.15537636e-01] [ 4.70620929e-04 -2.47805630e-03 9.99996819e-01 -3.74742061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.554860624 meters 0.11079498934402218 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.37 [[ 9.99990647e-01 -4.31459477e-03 -3.01330945e-04 7.31948357e+00] [ 4.31539440e-03 9.99987029e-01 2.70545796e-03 -3.16673472e-01] [ 2.89654081e-04 -2.70673302e-03 9.99996295e-01 -3.74612836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584860624000001 meters 0.11253493418394245 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.37 [[ 9.99989891e-01 -4.48833041e-03 -2.71277031e-04 7.31910094e+00] [ 4.48899863e-03 9.99986762e-01 2.51497814e-03 -3.16568931e-01] [ 2.59985387e-04 -2.51617048e-03 9.99996801e-01 -3.74167266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.614860624 meters 0.1126261302063305 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.37 [[ 9.99989159e-01 -4.64691146e-03 -2.96463813e-04 7.31890688e+00] [ 4.64757952e-03 9.99986569e-01 2.29401415e-03 -3.16145273e-01] [ 2.85799750e-04 -2.29536712e-03 9.99997325e-01 -3.73828603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644860624 meters 0.11163149527141049 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.37 [[ 9.99989385e-01 -4.59298157e-03 -3.65898977e-04 7.31918127e+00] [ 4.59381996e-03 9.99986747e-01 2.32440145e-03 -3.15861650e-01] [ 3.55218195e-04 -2.32605766e-03 9.99997232e-01 -3.74019977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.674860624 meters 0.11202370852464695 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99988400e-01 -4.79004522e-03 -5.04933144e-04 7.31915641e+00] [ 4.79095696e-03 9.99986867e-01 1.82019754e-03 -3.14483733e-01] [ 4.96207684e-04 -1.82259554e-03 9.99998216e-01 -3.73572484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704860624 meters 0.10885689862296569 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99989205e-01 -4.58575483e-03 -7.48996050e-04 7.31984412e+00] [ 4.58716552e-03 9.99987688e-01 1.89270846e-03 -3.14318070e-01] [ 7.40307331e-04 -1.89612380e-03 9.99997928e-01 -3.73778312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.734860624000001 meters 0.10920081791050504 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99989692e-01 -4.44172725e-03 -9.41724550e-04 7.32049169e+00] [ 4.44349510e-03 9.99988354e-01 1.88353971e-03 -3.13840535e-01] [ 9.33347412e-04 -1.88770485e-03 9.99997783e-01 -3.74104462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764860624 meters 0.10785247143925351 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99989903e-01 -4.34294448e-03 -1.15475111e-03 7.32110425e+00] [ 4.34501739e-03 9.99988943e-01 1.79871140e-03 -3.13320512e-01] [ 1.14692664e-03 -1.80371065e-03 9.99997716e-01 -3.74292967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.794860624 meters 0.10557505618257611 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99990202e-01 -4.24206012e-03 -1.26495652e-03 7.32179428e+00] [ 4.24433786e-03 9.99989367e-01 1.80343033e-03 -3.12528750e-01] [ 1.25729281e-03 -1.80878157e-03 9.99997574e-01 -3.74956079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824860624000001 meters 0.10956619860752964 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99989829e-01 -4.32011173e-03 -1.29593019e-03 7.32170868e+00] [ 4.32223486e-03 9.99989314e-01 1.64000343e-03 -3.12321172e-01] [ 1.28883134e-03 -1.64558807e-03 9.99997815e-01 -3.74738097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.854860624 meters 0.10838703368844464 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99990508e-01 -4.08853087e-03 -1.50606853e-03 7.32234451e+00] [ 4.09129227e-03 9.99989947e-01 1.83502287e-03 -3.12556850e-01] [ 1.49855084e-03 -1.84116722e-03 9.99997182e-01 -3.74986653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884860624 meters 0.10591974447825464 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.37 [[ 9.99990676e-01 -4.03657496e-03 -1.53442570e-03 7.32242169e+00] [ 4.03947320e-03 9.99990054e-01 1.89042661e-03 -3.12772354e-01] [ 1.52677960e-03 -1.89660726e-03 9.99997036e-01 -3.74998615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.914860624000001 meters 0.11151017787075901 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.38 [[ 9.99991023e-01 -3.89252225e-03 -1.67421085e-03 7.32298350e+00] [ 3.89589419e-03 9.99990380e-01 2.01552153e-03 -3.12524509e-01] [ 1.66634928e-03 -2.02202598e-03 9.99996567e-01 -3.75383292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944860624 meters 0.1039076413728506 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.38 [[ 9.99990589e-01 -4.01289054e-03 -1.64865418e-03 7.32276249e+00] [ 4.01593069e-03 9.99990234e-01 1.84486324e-03 -3.12362715e-01] [ 1.64123484e-03 -1.85146676e-03 9.99996939e-01 -3.75128396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.974860624 meters 0.10515645948148927 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.38 [[ 9.99991253e-01 -3.77347825e-03 -1.80404513e-03 7.32318758e+00] [ 3.77723790e-03 9.99990692e-01 2.08516430e-03 -3.13021134e-01] [ 1.79616001e-03 -2.09196037e-03 9.99996199e-01 -3.75216110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004860624 meters 0.10597902653769954 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.31, Z:-0.38 [[ 9.99991508e-01 -3.66657749e-03 -1.88136202e-03 7.32340604e+00] [ 3.67070677e-03 9.99990851e-01 2.19609870e-03 -3.13366703e-01] [ 1.87329264e-03 -2.20298598e-03 9.99995819e-01 -3.75278796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.034860624 meters 0.10520833073097803 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.38 [[ 9.99992917e-01 -3.24509590e-03 -1.90660116e-03 7.32376450e+00] [ 3.25056687e-03 9.99990589e-01 2.87342756e-03 -3.15151826e-01] [ 1.89725867e-03 -2.87960474e-03 9.99994054e-01 -3.75680671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064860624 meters 0.10375934813905091 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.38 [[ 9.99993585e-01 -2.98120590e-03 -1.98551349e-03 7.32401607e+00] [ 2.98767314e-03 9.99990216e-01 3.26225048e-03 -3.16259941e-01] [ 1.97576862e-03 -3.26816162e-03 9.99992708e-01 -3.75782187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.094860624 meters 0.10467199273258442 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.38 [[ 9.99994300e-01 -2.69471522e-03 -2.03446287e-03 7.32438725e+00] [ 2.70218814e-03 9.99989580e-01 3.67939758e-03 -3.17178333e-01] [ 2.02452674e-03 -3.68487411e-03 9.99991161e-01 -3.76146193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124860624 meters 0.10684609576221553 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.38 [[ 9.99994652e-01 -2.60335974e-03 -1.97955278e-03 7.32412203e+00] [ 2.61120309e-03 9.99988710e-01 3.96997686e-03 -3.18600492e-01] [ 1.96919515e-03 -3.97512465e-03 9.99990160e-01 -3.75907419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.154860624000001 meters 0.10694980843552551 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.38 [[ 9.99994846e-01 -2.51048238e-03 -2.00126263e-03 7.32422379e+00] [ 2.51868482e-03 9.99988396e-01 4.10670666e-03 -3.19098160e-01] [ 1.99092959e-03 -4.11172604e-03 9.99989565e-01 -3.75961305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184860624 meters 0.10909737313079645 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.38 [[ 9.99994464e-01 -2.60492108e-03 -2.07057441e-03 7.32413395e+00] [ 2.61302005e-03 9.99988909e-01 3.91842599e-03 -3.18929152e-01] [ 2.06034426e-03 -3.92381474e-03 9.99990179e-01 -3.75601695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.214860624 meters 0.10723496106009157 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.38 [[ 9.99994626e-01 -2.34307076e-03 -2.29292521e-03 7.32485091e+00] [ 2.35256672e-03 9.99988632e-01 4.14752234e-03 -3.19070306e-01] [ 2.28318121e-03 -4.15289431e-03 9.99988770e-01 -3.75933306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244860624000001 meters 0.10341763173898279 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.38 [[ 9.99994076e-01 -2.44102201e-03 -2.42660096e-03 7.32464486e+00] [ 2.45042231e-03 9.99989476e-01 3.87846052e-03 -3.18890960e-01] [ 2.41710802e-03 -3.88438375e-03 9.99989535e-01 -3.75198179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.274860624 meters 0.10698275547917517 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.38 [[ 9.99994028e-01 -2.32386923e-03 -2.55792404e-03 7.32496754e+00] [ 2.33394688e-03 9.99989499e-01 3.94387121e-03 -3.18953293e-01] [ 2.54873214e-03 -3.94981771e-03 9.99988951e-01 -3.75236289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304860624 meters 0.10266359082410485 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.37 [[ 9.99993678e-01 -2.39695432e-03 -2.62633858e-03 7.32489267e+00] [ 2.40681910e-03 9.99990037e-01 3.75939424e-03 -3.18792732e-01] [ 2.61730132e-03 -3.76569160e-03 9.99989485e-01 -3.74897808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.334860624000001 meters 0.10296024351543015 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.37 [[ 9.99993414e-01 -2.41137570e-03 -2.71246571e-03 7.32495105e+00] [ 2.42138379e-03 9.99990251e-01 3.69245428e-03 -3.18823741e-01] [ 2.70353537e-03 -3.69899788e-03 9.99989504e-01 -3.74690815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364860624 meters 0.11005844543868877 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.32, Z:-0.38 [[ 9.99993900e-01 -2.04199649e-03 -2.83370356e-03 7.32580795e+00] [ 2.05386257e-03 9.99989109e-01 4.19091064e-03 -3.19432181e-01] [ 2.82511487e-03 -4.19670511e-03 9.99987203e-01 -3.75546461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.394860624 meters 0.10150642077892319 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.32, Z:-0.38 [[ 9.99993793e-01 -2.09217462e-03 -2.83496661e-03 7.32574860e+00] [ 2.10381081e-03 9.99989350e-01 4.10777601e-03 -3.19393081e-01] [ 2.82634223e-03 -4.11371475e-03 9.99987544e-01 -3.75447970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424860624 meters 0.10287767940021192 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.32, Z:-0.38 [[ 9.99993765e-01 -2.16924022e-03 -2.78655026e-03 7.32554427e+00] [ 2.18038320e-03 9.99989615e-01 4.00205029e-03 -3.19392510e-01] [ 2.77783991e-03 -4.00810108e-03 9.99988109e-01 -3.75283880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.454860624 meters 0.10332192289166632 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.32, Z:-0.38 [[ 9.99993885e-01 -2.02366557e-03 -2.85223035e-03 7.32563667e+00] [ 2.03567916e-03 9.99989043e-01 4.21540937e-03 -3.20127857e-01] [ 2.84366852e-03 -4.22118982e-03 9.99987047e-01 -3.75199520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484860624000001 meters 0.10348503141676325 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.32, Z:-0.37 [[ 9.99993796e-01 -2.06933074e-03 -2.85063288e-03 7.32542966e+00] [ 2.08129441e-03 9.99989013e-01 4.20029431e-03 -3.20462434e-01] [ 2.84190976e-03 -4.20620125e-03 9.99987116e-01 -3.74902122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.514860624 meters 0.10348503141676325 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.32, Z:-0.37 [[ 9.99993796e-01 -2.06933074e-03 -2.85063288e-03 7.32542966e+00] [ 2.08129441e-03 9.99989013e-01 4.20029431e-03 -3.20462434e-01] [ 2.84190976e-03 -4.20620125e-03 9.99987116e-01 -3.74902122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544860624 meters 0.10498781325348056 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.32, Z:-0.37 [[ 9.99994022e-01 -1.90689237e-03 -2.88437418e-03 7.32546306e+00] [ 1.91984708e-03 9.99988053e-01 4.49526081e-03 -3.21441873e-01] [ 2.87576775e-03 -4.50077150e-03 9.99985736e-01 -3.74829046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.574860624000001 meters 0.10107049396555134 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.37 [[ 9.99994491e-01 -2.04208117e-03 -2.61678822e-03 7.32441869e+00] [ 2.05422688e-03 9.99987092e-01 4.64720559e-03 -3.22806193e-01] [ 2.60726447e-03 -4.65255547e-03 9.99985778e-01 -3.74117365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604860624 meters 0.10180692621424585 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.37 [[ 9.99994836e-01 -1.97115584e-03 -2.53828564e-03 7.32416804e+00] [ 1.98347065e-03 9.99986231e-01 4.85828168e-03 -3.23759540e-01] [ 2.52867426e-03 -4.86329121e-03 9.99984977e-01 -3.73965563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.634860624 meters 0.10249558344514877 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.32, Z:-0.37 [[ 9.99995098e-01 -1.86179787e-03 -2.51767274e-03 7.32411776e+00] [ 1.87460561e-03 9.99985266e-01 5.09438092e-03 -3.24677122e-01] [ 2.50815094e-03 -5.09907559e-03 9.99983854e-01 -3.73953412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664860624000001 meters 0.11012008868443687 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.33, Z:-0.37 [[ 9.99995556e-01 -1.66985498e-03 -2.46985430e-03 7.32412731e+00] [ 1.68333484e-03 9.99983646e-01 5.46578281e-03 -3.25906291e-01] [ 2.46068684e-03 -5.46991611e-03 9.99982012e-01 -3.74078055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.694860624 meters 0.10362817997226159 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.33, Z:-0.37 [[ 9.99996066e-01 -1.47122356e-03 -2.38830984e-03 7.32402829e+00] [ 1.48547238e-03 9.99981044e-01 5.97529879e-03 -3.27580507e-01] [ 2.37947357e-03 -5.97882305e-03 9.99979296e-01 -3.74189208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724860624 meters 0.10146559187046371 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.33, Z:-0.37 [[ 9.99995832e-01 -1.44809927e-03 -2.49762311e-03 7.32411968e+00] [ 1.46306808e-03 9.99980918e-01 6.00184621e-03 -3.27831945e-01] [ 2.48888418e-03 -6.00547539e-03 9.99978870e-01 -3.73978100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.754860624 meters 0.10280674361786876 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.33, Z:-0.37 [[ 9.99995793e-01 -1.35461322e-03 -2.56511407e-03 7.32422863e+00] [ 1.37035904e-03 9.99980170e-01 6.14667300e-03 -3.28246652e-01] [ 2.55673684e-03 -6.15016226e-03 9.99977819e-01 -3.73934582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784860624 meters 0.10371121451380488 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.33, Z:-0.37 [[ 9.99995777e-01 -1.22978324e-03 -2.63328864e-03 7.32423216e+00] [ 1.24646253e-03 9.99979114e-01 6.34177016e-03 -3.29036191e-01] [ 2.62543464e-03 -6.34502568e-03 9.99976424e-01 -3.73727702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.814860624 meters 0.10109491645302342 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.33, Z:-0.37 [[ 9.99996111e-01 -7.94955946e-04 -2.67305805e-03 7.32434280e+00] [ 8.13905648e-04 9.99974495e-01 7.09554835e-03 -3.31410279e-01] [ 2.66734922e-03 -7.09769637e-03 9.99971254e-01 -3.73748877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844860624 meters 0.10031447139871909 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.33, Z:-0.37 [[ 9.99996213e-01 -6.41941813e-04 -2.67632579e-03 7.32437597e+00] [ 6.61686443e-04 9.99972525e-01 7.38316756e-03 -3.32353783e-01] [ 2.67151269e-03 -7.38491049e-03 9.99969163e-01 -3.73776492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.874860624 meters 0.10058185735817887 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.33, Z:-0.37 [[ 9.99996411e-01 -5.82939241e-04 -2.61499996e-03 7.32420655e+00] [ 6.02686920e-04 9.99971262e-01 7.55727331e-03 -3.33046534e-01] [ 2.61051937e-03 -7.55882222e-03 9.99968024e-01 -3.73711404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904860624000001 meters 0.10094408072245249 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.33, Z:-0.37 [[ 9.99985072e-01 -4.22300673e-03 -3.46735687e-03 7.32586758e+00] [ 4.23503524e-03 9.99985015e-01 3.46908847e-03 -3.32899023e-01] [ 3.45265493e-03 -3.48372107e-03 9.99987971e-01 -3.73546609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.934860624 meters 0.1023408278185268 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.33, Z:-0.37 [[ 9.99985559e-01 -3.95791906e-03 -3.63539881e-03 7.32631851e+00] [ 3.97155658e-03 9.99985075e-01 3.75178592e-03 -3.33652817e-01] [ 3.62049529e-03 -3.76616993e-03 9.99986354e-01 -3.73649856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964860624 meters 0.09998615013103868 Centerline is valid? [False, True] Translation: X:7.33, Y:-0.33, Z:-0.37 [[ 9.99985675e-01 -3.84795826e-03 -3.72058705e-03 7.32647350e+00] [ 3.86239307e-03 9.99985012e-01 3.88034522e-03 -3.34081264e-01] [ 3.70559988e-03 -3.89466000e-03 9.99985550e-01 -3.73608841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.994860624000001 meters 0.09846743391348295 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.33, Z:-0.37 [[ 9.99981600e-01 -3.35396199e-03 -5.05471491e-03 7.35672545e+00] [ 3.35654872e-03 9.99994240e-01 5.03349373e-04 -3.34603932e-01] [ 5.05299758e-03 -5.20306509e-04 9.99987098e-01 -3.72944577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024860624 meters 0.09824140527096867 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.34, Z:-0.37 [[ 9.99984718e-01 -2.89579044e-03 -4.70945893e-03 7.38614640e+00] [ 2.89802836e-03 9.99995691e-01 4.68443484e-04 -3.38046411e-01] [ 4.70808212e-03 -4.82084470e-04 9.99988801e-01 -3.73961448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.054860624 meters 0.09751437661226861 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.34, Z:-0.37 [[ 9.99987822e-01 -2.22224092e-03 -4.40651171e-03 7.41624528e+00] [ 2.22419473e-03 9.99997430e-01 4.38538688e-04 -3.40500339e-01] [ 4.40552584e-03 -4.48334288e-04 9.99990195e-01 -3.73407071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084860624000001 meters 0.09817772901919247 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.35, Z:-0.37 [[ 9.99990407e-01 -1.12342491e-03 -4.23364985e-03 7.44464643e+00] [ 1.12521483e-03 9.99999279e-01 4.20424669e-04 -3.45239821e-01] [ 4.23317448e-03 -4.25184402e-04 9.99990950e-01 -3.74487750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.114860624 meters 0.09804353938027564 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.35, Z:-0.37 [[ 9.99994112e-01 -2.24846108e-05 -3.43154205e-03 7.47468265e+00] [ 2.36556425e-05 9.99999942e-01 3.41215030e-04 -3.48968330e-01] [ 3.43153418e-03 -3.41294196e-04 9.99994054e-01 -3.74788591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144860624 meters 0.0975060519290813 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.35, Z:-0.38 [[ 9.99991295e-01 2.37177396e-03 -3.43297328e-03 7.50529944e+00] [-2.37061503e-03 9.99997132e-01 3.41617722e-04 -3.52040336e-01] [ 3.43377367e-03 -3.33476490e-04 9.99994049e-01 -3.75243294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.174860624 meters 0.09214958359794563 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.35, Z:-0.37 [[ 9.99987417e-01 3.20909368e-03 -3.85583557e-03 7.53470788e+00] [-3.20764395e-03 9.99994782e-01 3.82109260e-04 -3.45317092e-01] [ 3.85704167e-03 -3.69736304e-04 9.99992493e-01 -3.72979724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204860624 meters 0.09410849469851931 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.35, Z:-0.37 [[ 9.99984266e-01 4.87104511e-03 -2.78216192e-03 7.56347704e+00] [-4.87029608e-03 9.99988102e-01 2.75939959e-04 -3.51890953e-01] [ 2.78347293e-03 -2.62385665e-04 9.99996092e-01 -3.74405980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.234860624 meters 0.09868554390564027 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.36, Z:-0.38 [[ 9.99981764e-01 5.37516896e-03 -2.75312569e-03 7.58997739e+00] [-5.37444066e-03 9.99985521e-01 2.71868119e-04 -3.63110692e-01] [ 2.75454717e-03 -2.57066650e-04 9.99996173e-01 -3.77622516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264860624 meters 0.09464027561827637 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.36, Z:-0.38 [[ 9.99976852e-01 6.25009126e-03 -2.68929205e-03 7.61933402e+00] [-6.24939923e-03 9.99980437e-01 2.65654288e-04 -3.59607375e-01] [ 2.69089981e-03 -2.48841679e-04 9.99996349e-01 -3.76276763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.294860624 meters 0.09363597583724315 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.36, Z:-0.38 [[ 9.99974171e-01 6.54123259e-03 -2.97819634e-03 7.64830418e+00] [-6.54038530e-03 9.99978568e-01 2.94149544e-04 -3.61145573e-01] [ 2.98005661e-03 -2.74663395e-04 9.99995522e-01 -3.76422611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324860624000001 meters 0.09179424626010435 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.36, Z:-0.38 [[ 9.99971269e-01 6.95441328e-03 -3.01616497e-03 7.67677040e+00] [-6.95354668e-03 9.99975779e-01 2.97709363e-04 -3.61617842e-01] [ 3.01816231e-03 -2.76727766e-04 9.99995407e-01 -3.77092976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.354860624 meters 0.09381073754391042 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.37, Z:-0.38 [[ 9.99971297e-01 7.16440046e-03 -2.46495724e-03 7.70448755e+00] [-7.16382448e-03 9.99974310e-01 2.42416923e-04 -3.67606942e-01] [ 2.46663069e-03 -2.24751444e-04 9.99996933e-01 -3.77971380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384860624 meters 0.09309002328745003 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.37, Z:-0.38 [[ 9.99964030e-01 8.00385562e-03 -2.80650820e-03 7.73343230e+00] [-8.00311083e-03 9.99967936e-01 2.76510738e-04 -3.68695324e-01] [ 2.80863136e-03 -2.54039996e-04 9.99996024e-01 -3.78466519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.414860624000001 meters 0.09192538920110702 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.37, Z:-0.38 [[ 9.99956969e-01 8.90186065e-03 -2.61105796e-03 7.76232195e+00] [-8.90121972e-03 9.99960350e-01 2.56986606e-04 -3.69247071e-01] [ 2.61324209e-03 -2.33733946e-04 9.99996558e-01 -3.78282597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444860624 meters 0.09628845436610405 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.38, Z:-0.38 [[ 9.99947609e-01 9.90385562e-03 -2.58719726e-03 7.78978101e+00] [-9.90323009e-03 9.99950929e-01 2.54480507e-04 -3.79836951e-01] [ 2.58959064e-03 -2.28845565e-04 9.99996621e-01 -3.81466013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.474860624 meters 0.09020242537552739 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.37, Z:-0.38 [[ 9.99913269e-01 1.29932909e-02 -2.15170434e-03 7.82139124e+00] [-1.29928630e-02 9.99915567e-01 2.12707867e-04 -3.71103405e-01] [ 2.15428644e-03 -1.84732619e-04 9.99997662e-01 -3.80356723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504860624 meters 0.09126332375160683 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.37, Z:-0.38 [[ 9.99888068e-01 1.47742251e-02 -2.36072811e-03 7.84992711e+00] [-1.47737166e-02 9.99890836e-01 2.32679194e-04 -3.74902632e-01] [ 2.36390806e-03 -1.97776422e-04 9.99997186e-01 -3.81709818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.534860624 meters 0.08799302703393647 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.37, Z:-0.38 [[ 9.99825498e-01 1.86594383e-02 -8.93517411e-04 7.88104667e+00] [-1.86593675e-02 9.99825895e-01 8.75824491e-05 -3.69212207e-01] [ 8.94996084e-04 -7.08946961e-05 9.99999597e-01 -3.80880543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564860624 meters 0.08714603091762696 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.37, Z:-0.38 [[ 9.99780671e-01 2.09284203e-02 -7.81424393e-04 7.91160023e+00] [-2.09283666e-02 9.99780975e-01 7.68673694e-05 -3.69459424e-01] [ 7.82861954e-04 -6.04965740e-05 9.99999692e-01 -3.81123964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.594860624 meters 0.08665347010732875 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.37, Z:-0.38 [[ 9.99754594e-01 2.20932074e-02 -1.62534480e-03 7.94035467e+00] [-2.20929777e-02 9.99755908e-01 1.59124026e-04 -3.69248451e-01] [ 1.62846363e-03 -1.23176269e-04 9.99998666e-01 -3.81694400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624860624 meters 0.08717564929548031 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.37, Z:-0.38 [[ 9.99721784e-01 2.35582383e-02 -1.16786625e-03 7.96915213e+00] [-2.35581204e-02 9.99722462e-01 1.14604323e-04 -3.72205151e-01] [ 1.17024199e-03 -8.70597042e-05 9.99999311e-01 -3.82992068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.654860624000001 meters 0.08515689551476792 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.37, Z:-0.38 [[ 9.99659429e-01 2.60513488e-02 -1.53394430e-03 7.99929835e+00] [-2.60511481e-02 9.99660600e-01 1.50684532e-04 -3.69111268e-01] [ 1.53734921e-03 -1.10672203e-04 9.99998812e-01 -3.84146515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684860624 meters 0.08518084544829425 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.37, Z:-0.39 [[ 9.99634789e-01 2.69992645e-02 -1.15291815e-03 8.02715377e+00] [-2.69991532e-02 9.99635450e-01 1.11996095e-04 -3.70849713e-01] [ 1.15552166e-03 -8.08273789e-05 9.99999329e-01 -3.86409843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.714860624 meters 0.08483008836469838 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.37, Z:-0.39 [[ 9.99602279e-01 2.81764788e-02 -1.17004779e-03 8.05631633e+00] [-2.81763642e-02 9.99602961e-01 1.14309937e-04 -3.72168378e-01] [ 1.17280409e-03 -8.12967808e-05 9.99999309e-01 -3.87041948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744860624000001 meters 0.08475160633653672 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.37, Z:-0.39 [[ 9.99577701e-01 2.90108638e-02 -1.67026560e-03 8.08533731e+00] [-2.90106315e-02 9.99579090e-01 1.63175418e-04 -3.72773557e-01] [ 1.67429643e-03 -1.14651049e-04 9.99998592e-01 -3.87583820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.774860624 meters 0.08385959318669203 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.37, Z:-0.39 [[ 9.99537661e-01 3.03168523e-02 -2.31353449e-03 8.11489618e+00] [-3.03164115e-02 9.99540327e-01 2.25393025e-04 -3.69448359e-01] [ 2.31930423e-03 -1.55150753e-04 9.99997298e-01 -3.88751319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804860624 meters 0.08275391364596359 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.37, Z:-0.39 [[ 9.99493291e-01 3.17400501e-02 -2.39399628e-03 8.14439024e+00] [-3.17395793e-02 9.99496145e-01 2.34402349e-04 -3.68696283e-01] [ 2.40023000e-03 -1.58299140e-04 9.99997107e-01 -3.88719558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.834860624000001 meters 0.08167945801186542 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.37, Z:-0.39 [[ 9.99451361e-01 3.30212032e-02 -2.56472114e-03 8.17343082e+00] [-3.30206682e-02 9.99454638e-01 2.50671737e-04 -3.67377681e-01] [ 2.57159992e-03 -1.65845403e-04 9.99996680e-01 -3.89557942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864860624 meters 0.08117770736539365 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.37, Z:-0.39 [[ 9.99353091e-01 3.58270033e-02 -3.13442212e-03 8.20255531e+00] [-3.58262152e-02 9.99357988e-01 3.07249742e-04 -3.66194578e-01] [ 3.14341762e-03 -1.94756498e-04 9.99995040e-01 -3.90549850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.894860624 meters 0.08092385150535177 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.37, Z:-0.39 [[ 9.99296060e-01 3.73060283e-02 -3.95530486e-03 8.23053911e+00] [-3.73047894e-02 9.99303859e-01 3.86574038e-04 -3.66042782e-01] [ 3.96697296e-03 -2.38750098e-04 9.99992103e-01 -3.90729884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924860624 meters 0.0803998152099134 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.37, Z:-0.39 [[ 9.99229698e-01 3.90668210e-02 -3.71410599e-03 8.26100469e+00] [-3.90657362e-02 9.99236576e-01 3.64187748e-04 -3.66224116e-01] [ 3.72549821e-03 -2.18812929e-04 9.99993036e-01 -3.91127142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.954860624 meters 0.08104746703113712 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.37, Z:-0.39 [[ 9.99184043e-01 4.01410702e-02 -4.46582380e-03 8.28877789e+00] [-4.01395199e-02 9.99193989e-01 4.36281816e-04 -3.68087095e-01] [ 4.47973712e-03 -2.56669805e-04 9.99989933e-01 -3.91867829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984860624 meters 0.07874740762076585 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.36, Z:-0.39 [[ 9.99042348e-01 4.35383640e-02 -4.33566659e-03 8.31915036e+00] [-4.35369311e-02 9.99051728e-01 4.24373783e-04 -3.62253469e-01] [ 4.35003174e-03 -2.35205762e-04 9.99990511e-01 -3.91073732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.014860624 meters 0.07818076560541108 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.36, Z:-0.39 [[ 9.98960144e-01 4.53137918e-02 -5.02896553e-03 8.34862290e+00] [-4.53119098e-02 9.98972769e-01 4.87608395e-04 -3.61331155e-01] [ 5.04589501e-03 -2.59229320e-04 9.99987236e-01 -3.92025504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044860624 meters 0.07808954819442591 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.36, Z:-0.39 [[ 9.98869076e-01 4.72041110e-02 -5.68696895e-03 8.37636154e+00] [-4.72017235e-02 9.98885224e-01 5.53378347e-04 -3.61181323e-01] [ 5.70675099e-03 -2.84317781e-04 9.99983676e-01 -3.92856500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.074860624000001 meters 0.07725972444644556 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.36, Z:-0.39 [[ 9.98649282e-01 5.16202561e-02 -5.91274999e-03 8.40699713e+00] [-5.16177393e-02 9.98666749e-01 5.77567998e-04 -3.57264041e-01] [ 5.93468102e-03 -2.71585079e-04 9.99982353e-01 -3.94165067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104860624 meters 0.07640874119762348 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.36, Z:-0.39 [[ 9.98536819e-01 5.37754955e-02 -5.69352160e-03 8.43705403e+00] [-5.37732007e-02 9.98553020e-01 5.55478970e-04 -3.55778019e-01] [ 5.71515435e-03 -2.48507324e-04 9.99983637e-01 -3.94857705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.134860624 meters 0.07606986670314948 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.35, Z:-0.40 [[ 9.98464649e-01 5.51164888e-02 -5.52419249e-03 8.46644166e+00] [-5.51143756e-02 9.98479905e-01 5.34148092e-04 -3.54887555e-01] [ 5.54523556e-03 -2.28865567e-04 9.99984599e-01 -3.95138901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164860624000001 meters 0.07546774644240002 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.35, Z:-0.40 [[ 9.98267137e-01 5.86674831e-02 -4.56605834e-03 8.49586984e+00] [-5.86660637e-02 9.98277564e-01 4.44286399e-04 -3.51518490e-01] [ 4.58425876e-03 -1.75643842e-04 9.99989477e-01 -3.96072047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.194860624 meters 0.0754296616870654 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.35, Z:-0.40 [[ 9.98227742e-01 5.93121087e-02 -4.84231057e-03 8.52468567e+00] [-5.93105438e-02 9.98239471e-01 4.66251791e-04 -3.51200490e-01] [ 4.86143992e-03 -1.78225400e-04 9.99988167e-01 -3.96452324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224860624 meters 0.0756825472579588 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.35, Z:-0.40 [[ 9.98257879e-01 5.87775040e-02 -5.13927244e-03 8.55366781e+00] [-5.87757385e-02 9.98271090e-01 4.94015372e-04 -3.50223329e-01] [ 5.15942409e-03 -1.91090204e-04 9.99986672e-01 -3.97068462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.254860624 meters 0.07636923308234969 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.35, Z:-0.40 [[ 9.98331897e-01 5.74952698e-02 -5.26476350e-03 8.58105582e+00] [-5.74933852e-02 9.98345758e-01 5.08738371e-04 -3.53663654e-01] [ 5.28530435e-03 -2.05200667e-04 9.99986012e-01 -3.99629492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284860624 meters 0.07633305591911965 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.35, Z:-0.40 [[ 9.98392120e-01 5.64428824e-02 -5.23210092e-03 8.60947921e+00] [-5.64410282e-02 9.98405809e-01 5.01478995e-04 -3.54771656e-01] [ 5.25206487e-03 -2.05367522e-04 9.99986187e-01 -3.99923933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.314860624 meters 0.07638557121796673 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.36, Z:-0.40 [[ 9.98486697e-01 5.47437746e-02 -5.23794228e-03 8.63762880e+00] [-5.47418851e-02 9.98500412e-01 5.03520637e-04 -3.56259522e-01] [ 5.25765215e-03 -2.16023823e-04 9.99986155e-01 -4.00511954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344860624 meters 0.07852863675170849 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.36, Z:-0.40 [[ 9.98669755e-01 5.13136245e-02 -5.06284531e-03 8.66564767e+00] [-5.13118120e-02 9.98682562e-01 4.87342283e-04 -3.62651667e-01] [ 5.08118263e-03 -2.26910231e-04 9.99987065e-01 -4.04406273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.374860624 meters 0.07993741666771192 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.37, Z:-0.41 [[ 9.98759250e-01 4.95093834e-02 -5.36482960e-03 8.69340155e+00] [-4.95073227e-02 9.98773627e-01 5.16314312e-04 -3.67142783e-01] [ 5.38381272e-03 -2.50075345e-04 9.99985476e-01 -4.06258031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404860624 meters 0.07993741666771192 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.37, Z:-0.41 [[ 9.98770941e-01 4.92729247e-02 -5.36531597e-03 8.72069143e+00] [-4.92708876e-02 9.98785321e-01 5.11265315e-04 -3.69628331e-01] [ 5.38399038e-03 -2.46283059e-04 9.99985476e-01 -4.06846496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.434860624 meters 0.07913146866172373 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.37, Z:-0.41 [[ 9.98843378e-01 4.78180036e-02 -5.03432755e-03 8.74964790e+00] [-4.78161963e-02 9.98856037e-01 4.78816369e-04 -3.68373589e-01] [ 5.05146451e-03 -2.37540165e-04 9.99987213e-01 -4.06100987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464860624 meters 0.07958356406327606 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.37, Z:-0.41 [[ 9.99016244e-01 4.40433988e-02 -5.16947076e-03 8.77967942e+00] [-4.40414204e-02 9.99029583e-01 4.95982704e-04 -3.68520414e-01] [ 5.18629898e-03 -2.67823943e-04 9.99986515e-01 -4.06729297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.494860624000001 meters 0.08022897012952736 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.37, Z:-0.41 [[ 9.99100726e-01 4.21927497e-02 -4.18472612e-03 8.80816087e+00] [-4.21914597e-02 9.99109465e-01 3.96099781e-04 -3.72380455e-01] [ 4.19771202e-03 -2.19183875e-04 9.99991166e-01 -4.07905636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524860624 meters 0.08095489150936087 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.38, Z:-0.41 [[ 9.99184685e-01 4.02364796e-02 -3.31533850e-03 8.83696505e+00] [-4.02356506e-02 9.99190168e-01 3.16392006e-04 -3.76762367e-01] [ 3.32538414e-03 -1.82739245e-04 9.99994454e-01 -4.08621068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.554860624 meters 0.08211878885559848 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.38, Z:-0.41 [[ 9.99314753e-01 3.69457577e-02 -2.24378691e-03 8.86710582e+00] [-3.69453690e-02 9.99317264e-01 2.14443409e-04 -3.80701594e-01] [ 2.25017777e-03 -1.31398927e-04 9.99997460e-01 -4.08918607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584860624000001 meters 0.08205123761430771 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.38, Z:-0.41 [[ 9.99368589e-01 3.54745079e-02 -1.99572213e-03 8.89619498e+00] [-3.54742076e-02 9.99370575e-01 1.85720873e-04 -3.81719148e-01] [ 2.00105433e-03 -1.14806946e-04 9.99997991e-01 -4.08851868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.614860624 meters 0.08546089190252242 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.39, Z:-0.41 [[ 9.99440286e-01 3.33694746e-02 -2.36472011e-03 8.92350443e+00] [-3.33690377e-02 9.99443073e-01 2.23992479e-04 -3.90626592e-01] [ 2.37087765e-03 -1.44958673e-04 9.99997179e-01 -4.11498900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644860624 meters 0.08806113420840096 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.40, Z:-0.41 [[ 9.99471718e-01 3.24223733e-02 -2.25273713e-03 8.95040539e+00] [-3.24219750e-02 9.99474247e-01 2.13125013e-04 -3.97242579e-01] [ 2.25846277e-03 -1.39974235e-04 9.99997440e-01 -4.14116216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.674860624 meters 0.08559859503062855 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.39, Z:-0.41 [[ 9.99517931e-01 3.09107539e-02 -2.90369050e-03 8.98074352e+00] [-3.09100818e-02 9.99522131e-01 2.76073155e-04 -3.93246805e-01] [ 2.91083655e-03 -1.86186758e-04 9.99995746e-01 -4.12969813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704860624 meters 0.0867448743671427 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.40, Z:-0.42 [[ 9.99553091e-01 2.96759334e-02 -3.59975585e-03 9.01034188e+00] [-2.96748923e-02 9.99559545e-01 3.42301544e-04 -3.97458983e-01] [ 3.60832844e-03 -2.35326199e-04 9.99993462e-01 -4.16016771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.734860624 meters 0.08601134173217222 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.40, Z:-0.42 [[ 9.99560182e-01 2.93427426e-02 -4.29479370e-03 9.03872029e+00] [-2.93412630e-02 9.99569370e-01 4.07129307e-04 -3.97261249e-01] [ 4.30489052e-03 -2.80935573e-04 9.99990694e-01 -4.16555682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764860624 meters 0.0903422102482747 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.41, Z:-0.42 [[ 9.99569806e-01 2.90438079e-02 -4.08175989e-03 9.06549164e+00] [-2.90424706e-02 9.99578104e-01 3.86533502e-04 -4.07787539e-01] [ 4.09126422e-03 -2.67822826e-04 9.99991595e-01 -4.21194651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.794860624 meters 0.08699644834166981 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.40, Z:-0.42 [[ 9.99520210e-01 3.05109362e-02 -5.33221476e-03 9.09496635e+00] [-3.05086718e-02 9.99534374e-01 5.05504142e-04 -3.98607005e-01] [ 5.34515535e-03 -3.42582816e-04 9.99985656e-01 -4.20307449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824860624000001 meters 0.08732125666216341 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.40, Z:-0.42 [[ 9.99496613e-01 3.14331641e-02 -4.29854039e-03 9.12432210e+00] [-3.14316998e-02 9.99505819e-01 4.07794565e-04 -3.99918530e-01] [ 4.30923440e-03 -2.72478855e-04 9.99990678e-01 -4.20446719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.854860624 meters 0.08665323268675953 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.40, Z:-0.42 [[ 9.99418716e-01 3.40583387e-02 -1.50300394e-03 9.15382775e+00] [-3.40581630e-02 9.99419842e-01 1.42390097e-04 -3.97890714e-01] [ 1.50698153e-03 -9.11177751e-05 9.99998860e-01 -4.20422802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884860624 meters 0.08320631046477171 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.39, Z:-0.42 [[ 9.99371536e-01 3.54468491e-02 -2.32766989e-04 9.18447770e+00] [-3.54468450e-02 9.99371563e-01 2.14094364e-05 -3.91531272e-01] [ 2.33379607e-04 -1.31451260e-05 9.99999973e-01 -4.17692624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.914860624000001 meters 0.08546062742844382 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.40, Z:-0.42 [[ 9.99305509e-01 3.72500481e-02 9.66530803e-04 9.21319377e+00] [-3.72499761e-02 9.99305975e-01 -9.24528940e-05 -3.95344110e-01] [-9.69303880e-04 5.63854370e-05 9.99999529e-01 -4.20509150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944860624 meters 0.08613871464470134 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.40, Z:-0.42 [[ 9.99324254e-01 3.67501670e-02 6.78889740e-04 9.24139976e+00] [-3.67501306e-02 9.99324484e-01 -6.60306324e-05 -3.97659335e-01] [-6.80857775e-04 4.10367258e-05 9.99999767e-01 -4.21293912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.974860624 meters 0.08509608639603763 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.40, Z:-0.42 [[ 9.99352363e-01 3.59382591e-02 1.81526097e-03 9.27082457e+00] [-3.59380031e-02 9.99354006e-01 -1.73427761e-04 -3.96360134e-01] [-1.82032101e-03 1.08078588e-04 9.99998337e-01 -4.20265050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004860624 meters 0.08371721304632378 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.39, Z:-0.42 [[ 9.99386968e-01 3.49976757e-02 9.22696631e-04 9.29957305e+00] [-3.49976074e-02 9.99387392e-01 -9.01301165e-05 -3.94787651e-01] [-9.25285724e-04 5.77826895e-05 9.99999570e-01 -4.19971641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.034860624 meters 0.08706913586177949 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.40, Z:-0.42 [[ 9.99520256e-01 3.09651102e-02 6.48644324e-04 9.32779329e+00] [-3.09650768e-02 9.99520465e-01 -6.13706101e-05 -4.03388559e-01] [-6.50233624e-04 4.12558466e-05 9.99999788e-01 -4.23010301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064860624 meters 0.08595390175423924 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.40, Z:-0.42 [[ 9.99591267e-01 2.85860270e-02 3.71773569e-04 9.35819263e+00] [-2.85860157e-02 9.99591336e-01 -3.55689898e-05 -4.03614817e-01] [-3.72638414e-04 2.49269265e-05 9.99999930e-01 -4.22183770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.094860624 meters 0.08782591900774293 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.41, Z:-0.42 [[ 9.99669357e-01 2.56991508e-02 8.55020889e-04 9.38689198e+00] [-2.56990903e-02 9.99669721e-01 -8.16053776e-05 -4.10746417e-01] [-8.56835682e-04 5.96051363e-05 9.99999631e-01 -4.24027514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124860624 meters 0.0915951942800366 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.42, Z:-0.43 [[ 9.99748830e-01 2.23859155e-02 1.07172852e-03 9.41518207e+00] [-2.23858190e-02 9.99749401e-01 -1.01911692e-04 -4.21720400e-01] [-1.07374133e-03 7.78945737e-05 9.99999421e-01 -4.26312352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.154860624 meters 0.09260099123109261 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.43, Z:-0.43 [[ 9.99861370e-01 1.66111388e-02 1.14492215e-03 9.44559860e+00] [-1.66110256e-02 9.99862022e-01 -1.08268493e-04 -4.26525096e-01] [-1.14656264e-03 8.92351523e-05 9.99999339e-01 -4.26224724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184860624 meters 0.11841850936889452 Centerline is valid? [True, False] Translation: X:9.52, Y:-0.43, Z:-0.42 [[ 9.99946885e-01 1.00798401e-02 -2.15029070e-03 9.51967430e+00] [-1.00785766e-02 9.99949031e-01 5.97624564e-04 -4.31562077e-01] [ 2.15620506e-03 -5.75920952e-04 9.99997510e-01 -4.24522023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.214860624 meters 0.10092656393750697 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.42, Z:-0.42 [[ 9.99976918e-01 6.78182525e-03 -4.13108689e-04 9.42892437e+00] [-6.78138501e-03 9.99976447e-01 1.05790058e-03 -4.23265227e-01] [ 4.20273456e-04 -1.05507471e-03 9.99999355e-01 -4.24549270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244860624000001 meters 0.09843147684928111 Centerline is valid? [False, True] Translation: X:9.43, Y:-0.42, Z:-0.42 [[ 9.99996720e-01 2.51675257e-03 -4.74296550e-04 9.42909787e+00] [-2.51818859e-03 9.99992173e-01 -3.05180783e-03 -4.23435149e-01] [ 4.66612192e-04 3.05299219e-03 9.99995231e-01 -4.24746357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.274860624 meters 0.0998300475070109 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.43, Z:-0.43 [[ 9.99999979e-01 -1.04967120e-04 -1.75462553e-04 9.45837980e+00] [ 1.04969840e-04 9.99999994e-01 1.54922501e-05 -4.30466161e-01] [ 1.75460926e-04 -1.55106680e-05 9.99999984e-01 -4.26020484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304860624 meters 0.09999195932998657 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.43, Z:-0.43 [[ 9.99997908e-01 -2.01054696e-03 -3.75931983e-04 9.48866506e+00] [ 2.01055983e-03 9.99997978e-01 3.38617919e-05 -4.33773872e-01] [ 3.75863143e-04 -3.46175548e-05 9.99999929e-01 -4.25968778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.334860624000001 meters 0.10223094487221301 Centerline is valid? [True, False] Translation: X:9.49, Y:-0.43, Z:-0.43 [[ 9.99998022e-01 -1.97514392e-03 -2.33327197e-04 9.48835808e+00] [ 1.97521198e-03 9.99998007e-01 2.91831730e-04 -4.34556946e-01] [ 2.32750323e-04 -2.92292024e-04 9.99999930e-01 -4.26014107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364860624 meters 0.10351218858846517 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.44, Z:-0.43 [[ 9.99997698e-01 -2.14532066e-03 -2.46392738e-05 9.48768886e+00] [ 2.14532932e-03 9.99997635e-01 3.57115016e-04 -4.35080695e-01] [ 2.38730893e-05 -3.57167053e-04 9.99999936e-01 -4.25766589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.394860624 meters 0.10378455754283908 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.44, Z:-0.43 [[ 9.99998045e-01 -1.97127920e-03 -1.52609465e-04 9.48802137e+00] [ 1.97136068e-03 9.99997913e-01 5.35603950e-04 -4.35541160e-01] [ 1.51553321e-04 -5.35903752e-04 9.99999845e-01 -4.25816947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424860624 meters 0.10517314964526962 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.44, Z:-0.43 [[ 9.99998373e-01 -1.79454807e-03 -1.83476216e-04 9.48828783e+00] [ 1.79470147e-03 9.99998037e-01 8.39324801e-04 -4.36073453e-01] [ 1.81969647e-04 -8.39652721e-04 9.99999631e-01 -4.26134121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.454860624 meters 0.10333509266118113 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.44, Z:-0.43 [[ 9.99998889e-01 -1.48027535e-03 -1.74073572e-04 9.48861986e+00] [ 1.48051362e-03 9.99997956e-01 1.37674747e-03 -4.37276403e-01] [ 1.72035251e-04 -1.37700366e-03 9.99999037e-01 -4.26674821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484860624 meters 0.10464325799939492 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.44, Z:-0.43 [[ 9.99998964e-01 -1.43358175e-03 -1.26253212e-04 9.48843544e+00] [ 1.43377267e-03 9.99997809e-01 1.52533429e-03 -4.38015043e-01] [ 1.24066244e-04 -1.52551373e-03 9.99998829e-01 -4.26556031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.514860624 meters 0.10854924656425034 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.44, Z:-0.43 [[ 9.99999215e-01 -1.24568121e-03 -1.37233739e-04 9.48858798e+00] [ 1.24593744e-03 9.99997451e-01 1.88311112e-03 -4.38950714e-01] [ 1.34887633e-04 -1.88328063e-03 9.99998218e-01 -4.26767124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544860624 meters 0.10549860229795163 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.44, Z:-0.43 [[ 9.99999591e-01 -8.99412261e-04 -9.48993664e-05 9.48870971e+00] [ 8.99655387e-04 9.99996231e-01 2.59377875e-03 -4.40982353e-01] [ 9.25661324e-05 -2.59386307e-03 9.99996632e-01 -4.27095751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.574860624000001 meters 0.10724820689581213 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.44, Z:-0.43 [[ 9.99999677e-01 -7.98938133e-04 -8.36933882e-05 9.48864749e+00] [ 7.99171188e-04 9.99995697e-01 2.82262330e-03 -4.41799540e-01] [ 8.14379266e-05 -2.82268928e-03 9.99996013e-01 -4.27044449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604860624 meters 0.10694328424390923 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.44, Z:-0.43 [[ 9.99999644e-01 -8.42276019e-04 4.62666973e-05 9.48817279e+00] [ 8.42134486e-04 9.99995210e-01 2.97836361e-03 -4.42623040e-01] [-4.87750799e-05 -2.97832358e-03 9.99995564e-01 -4.26785008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.634860624 meters 0.10966760590966364 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.44, Z:-0.43 [[ 9.99988807e-01 -4.70860229e-03 -4.64678144e-04 9.48908118e+00] [ 4.70813740e-03 9.99988420e-01 -9.96534040e-04 -4.43586775e-01] [ 4.69365046e-04 9.94335116e-04 9.99999395e-01 -4.26340319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664860624000001 meters 0.11038314411458222 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.45, Z:-0.43 [[ 9.99990472e-01 -4.34561995e-03 -4.15178856e-04 9.48927175e+00] [ 4.34552406e-03 9.99990531e-01 -2.31581273e-04 -4.45437106e-01] [ 4.16181289e-04 2.29774896e-04 9.99999887e-01 -4.26825558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.694860624 meters 0.11363877992363641 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.45, Z:-0.43 [[ 9.99992172e-01 -3.94282558e-03 -3.32525334e-04 9.48943214e+00] [ 3.94304138e-03 9.99992014e-01 6.50845994e-04 -4.47590739e-01] [ 3.29956506e-04 -6.52152060e-04 9.99999733e-01 -4.27407138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724860624 meters 0.11744140694603346 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.45, Z:-0.43 [[ 9.99993065e-01 -3.72420981e-03 -2.12780014e-06 9.48870285e+00] [ 3.72420855e-03 9.99991826e-01 1.57423181e-03 -4.51007578e-01] [-3.73498682e-06 -1.57422882e-03 9.99998761e-01 -4.27394131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.754860624 meters 0.11984912100736803 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.45, Z:-0.43 [[ 9.99994733e-01 -3.24502443e-03 -5.66066176e-05 9.48912774e+00] [ 3.24515045e-03 9.99991879e-01 2.38979147e-03 -4.53038996e-01] [ 4.88512262e-05 -2.38996258e-03 9.99997143e-01 -4.27855971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784860624 meters 0.11966966784223969 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.45, Z:-0.43 [[ 9.99995506e-01 -2.99500712e-03 -1.33029469e-04 9.48928043e+00] [ 2.99536655e-03 9.99991624e-01 2.78930562e-03 -4.54409606e-01] [ 1.24674364e-04 -2.78969155e-03 9.99996101e-01 -4.27813694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.814860624 meters 0.11916090424868316 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.46, Z:-0.43 [[ 9.99996123e-01 -2.77624225e-03 -2.13412642e-04 9.48928199e+00] [ 2.77690575e-03 9.99991106e-01 3.17425739e-03 -4.55928341e-01] [ 2.04598237e-04 -3.17483772e-03 9.99994939e-01 -4.27522870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844860624 meters 0.11167495160481425 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.46, Z:-0.43 [[ 9.99996690e-01 -2.54990023e-03 -3.43260367e-04 9.48943695e+00] [ 2.55107360e-03 9.99990752e-01 3.46241355e-03 -4.57056828e-01] [ 3.34428383e-04 -3.46327777e-03 9.99993947e-01 -4.27280227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874860624 meters 0.1156991900488077 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.46, Z:-0.43 [[ 9.99997251e-01 -2.31713772e-03 -3.58705672e-04 9.48948660e+00] [ 2.31849916e-03 9.99989929e-01 3.84270529e-03 -4.58342406e-01] [ 3.49797982e-04 -3.84352638e-03 9.99992552e-01 -4.27280395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904860624 meters 0.11182006600399529 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.46, Z:-0.43 [[ 9.99998543e-01 -1.61784187e-03 -5.44907778e-04 9.49017805e+00] [ 1.62046798e-03 9.99986907e-01 4.85389626e-03 -4.61214719e-01] [ 5.37047807e-04 -4.85477219e-03 9.99988071e-01 -4.27629589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.934860624 meters 0.12000936633813801 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.46, Z:-0.43 [[ 9.99998781e-01 -1.46754536e-03 -5.32373300e-04 9.49011252e+00] [ 1.47025376e-03 9.99985796e-01 5.12319479e-03 -4.62284777e-01] [ 5.24847217e-04 -5.12397127e-03 9.99986735e-01 -4.27557619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964860624 meters 0.1254685416827336 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.46, Z:-0.43 [[ 9.99999035e-01 -1.25432012e-03 -5.97077714e-04 9.49022666e+00] [ 1.25755254e-03 9.99984388e-01 5.44450777e-03 -4.63392270e-01] [ 5.90239236e-04 -5.44525337e-03 9.99985000e-01 -4.27493588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.994860624000001 meters 0.11784559021018717 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.46, Z:-0.43 [[ 9.99999253e-01 -1.02362420e-03 -6.68456099e-04 9.49039212e+00] [ 1.02748080e-03 9.99982682e-01 5.79477826e-03 -4.64487919e-01] [ 6.62512847e-04 -5.79546075e-03 9.99982987e-01 -4.27491165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024860624 meters 0.12597163314268237 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.46, Z:-0.43 [[ 9.99988747e-01 -4.42531874e-03 -1.70974266e-03 9.49279518e+00] [ 4.42854982e-03 9.99988407e-01 1.89066392e-03 -4.64549470e-01] [ 1.70135605e-03 -1.89821433e-03 9.99996751e-01 -4.27650339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.054860624 meters 0.11069062937314386 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.47, Z:-0.43 [[ 9.99990604e-01 -3.94026859e-03 -1.80713310e-03 9.49278546e+00] [ 3.94504268e-03 9.99988718e-01 2.64589651e-03 -4.67378576e-01] [ 1.79668717e-03 -2.65300087e-03 9.99994867e-01 -4.27269378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084860623999997 meters 0.11104480548292064 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.47, Z:-0.43 [[ 9.99991096e-01 -3.75477164e-03 -1.92609118e-03 9.49287892e+00] [ 3.76026673e-03 9.99988848e-01 2.85732836e-03 -4.68350991e-01] [ 1.91534108e-03 -2.86454553e-03 9.99994063e-01 -4.26975432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.114860624 meters 0.10824323151963444 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.47, Z:-0.43 [[ 9.99991468e-01 -3.53099946e-03 -2.14362395e-03 9.49324265e+00] [ 3.53752631e-03 9.99989096e-01 3.04865589e-03 -4.69160854e-01] [ 2.13283577e-03 -3.05621300e-03 9.99993055e-01 -4.26750826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144860624 meters 0.10843035051692952 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.47, Z:-0.43 [[ 9.99992332e-01 -2.87391117e-03 -2.66009847e-03 9.49427166e+00] [ 2.88355048e-03 9.99989265e-01 3.62695140e-03 -4.70993286e-01] [ 2.64964638e-03 -3.63459412e-03 9.99989884e-01 -4.26504422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.174860623999997 meters 0.1069184261502129 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.47, Z:-0.43 [[ 9.99992000e-01 -2.72202055e-03 -2.93098935e-03 9.49466513e+00] [ 2.73265308e-03 9.99989679e-01 3.62975305e-03 -4.71331869e-01] [ 2.92107883e-03 -3.63773339e-03 9.99989117e-01 -4.26165063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204860624 meters 0.10538336171035118 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.47, Z:-0.43 [[ 9.99991787e-01 -2.56824439e-03 -3.13523812e-03 9.49507151e+00] [ 2.57978695e-03 9.99989890e-01 3.68308016e-03 -4.71578618e-01] [ 3.12574737e-03 -3.69113816e-03 9.99988303e-01 -4.26074642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.234860624 meters 0.10609970902024436 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.47, Z:-0.43 [[ 9.99992151e-01 -1.83647481e-03 -3.51077479e-03 9.49604040e+00] [ 1.85222492e-03 9.99988212e-01 4.48824617e-03 -4.73978258e-01] [ 3.50249086e-03 -4.49471368e-03 9.99983765e-01 -4.26217526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264860623999997 meters 0.10587665655311082 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.48, Z:-0.43 [[ 9.99992339e-01 -1.46732218e-03 -3.62886574e-03 9.49641749e+00] [ 1.48527759e-03 9.99986645e-01 4.95020276e-03 -4.75478682e-01] [ 3.62155373e-03 -4.95555471e-03 9.99981163e-01 -4.26334765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.294860624 meters 0.10587665655311082 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.48, Z:-0.43 [[ 9.99992339e-01 -1.46732218e-03 -3.62886574e-03 9.49641749e+00] [ 1.48527759e-03 9.99986645e-01 4.95020276e-03 -4.75478682e-01] [ 3.62155373e-03 -4.95555471e-03 9.99981163e-01 -4.26334765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324860624 meters 0.10005224710360197 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.48, Z:-0.43 [[ 9.99992266e-01 -1.20442886e-03 -3.74408262e-03 9.49659174e+00] [ 1.22422609e-03 9.99985259e-01 5.28981814e-03 -4.76749001e-01] [ 3.73765622e-03 -5.29436083e-03 9.99979000e-01 -4.26188328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.354860623999997 meters 0.09733870973873415 Centerline is valid? [False, True] Translation: X:9.50, Y:-0.48, Z:-0.43 [[ 9.99991565e-01 -8.17575811e-04 -4.02521983e-03 9.49679757e+00] [ 8.40549250e-04 9.99983350e-01 5.70899526e-03 -4.78585475e-01] [ 4.02048527e-03 -5.71233050e-03 9.99975602e-01 -4.25541947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384860623999998 meters 0.09784753579365515 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.48, Z:-0.42 [[ 9.99991922e-01 3.78949762e-04 -4.00149327e-03 9.52584202e+00] [-3.77473370e-04 9.99999860e-01 3.69708943e-04 -4.80975706e-01] [ 4.00163281e-03 -3.68195500e-04 9.99991926e-01 -4.23642109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.414860624 meters 0.09744332774239457 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.48, Z:-0.42 [[ 9.99990834e-01 2.25770304e-03 -3.63792298e-03 9.55432584e+00] [-2.25649704e-03 9.99997398e-01 3.35580304e-04 -4.84501249e-01] [ 3.63867115e-03 -3.27368266e-04 9.99993326e-01 -4.23927950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444860623999997 meters 0.09449678623975853 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.48, Z:-0.42 [[ 9.99980788e-01 5.22867679e-03 -3.32946250e-03 9.58472038e+00] [-5.22768029e-03 9.99986288e-01 3.07930408e-04 -4.83622766e-01] [ 3.33102692e-03 -2.90519127e-04 9.99994410e-01 -4.23082311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.474860623999998 meters 0.095219050505823 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.49, Z:-0.42 [[ 9.99974685e-01 6.58721737e-03 -2.69039258e-03 9.61370645e+00] [-6.58657341e-03 9.99978278e-01 2.48144527e-04 -4.88966296e-01] [ 2.69196872e-03 -2.30417777e-04 9.99996350e-01 -4.23301562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504860624 meters 0.10308322017089523 Centerline is valid? [True, False] Translation: X:9.61, Y:-0.49, Z:-0.42 [[ 9.99973847e-01 6.70275131e-03 -2.71615282e-03 9.61357046e+00] [-6.70162208e-03 9.99977454e-01 4.24633966e-04 -4.89889034e-01] [ 2.71893779e-03 -4.06420231e-04 9.99996221e-01 -4.22988291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.534860624 meters 0.10414282410846802 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.49, Z:-0.42 [[ 9.99990375e-01 2.79850157e-03 -3.37903788e-03 9.61447579e+00] [-2.81136102e-03 9.99988802e-01 -3.80692103e-03 -4.90150220e-01] [ 3.36834636e-03 3.81638408e-03 9.99987045e-01 -4.22275795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564860623999998 meters 0.09311698323415282 Centerline is valid? [False, True] Translation: X:9.61, Y:-0.49, Z:-0.42 [[ 9.99989312e-01 3.13951589e-03 -3.39388318e-03 9.61476116e+00] [-3.15062381e-03 9.99989682e-01 -3.27254741e-03 -4.91456791e-01] [ 3.38357395e-03 3.28320529e-03 9.99988886e-01 -4.22608248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.594860624 meters 0.09352545640444046 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.50, Z:-0.42 [[ 9.99992947e-01 2.55631653e-03 -2.75144476e-03 9.64289092e+00] [-2.55566537e-03 9.99996705e-01 2.40151300e-04 -4.97769291e-01] [ 2.75204960e-03 -2.33117834e-04 9.99996186e-01 -4.24534267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624860624 meters 0.09584231142064303 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.51, Z:-0.43 [[ 9.99995354e-01 -1.47237618e-05 -3.04808655e-03 9.67163899e+00] [ 1.55383061e-05 9.99999964e-01 2.67207827e-04 -5.07534739e-01] [ 3.04808250e-03 -2.67253947e-04 9.99995319e-01 -4.27471514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.654860623999998 meters 0.09617052778148309 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.51, Z:-0.43 [[ 9.99992751e-01 -2.06490713e-03 -3.19892542e-03 9.70178351e+00] [ 2.06581383e-03 9.99997827e-01 2.80161090e-04 -5.11470409e-01] [ 3.19833996e-03 -2.86767444e-04 9.99994844e-01 -4.28026679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684860624 meters 0.09568826996054629 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.51, Z:-0.43 [[ 9.99984030e-01 -4.12468394e-03 -3.86343946e-03 9.73165274e+00] [ 4.12602162e-03 9.99991431e-01 3.38333407e-04 -5.14540796e-01] [ 3.86201083e-03 -3.54268638e-04 9.99992480e-01 -4.28656223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.714860624 meters 0.09963027559614243 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.53, Z:-0.43 [[ 9.99977386e-01 -5.74032383e-03 -3.50387699e-03 9.76004324e+00] [ 5.74143365e-03 9.99983471e-01 3.06763873e-04 -5.26400352e-01] [ 3.50205815e-03 -3.26874213e-04 9.99993814e-01 -4.30556644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744860623999998 meters 0.10188352140921757 Centerline is valid? [True, False] Translation: X:9.76, Y:-0.53, Z:-0.43 [[ 9.99980671e-01 -5.29085917e-03 -3.26558558e-03 9.75986621e+00] [ 5.29569652e-03 9.99984891e-01 1.47444689e-03 -5.29854365e-01] [ 3.25773515e-03 -1.49171194e-03 9.99993581e-01 -4.30952578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.774860624 meters 0.10288190954220902 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.53, Z:-0.43 [[ 9.99982060e-01 -5.11725588e-03 -3.11338671e-03 9.75943919e+00] [ 5.12372514e-03 9.99984724e-01 2.07347053e-03 -5.31931505e-01] [ 3.10272867e-03 -2.08938547e-03 9.99993004e-01 -4.30737538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804860624 meters 0.10055485202000873 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.53, Z:-0.43 [[ 9.99982417e-01 -5.10716388e-03 -3.01378539e-03 9.75913382e+00] [ 5.11394154e-03 9.99984403e-01 2.24548139e-03 -5.32674047e-01] [ 3.00227034e-03 -2.26085423e-03 9.99992937e-01 -4.30602593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.834860623999997 meters 0.09989480637097908 Centerline is valid? [False, True] Translation: X:9.76, Y:-0.53, Z:-0.43 [[ 9.99984251e-01 -4.68854924e-03 -3.08473732e-03 9.75956259e+00] [ 4.69736873e-03 9.99984883e-01 2.85806677e-03 -5.34247951e-01] [ 3.07129050e-03 -2.87251191e-03 9.99991158e-01 -4.30944850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864860624 meters 0.09953981828256452 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.54, Z:-0.43 [[ 9.99981477e-01 -5.26619770e-03 -3.05168468e-03 9.79050847e+00] [ 5.26712092e-03 9.99986085e-01 2.94570143e-04 -5.36442494e-01] [ 3.05009095e-03 -3.10638279e-04 9.99995300e-01 -4.30211899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.894860624 meters 0.10309069830576258 Centerline is valid? [True, False] Translation: X:9.79, Y:-0.54, Z:-0.43 [[ 9.99982712e-01 -5.04489072e-03 -3.02086682e-03 9.79045410e+00] [ 5.04708702e-03 9.99987004e-01 7.19859803e-04 -5.37805263e-01] [ 3.01719595e-03 -7.35093936e-04 9.99995178e-01 -4.30208096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924860623999997 meters 0.1075524986402999 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.54, Z:-0.43 [[ 9.99984354e-01 -4.70473690e-03 -3.02621111e-03 9.79049133e+00] [ 4.70859383e-03 9.99988110e-01 1.26864824e-03 -5.39459232e-01] [ 3.02020647e-03 -1.28287759e-03 9.99994616e-01 -4.30188216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.954860624 meters 0.1026434859039105 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.54, Z:-0.43 [[ 9.99985042e-01 -4.50332856e-03 -3.10413419e-03 9.79070495e+00] [ 4.50814911e-03 9.99988641e-01 1.54769984e-03 -5.40271725e-01] [ 3.09712913e-03 -1.56167059e-03 9.99993984e-01 -4.30233066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984860624 meters 0.10216600816260275 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.54, Z:-0.43 [[ 9.99985508e-01 -4.34357996e-03 -3.18067900e-03 9.79084200e+00] [ 4.34916575e-03 9.99989009e-01 1.75135581e-03 -5.40949271e-01] [ 3.17303689e-03 -1.76516373e-03 9.99993408e-01 -4.30160647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.014860623999997 meters 0.10278449004739523 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.54, Z:-0.43 [[ 9.99986617e-01 -3.97616960e-03 -3.30999119e-03 9.79150299e+00] [ 3.98357021e-03 9.99989574e-01 2.23225601e-03 -5.41760632e-01] [ 3.30108085e-03 -2.24541172e-03 9.99992030e-01 -4.30698652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044860624 meters 0.10062748465637539 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.54, Z:-0.43 [[ 9.99987253e-01 -3.82646807e-03 -3.29434899e-03 9.79169425e+00] [ 3.83459513e-03 9.99989612e-01 2.46420081e-03 -5.42161153e-01] [ 3.28488558e-03 -2.47680189e-03 9.99991537e-01 -4.31005199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.074860624 meters 0.09980101220420165 Centerline is valid? [False, True] Translation: X:9.79, Y:-0.54, Z:-0.43 [[ 9.99987229e-01 -3.58274920e-03 -3.56451796e-03 9.79219162e+00] [ 3.59190724e-03 9.99990257e-01 2.56614556e-03 -5.42671184e-01] [ 3.55528937e-03 -2.57891621e-03 9.99990355e-01 -4.30800834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104860623999997 meters 0.1000393085550768 Centerline is valid? [True, False] Translation: X:9.79, Y:-0.54, Z:-0.43 [[ 9.99986264e-01 -3.71936076e-03 -3.69287619e-03 9.79224311e+00] [ 3.72766675e-03 9.99990533e-01 2.24486249e-03 -5.41936673e-01] [ 3.68449177e-03 -2.25859747e-03 9.99990662e-01 -4.30464784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.134860623999998 meters 0.10000304119909861 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.54, Z:-0.43 [[ 9.99986179e-01 -3.47066048e-03 -3.94916296e-03 9.79309067e+00] [ 3.48002494e-03 9.99991144e-01 2.36685770e-03 -5.41612082e-01] [ 3.94091342e-03 -2.38056817e-03 9.99989401e-01 -4.30871506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164860624 meters 0.09910466754337063 Centerline is valid? [False, True] Translation: X:9.79, Y:-0.54, Z:-0.43 [[ 9.99985851e-01 -3.19133642e-03 -4.25602523e-03 9.79403708e+00] [ 3.20200056e-03 9.99991746e-01 2.50120228e-03 -5.41336535e-01] [ 4.24800792e-03 -2.51479468e-03 9.99987815e-01 -4.31260443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.194860623999997 meters 0.09906344081997369 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.54, Z:-0.43 [[ 9.99988911e-01 -1.74551422e-03 -4.37397868e-03 9.82430545e+00] [ 1.74727353e-03 9.99998394e-01 3.98432211e-04 -5.42372513e-01] [ 4.37327619e-03 -4.06070330e-04 9.99990355e-01 -4.30563488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224860623999998 meters 0.09714797273812766 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.54, Z:-0.43 [[ 9.99983625e-01 2.71201083e-03 -5.03937143e-03 9.85564570e+00] [-2.70973011e-03 9.99996223e-01 4.59352337e-04 -5.41159456e-01] [ 5.04059816e-03 -4.45689479e-04 9.99987197e-01 -4.32346098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.254860624 meters 0.09586040441746294 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.54, Z:-0.43 [[ 9.99959291e-01 6.55980473e-03 -6.19564806e-03 9.88490318e+00] [-6.55643483e-03 9.99978347e-01 5.64068332e-04 -5.39995552e-01] [ 6.19921409e-03 -5.23424006e-04 9.99980648e-01 -4.34311172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284860624 meters 0.09331103483547301 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.54, Z:-0.43 [[ 9.99939888e-01 8.65761172e-03 -6.72806384e-03 9.91496220e+00] [-8.65368578e-03 9.99962369e-01 6.12410130e-04 -5.36088052e-01] [ 6.73311266e-03 -5.54150767e-04 9.99977179e-01 -4.33988344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.314860623999998 meters 0.09533965831605452 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.54, Z:-0.43 [[ 9.99925103e-01 1.03499173e-02 -6.53206114e-03 9.94365390e+00] [-1.03462540e-02 9.99946299e-01 5.94354430e-04 -5.41208908e-01] [ 6.53786188e-03 -5.26727551e-04 9.99978489e-01 -4.34420883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344860624 meters 0.09371609154915282 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.54, Z:-0.43 [[ 9.99896973e-01 1.24495238e-02 -7.14508436e-03 9.97379574e+00] [-1.24451936e-02 9.99922344e-01 6.50175051e-04 -5.40218905e-01] [ 7.15262387e-03 -5.61186107e-04 9.99974262e-01 -4.33149192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.374860624 meters 0.0930087831071612 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.54, Z:-0.43 [[ 9.99854638e-01 1.58973902e-02 -6.16252409e-03 1.00030868e+01] [-1.58942352e-02 9.99873522e-01 5.60612863e-04 -5.40354606e-01] [ 6.17065694e-03 -4.62582764e-04 9.99980854e-01 -4.32961831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404860623999998 meters 0.09376299914465033 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.54, Z:-0.43 [[ 9.99844862e-01 1.66159908e-02 -5.84478420e-03 1.00308081e+01] [-1.66131702e-02 9.99861851e-01 5.30809082e-04 -5.44285641e-01] [ 5.85279667e-03 -4.33626339e-04 9.99982778e-01 -4.33947938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.434860624 meters 0.09026954619754395 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.54, Z:-0.43 [[ 9.99830858e-01 1.77442990e-02 -4.83683324e-03 1.00605006e+01] [-1.77423820e-02 9.99842495e-01 4.38971267e-04 -5.38722409e-01] [ 4.84386066e-03 -3.53080076e-04 9.99988206e-01 -4.32329089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464860624 meters 0.11674644498963226 Centerline is valid? [True, False] Translation: X:10.16, Y:-0.54, Z:-0.43 [[ 9.99880085e-01 1.33645614e-02 -7.82325696e-03 1.01555811e+01] [-1.33469213e-02 9.99908274e-01 2.30270634e-03 -5.43857731e-01] [ 7.85331403e-03 -2.19801382e-03 9.99966747e-01 -4.28122350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.494860623999998 meters 0.09040529516687457 Centerline is valid? [False, True] Translation: X:10.07, Y:-0.54, Z:-0.43 [[ 9.99904844e-01 1.31406051e-02 -4.19849023e-03 1.00720034e+01] [-1.31296461e-02 9.99910351e-01 2.62721004e-03 -5.36303647e-01] [ 4.23263697e-03 -2.57183535e-03 9.99987735e-01 -4.29846991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524860624 meters 0.09403501066243801 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.54, Z:-0.43 [[ 9.99903947e-01 1.28908158e-02 -5.09145906e-03 1.00992218e+01] [-1.28887557e-02 9.99916841e-01 4.37241668e-04 -5.44484406e-01] [ 5.09667206e-03 -3.71577098e-04 9.99986943e-01 -4.30834474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.554860624 meters 0.09525183581134203 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.55, Z:-0.43 [[ 9.99889029e-01 1.34251098e-02 -6.45717625e-03 1.01265057e+01] [-1.34218091e-02 9.99909770e-01 5.54240989e-04 -5.48302277e-01] [ 6.46403437e-03 -4.67512498e-04 9.99978999e-01 -4.33490010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584860623999997 meters 0.0891966786255099 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.54, Z:-0.43 [[ 9.99873686e-01 1.40317198e-02 -7.46474692e-03 1.01561751e+01] [-1.40273277e-02 9.99901407e-01 6.40410076e-04 -5.36141382e-01] [ 7.47299701e-03 -5.35618733e-04 9.99971933e-01 -4.33791496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.614860624 meters 0.09225284372175381 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.54, Z:-0.44 [[ 9.99863274e-01 1.49400984e-02 -7.08704923e-03 1.01830778e+01] [-1.49361672e-02 9.99888265e-01 6.07317183e-04 -5.44519696e-01] [ 7.09533073e-03 -5.01380795e-04 9.99974702e-01 -4.35983963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644860624 meters 0.09190228116164534 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.54, Z:-0.44 [[ 9.99848407e-01 1.60699745e-02 -6.70210629e-03 1.02126104e+01] [-1.60664902e-02 9.99870761e-01 5.73398509e-04 -5.43392373e-01] [ 6.71045461e-03 -4.65632261e-04 9.99977376e-01 -4.35181531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.674860623999997 meters 0.08892015086274042 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.54, Z:-0.43 [[ 9.99849560e-01 1.65010499e-02 -5.34535766e-03 1.02415989e+01] [-1.64988406e-02 9.99863780e-01 4.57142427e-04 -5.37900735e-01] [ 5.35217285e-03 -3.68881450e-04 9.99985609e-01 -4.33443590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704860624 meters 0.08892015086274042 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.54, Z:-0.43 [[ 9.99851083e-01 1.64084611e-02 -5.34541916e-03 1.02690291e+01] [-1.64062544e-02 9.99865304e-01 4.56423447e-04 -5.40136987e-01] [ 5.35218836e-03 -3.68657172e-04 9.99985609e-01 -4.33647160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.734860624 meters 0.08904800738441572 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.54, Z:-0.43 [[ 9.99858674e-01 1.64908862e-02 -3.26831272e-03 1.02976482e+01] [-1.64900624e-02 9.99863991e-01 2.78826910e-04 -5.42542507e-01] [ 3.27246630e-03 -2.24892824e-04 9.99994620e-01 -4.34035243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764860623999997 meters 0.08773361408850851 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.54, Z:-0.43 [[ 9.99848961e-01 1.70374818e-02 -3.43225466e-03 1.03271055e+01] [-1.70365767e-02 9.99854824e-01 2.92780043e-04 -5.41674653e-01] [ 3.43674461e-03 -2.34261952e-04 9.99994067e-01 -4.33954814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.794860624 meters 0.08788255811481607 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.54, Z:-0.43 [[ 9.99853803e-01 1.67912283e-02 -3.22921196e-03 1.03560066e+01] [-1.67904269e-02 9.99858993e-01 2.75117490e-04 -5.43559032e-01] [ 3.23337618e-03 -2.20857421e-04 9.99994748e-01 -4.34214119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824860624 meters 0.08808854977163365 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.55, Z:-0.43 [[ 9.99861734e-01 1.63158548e-02 -3.21022242e-03 1.03844864e+01] [-1.63150610e-02 9.99866863e-01 2.73291874e-04 -5.45140049e-01] [ 3.21425402e-03 -2.20879113e-04 9.99994810e-01 -4.34655957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.854860623999997 meters 0.0902981288481971 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.55, Z:-0.44 [[ 9.99868510e-01 1.53589298e-02 -5.20242146e-03 1.04124253e+01] [-1.53568321e-02 9.99881979e-01 4.42933386e-04 -5.49699677e-01] [ 5.20861045e-03 -3.62982432e-04 9.99986369e-01 -4.36536314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884860623999998 meters 0.089659898821826 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.55, Z:-0.44 [[ 9.99875424e-01 1.46189739e-02 -5.95165818e-03 1.04413630e+01] [-1.46162175e-02 9.99893049e-01 5.06366774e-04 -5.49755487e-01] [ 5.95842421e-03 -4.19312962e-04 9.99982161e-01 -4.37521658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.914860624 meters 0.09068712344115135 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.55, Z:-0.44 [[ 9.99878792e-01 1.41883238e-02 -6.41036978e-03 1.04687967e+01] [-1.41851210e-02 9.99899238e-01 5.44810706e-04 -5.54159019e-01] [ 6.41745381e-03 -4.53812799e-04 9.99979305e-01 -4.39049953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944860623999997 meters 0.09035933682139975 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.56, Z:-0.44 [[ 9.99900147e-01 1.22271478e-02 -7.08474336e-03 1.04994863e+01] [-1.22231823e-02 9.99925112e-01 6.02764027e-04 -5.55487345e-01] [ 7.09158289e-03 -5.16105730e-04 9.99974721e-01 -4.39465016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.974860623999998 meters 0.0906925983181477 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.56, Z:-0.44 [[ 9.99919366e-01 1.12543760e-02 -5.88218091e-03 1.05277451e+01] [-1.12516319e-02 9.99936574e-01 4.99400487e-04 -5.58375543e-01] [ 5.88742826e-03 -4.33176084e-04 9.99982575e-01 -4.39723336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004860624 meters 0.09157021240647739 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.56, Z:-0.44 [[ 9.99930267e-01 1.05098440e-02 -5.38557601e-03 1.05548774e+01] [-1.05075374e-02 9.99944690e-01 4.56422109e-04 -5.62625428e-01] [ 5.39007506e-03 -3.99801140e-04 9.99985394e-01 -4.40076062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.034860623999997 meters 0.0913741012689853 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.56, Z:-0.44 [[ 9.99949584e-01 7.53508383e-03 -6.63710805e-03 1.05856585e+01] [-7.53150928e-03 9.99971479e-01 5.63400473e-04 -5.61584105e-01] [ 6.64116403e-03 -5.13384627e-04 9.99977815e-01 -4.40554124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064860623999998 meters 0.09339339130395702 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.57, Z:-0.44 [[ 9.99946259e-01 7.45992423e-03 -7.19927029e-03 1.06133603e+01] [-7.45572480e-03 9.99972020e-01 6.09975209e-04 -5.67791551e-01] [ 7.20361922e-03 -5.56266650e-04 9.99973899e-01 -4.42262014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.094860624 meters 0.092463079538491 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.57, Z:-0.44 [[ 9.99946196e-01 6.75287047e-03 -7.87420543e-03 1.06423570e+01] [-6.74782747e-03 9.99977011e-01 6.66837227e-04 -5.67683357e-01] [ 7.87852748e-03 -6.13667569e-04 9.99968776e-01 -4.42521150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124860624 meters 0.09256443698710094 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.57, Z:-0.44 [[ 9.99943379e-01 7.14530839e-03 -7.88561219e-03 1.06714189e+01] [-7.14026688e-03 9.99974285e-01 6.67298335e-04 -5.69218890e-01] [ 7.89017747e-03 -6.10955177e-04 9.99968685e-01 -4.44988232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.154860623999998 meters 0.09148606673943015 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.57, Z:-0.44 [[ 9.99939204e-01 8.10851392e-03 -7.47265670e-03 1.07000972e+01] [-8.10401718e-03 9.99966962e-01 6.31843203e-04 -5.68311817e-01] [ 7.47753313e-03 -5.71246251e-04 9.99971880e-01 -4.44201446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184860624 meters 0.09213380840642255 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.57, Z:-0.44 [[ 9.99936605e-01 8.46902180e-03 -7.42030879e-03 1.07277513e+01] [-8.46460586e-03 9.99963978e-01 6.26318743e-04 -5.70015921e-01] [ 7.42534581e-03 -5.63469049e-04 9.99972273e-01 -4.44140987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.214860624 meters 0.09213380840642255 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.57, Z:-0.44 [[ 9.99937404e-01 8.37417661e-03 -7.42036163e-03 1.07551968e+01] [-8.36976270e-03 9.99964777e-01 6.25692738e-04 -5.72219943e-01] [ 7.42533993e-03 -5.63546906e-04 9.99972273e-01 -4.44344797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244860623999998 meters 0.09194445730141387 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.57, Z:-0.44 [[ 9.99942144e-01 8.88454927e-03 -6.06409262e-03 1.07845773e+01] [-8.88161641e-03 9.99960427e-01 5.10403330e-04 -5.72398245e-01] [ 6.06838735e-03 -4.56514856e-04 9.99981483e-01 -4.43311651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.274860624 meters 0.09181798313662262 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.57, Z:-0.44 [[ 9.99963413e-01 7.41519227e-03 -4.26474708e-03 1.08138430e+01] [-7.41372832e-03 9.99972454e-01 3.58974095e-04 -5.72198798e-01] [ 4.26729146e-03 -3.27343285e-04 9.99990841e-01 -4.41573198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304860624 meters 0.09413483608043709 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.58, Z:-0.44 [[ 9.99966854e-01 6.12008779e-03 -5.36987440e-03 1.08421086e+01] [-6.11774914e-03 9.99981184e-01 4.51831822e-04 -5.78789253e-01] [ 5.37253862e-03 -4.18965301e-04 9.99985480e-01 -4.43481803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.334860623999997 meters 0.09375499316427766 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.58, Z:-0.44 [[ 9.99972099e-01 5.58892818e-03 -4.95625612e-03 1.08706415e+01] [-5.58693174e-03 9.99984306e-01 4.16564680e-04 -5.79828116e-01] [ 4.95850649e-03 -3.88862793e-04 9.99987631e-01 -4.44394566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364860624 meters 0.09530150410224182 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.58, Z:-0.45 [[ 9.99983052e-01 2.76868329e-03 -5.12162934e-03 1.09009464e+01] [-2.76651258e-03 9.99996080e-01 4.30868791e-04 -5.84471163e-01] [ 5.12280220e-03 -4.16692437e-04 9.99986792e-01 -4.45913499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.394860624 meters 0.09699971544632577 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.59, Z:-0.45 [[ 9.99988266e-01 1.05583889e-03 -4.72793775e-03 1.09291822e+01] [-1.05397255e-03 9.99999366e-01 3.97219807e-04 -5.89910934e-01] [ 4.72835415e-03 -3.92232030e-04 9.99988744e-01 -4.47201702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424860623999997 meters 0.09872830596438935 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.60, Z:-0.45 [[ 9.99986048e-01 -5.49966388e-04 -5.25360355e-03 1.09586369e+01] [ 5.52292784e-04 9.99999750e-01 4.41378640e-04 -5.95446787e-01] [ 5.25335949e-03 -4.44274009e-04 9.99986102e-01 -4.48473377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.454860624 meters 0.10063247769856035 Centerline is valid? [True, False] Translation: X:10.96, Y:-0.60, Z:-0.45 [[ 9.99988472e-01 -8.17890788e-04 -4.73155796e-03 1.09578594e+01] [ 8.20885965e-04 9.99999464e-01 6.31114008e-04 -5.95919365e-01] [ 4.73103924e-03 -6.34990802e-04 9.99988607e-01 -4.49053684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484860624 meters 0.09992357837275372 Centerline is valid? [False, True] Translation: X:10.96, Y:-0.60, Z:-0.45 [[ 9.99989102e-01 -7.24983318e-04 -4.61190598e-03 1.09579107e+01] [ 7.29200392e-04 9.99999318e-01 9.12772658e-04 -5.96390578e-01] [ 4.61124109e-03 -9.16125714e-04 9.99988949e-01 -4.49521771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514860623999997 meters 0.10123222870915664 Centerline is valid? [True, False] Translation: X:10.96, Y:-0.60, Z:-0.45 [[ 9.99989183e-01 -8.27614982e-04 -4.57690875e-03 1.09579480e+01] [ 8.31257874e-04 9.99999339e-01 7.94083395e-04 -5.95693458e-01] [ 4.57624853e-03 -7.97879397e-04 9.99989211e-01 -4.49709737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544860624 meters 0.09739514291587323 Centerline is valid? [False, True] Translation: X:10.96, Y:-0.59, Z:-0.45 [[ 9.99989055e-01 -1.15086036e-03 -4.53483063e-03 1.09575403e+01] [ 1.15246648e-03 9.99999274e-01 3.51577433e-04 -5.94616321e-01] [ 4.53442272e-03 -3.56799825e-04 9.99989656e-01 -4.49269337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.574860624 meters 0.09933503669753697 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.60, Z:-0.45 [[ 9.99988611e-01 -1.20537378e-03 -4.61784507e-03 1.09854093e+01] [ 1.20726986e-03 9.99999188e-01 4.07834318e-04 -5.99800192e-01] [ 4.61734973e-03 -4.13404658e-04 9.99989255e-01 -4.49213057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604860623999997 meters 0.09888242609186754 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.60, Z:-0.45 [[ 9.99989775e-01 -1.68120832e-03 -4.19794265e-03 1.10138351e+01] [ 1.68277800e-03 9.99998516e-01 3.70411178e-04 -6.00915597e-01] [ 4.19731368e-03 -3.77471596e-04 9.99991120e-01 -4.48836219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.634860623999998 meters 0.09812617856175027 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.60, Z:-0.45 [[ 9.99988699e-01 -2.71665608e-03 -3.90161349e-03 1.10438464e+01] [ 2.71802005e-03 9.99996247e-01 3.44332496e-04 -6.01969950e-01] [ 3.90066341e-03 -3.54933268e-04 9.99992329e-01 -4.49208914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664860624 meters 0.10144740041651876 Centerline is valid? [True, False] Translation: X:11.04, Y:-0.60, Z:-0.45 [[ 9.99989477e-01 -2.51961066e-03 -3.83376574e-03 1.10441819e+01] [ 2.52219767e-03 9.99996595e-01 6.70112668e-04 -6.02392823e-01] [ 3.83206426e-03 -6.79775131e-04 9.99992427e-01 -4.49898794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.694860623999997 meters 0.0987573874414196 Centerline is valid? [False, True] Translation: X:11.04, Y:-0.60, Z:-0.45 [[ 9.99990003e-01 -2.37451869e-03 -3.78889169e-03 1.10444750e+01] [ 2.37814872e-03 9.99996717e-01 9.53852188e-04 -6.02667249e-01] [ 3.78661432e-03 -9.62853200e-04 9.99992367e-01 -4.50490936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724860623999998 meters 0.10184569122809016 Centerline is valid? [True, False] Translation: X:11.04, Y:-0.60, Z:-0.45 [[ 9.99990149e-01 -2.62098133e-03 -3.58226168e-03 1.10442077e+01] [ 2.62379486e-03 9.99996253e-01 7.80933854e-04 -6.01893388e-01] [ 3.58020144e-03 -7.90325281e-04 9.99993279e-01 -4.50814173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.754860624 meters 0.10164750364307086 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.60, Z:-0.45 [[ 9.99989514e-01 -2.84299774e-03 -3.59021520e-03 1.10442848e+01] [ 2.84464810e-03 9.99995851e-01 4.54660172e-04 -6.00475451e-01] [ 3.58890771e-03 -4.64868303e-04 9.99993452e-01 -4.50962064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784860623999997 meters 0.10491356477804673 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.60, Z:-0.45 [[ 9.99989103e-01 -2.96997061e-03 -3.60182854e-03 1.10442839e+01] [ 2.97088859e-03 9.99995556e-01 2.49540715e-04 -5.99823604e-01] [ 3.60107141e-03 -2.60238627e-04 9.99993482e-01 -4.50938116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.814860623999998 meters 0.10591242072444698 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.60, Z:-0.45 [[ 9.99988975e-01 -2.92761953e-03 -3.67128505e-03 1.10446460e+01] [ 2.92858406e-03 9.99995679e-01 2.57372248e-04 -5.99347509e-01] [ 3.67051570e-03 -2.68121077e-04 9.99993228e-01 -4.51234925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844860624 meters 0.10089302865147257 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.60, Z:-0.45 [[ 9.99988560e-01 -3.03223165e-03 -3.69931679e-03 1.10446852e+01] [ 3.03244873e-03 9.99995401e-01 5.30730081e-05 -5.98713847e-01] [ 3.69913884e-03 -6.42903894e-05 9.99993156e-01 -4.51204891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.874860624 meters 0.10164453256776264 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.60, Z:-0.45 [[ 9.99988466e-01 -2.93286114e-03 -3.80352505e-03 1.10451707e+01] [ 2.93306419e-03 9.99995697e-01 4.78080103e-05 -5.98222447e-01] [ 3.80336847e-03 -5.89634420e-05 9.99992765e-01 -4.51564910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904860623999998 meters 0.10502504267308997 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.60, Z:-0.45 [[ 9.99988473e-01 -3.03815747e-03 -3.71800877e-03 1.10449569e+01] [ 3.03796096e-03 9.99995384e-01 -5.85003143e-05 -5.98042698e-01] [ 3.71816934e-03 4.72044745e-05 9.99993086e-01 -4.51543070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.934860624 meters 0.10497775313026764 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.60, Z:-0.45 [[ 9.99988755e-01 -2.87348263e-03 -3.77263100e-03 1.10455660e+01] [ 2.87397928e-03 9.99995862e-01 1.26231048e-04 -5.97734242e-01] [ 3.77225267e-03 -1.37072092e-04 9.99992876e-01 -4.52255266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964860624 meters 0.10339037325628404 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.60, Z:-0.45 [[ 9.99987780e-01 -2.81895248e-03 -4.06131894e-03 1.10465192e+01] [ 2.81852312e-03 9.99996022e-01 -1.11438487e-04 -5.96157663e-01] [ 4.06161692e-03 9.99902038e-05 9.99991747e-01 -4.52723140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.994860623999998 meters 0.10231089467166181 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.60, Z:-0.45 [[ 9.99987459e-01 -2.70208717e-03 -4.21678574e-03 1.10471194e+01] [ 2.70175532e-03 9.99996347e-01 -8.43924782e-05 -5.95687421e-01] [ 4.21699837e-03 7.29986965e-05 9.99991106e-01 -4.53081513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024860624 meters 0.10167297350738184 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.60, Z:-0.45 [[ 9.99986391e-01 -2.21753641e-03 -4.72233095e-03 1.10488384e+01] [ 2.21818273e-03 9.99997531e-01 1.31632003e-04 -5.95035438e-01] [ 4.72202739e-03 -1.42105205e-04 9.99988841e-01 -4.53992902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.054860624 meters 0.1032047803359409 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.59, Z:-0.45 [[ 9.99985845e-01 -2.09757150e-03 -4.88988388e-03 1.10495250e+01] [ 2.09832005e-03 9.99997788e-01 1.47955399e-04 -5.94443713e-01] [ 4.88956272e-03 -1.58213846e-04 9.99988034e-01 -4.54462000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084860623999997 meters 0.09780951035176934 Centerline is valid? [False, True] Translation: X:11.05, Y:-0.59, Z:-0.45 [[ 9.99984635e-01 -2.21316408e-03 -5.08251514e-03 1.10498810e+01] [ 2.21178398e-03 9.99997516e-01 -2.77142727e-04 -5.93109204e-01] [ 5.08311588e-03 2.65897043e-04 9.99987046e-01 -4.54345081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.114860624 meters 0.09768773681518844 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.59, Z:-0.45 [[ 9.99987579e-01 1.23333769e-03 -4.82920155e-03 1.10794895e+01] [-1.23134697e-03 9.99999156e-01 4.15177300e-04 -5.93562377e-01] [ 4.82970953e-03 -4.09225720e-04 9.99988253e-01 -4.54416927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144860624 meters 0.09820088672357176 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.60, Z:-0.46 [[ 9.99979182e-01 3.23430354e-03 -5.58350308e-03 1.11078539e+01] [-3.23167614e-03 9.99994663e-01 4.79522531e-04 -5.95957354e-01] [ 5.58502420e-03 -4.61468475e-04 9.99984297e-01 -4.55011973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.174860623999997 meters 0.09621686193387892 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.59, Z:-0.46 [[ 9.99967181e-01 6.69019697e-03 -4.56933527e-03 1.11390215e+01] [-6.68847070e-03 9.99977555e-01 3.92971580e-04 -5.94034624e-01] [ 4.57186176e-03 -3.62396818e-04 9.99989483e-01 -4.55288591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204860624 meters 0.09541920851293559 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.59, Z:-0.46 [[ 9.99938678e-01 1.01096459e-02 -4.52055981e-03 1.11680918e+01] [-1.01079927e-02 9.99948838e-01 3.88399164e-04 -5.94094793e-01] [ 4.52425510e-03 -3.42681561e-04 9.99989707e-01 -4.55950592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.234860624 meters 0.08691970816762414 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.58, Z:-0.46 [[ 9.99830398e-01 1.76975796e-02 -5.09623344e-03 1.12001916e+01] [-1.76955759e-02 9.99843325e-01 4.38003159e-04 -5.75913012e-01] [ 5.10318659e-03 -3.47748087e-04 9.99986918e-01 -4.55887500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264860623999997 meters 0.08580923111341555 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.57, Z:-0.46 [[ 9.99748906e-01 2.17607478e-02 -5.34734879e-03 1.12297664e+01] [-2.17586010e-02 9.99763148e-01 4.59336054e-04 -5.74651570e-01] [ 5.35607775e-03 -3.42869889e-04 9.99985597e-01 -4.56136156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.294860624 meters 0.08439390972912073 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.57, Z:-0.46 [[ 9.99658720e-01 2.56320753e-02 -5.04388389e-03 1.12604540e+01] [-2.56302136e-02 9.99671398e-01 4.33398835e-04 -5.71769232e-01] [ 5.05333537e-03 -3.03975103e-04 9.99987186e-01 -4.55966430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324860624 meters 0.08226424882215225 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.57, Z:-0.46 [[ 9.99468036e-01 3.22912983e-02 -4.57341589e-03 1.12904248e+01] [-3.22898389e-02 9.99478470e-01 3.92609097e-04 -5.65777838e-01] [ 4.58370857e-03 -2.44725381e-04 9.99989465e-01 -4.55991203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.354860623999997 meters 0.08068369019510377 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.56, Z:-0.45 [[ 9.99382576e-01 3.48775206e-02 -4.24563799e-03 1.13211333e+01] [-3.48762860e-02 9.99391571e-01 3.64490426e-04 -5.62796206e-01] [ 4.25576734e-03 -2.16193296e-04 9.99990921e-01 -4.54894113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384860623999998 meters 0.07946007519998576 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.56, Z:-0.46 [[ 9.99236494e-01 3.88792887e-02 -3.85100009e-03 1.13517063e+01] [-3.88783030e-02 9.99243898e-01 3.30535561e-04 -5.61189820e-01] [ 3.86093933e-03 -1.80562847e-04 9.99992530e-01 -4.56911304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.414860624 meters 0.07903699017479496 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.56, Z:-0.46 [[ 9.99200493e-01 3.97824859e-02 -3.96582799e-03 1.13807205e+01] [-3.97814591e-02 9.99208347e-01 3.37476585e-04 -5.61691659e-01] [ 3.97611409e-03 -1.79440346e-04 9.99992079e-01 -4.57748058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444860623999997 meters 0.07881859929514586 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.56, Z:-0.46 [[ 9.99158212e-01 4.07598369e-02 -4.63724816e-03 1.14098922e+01] [-4.07584458e-02 9.99168952e-01 3.94137260e-04 -5.62755756e-01] [ 4.64945935e-03 -2.04798452e-04 9.99989170e-01 -4.58424355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.474860623999998 meters 0.0793497170332591 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.57, Z:-0.46 [[ 9.99109433e-01 4.19557671e-02 -4.47830180e-03 1.14377449e+01] [-4.19544780e-02 9.99119450e-01 3.81438307e-04 -5.66523007e-01] [ 4.49036197e-03 -1.93213796e-04 9.99989900e-01 -4.60497651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504860624 meters 0.07888031933875675 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.57, Z:-0.46 [[ 9.99062168e-01 4.29424161e-02 -5.54377864e-03 1.14665485e+01] [-4.29404693e-02 9.99077522e-01 4.69757947e-04 -5.66577296e-01] [ 5.55883716e-03 -2.31264936e-04 9.99984523e-01 -4.61779303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.534860623999997 meters 0.07875117311128436 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.57, Z:-0.46 [[ 9.99010830e-01 4.41373726e-02 -5.40868645e-03 1.14948992e+01] [-4.41355438e-02 9.99025448e-01 4.57072395e-04 -5.68654328e-01] [ 5.42358938e-03 -2.17904955e-04 9.99985268e-01 -4.62392879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564860623999998 meters 0.07862911077702736 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.57, Z:-0.46 [[ 9.98935624e-01 4.57653603e-02 -5.75775548e-03 1.15229163e+01] [-4.57633120e-02 9.98952192e-01 4.87047630e-04 -5.69609195e-01] [ 5.77401237e-03 -2.23035267e-04 9.99983305e-01 -4.62553997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.594860624 meters 0.07820484648005417 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.57, Z:-0.46 [[ 9.98878172e-01 4.71128171e-02 -4.77275599e-03 1.15510252e+01] [-4.71114250e-02 9.98889559e-01 4.03740640e-04 -5.71536806e-01] [ 4.78647749e-03 -1.78436376e-04 9.99988529e-01 -4.62976660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624860624 meters 0.07840674568339631 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.57, Z:-0.46 [[ 9.98873345e-01 4.71569256e-02 -5.31649346e-03 1.15779298e+01] [-4.71552087e-02 9.98887474e-01 4.47886437e-04 -5.74475674e-01] [ 5.33169967e-03 -1.96681465e-04 9.99985767e-01 -4.62298255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.654860623999998 meters 0.07816646357374842 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.58, Z:-0.46 [[ 9.98809028e-01 4.86497276e-02 -3.70540820e-03 1.16068468e+01] [-4.86489027e-02 9.98815892e-01 3.12472052e-04 -5.77322983e-01] [ 3.71622228e-03 -1.31835863e-04 9.99993086e-01 -4.62597281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684860624 meters 0.07819979119521868 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.58, Z:-0.46 [[ 9.98758530e-01 4.95712238e-02 -4.90833980e-03 1.16349612e+01] [-4.95697891e-02 9.98770577e-01 4.13586819e-04 -5.79684720e-01] [ 4.92280738e-03 -1.69767995e-04 9.99987868e-01 -4.63703762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.714860624 meters 0.07767045627756704 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.58, Z:-0.46 [[ 9.98619184e-01 5.22293856e-02 -5.64055859e-03 1.16640363e+01] [-5.22275454e-02 9.98635098e-01 4.73149049e-04 -5.80612067e-01] [ 5.65757206e-03 -1.77903187e-04 9.99983980e-01 -4.64848405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744860623999998 meters 0.07757559830563987 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.58, Z:-0.47 [[ 9.98565548e-01 5.31737249e-02 -6.27697164e-03 1.16928952e+01] [-5.31714725e-02 9.98585259e-01 5.25293868e-04 -5.82652300e-01] [ 6.29602318e-03 -1.90784534e-04 9.99980162e-01 -4.65472511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.774860624 meters 0.07693722939960625 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.58, Z:-0.46 [[ 9.98517228e-01 5.41034980e-02 -6.01301030e-03 1.17213781e+01] [-5.41014564e-02 9.98535318e-01 5.01791292e-04 -5.82681114e-01] [ 6.03135181e-03 -1.75734636e-04 9.99981796e-01 -4.64675595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804860624 meters 0.07694089382570757 Centerline is valid? [True, True] Translation: X:11.75, Y:-0.59, Z:-0.47 [[ 9.98435219e-01 5.55155876e-02 -6.71816619e-03 1.17489507e+01] [-5.55130680e-02 9.98457803e-01 5.61086150e-04 -5.85311601e-01] [ 6.73895449e-03 -1.87262156e-04 9.99977275e-01 -4.65879010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.834860623999997 meters 0.07641172491987776 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.59, Z:-0.47 [[ 9.98256796e-01 5.85581667e-02 -7.36953588e-03 1.17775426e+01] [-5.85552166e-02 9.98283981e-01 6.15629713e-04 -5.86238311e-01] [ 7.39293977e-03 -1.83031775e-04 9.99972655e-01 -4.65625198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864860624 meters 0.07627496535608215 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.59, Z:-0.47 [[ 9.98203436e-01 5.93598737e-02 -8.14285779e-03 1.18065093e+01] [-5.93563234e-02 9.98236629e-01 6.77184142e-04 -5.88134524e-01] [ 8.16869648e-03 -1.92637436e-04 9.99966617e-01 -4.66412343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.894860624 meters 0.07615226890073311 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.59, Z:-0.47 [[ 9.98147037e-01 6.02823418e-02 -8.27843730e-03 1.18337748e+01] [-6.02786984e-02 9.98181348e-01 6.89141974e-04 -5.91271698e-01] [ 8.30492479e-03 -1.88851594e-04 9.99965496e-01 -4.67166413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924860623999997 meters 0.07593843504152406 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.59, Z:-0.47 [[ 9.98039132e-01 6.18808803e-02 -9.41527976e-03 1.18613520e+01] [-6.18762442e-02 9.98083522e-01 7.83189080e-04 -5.94727760e-01] [ 9.44570001e-03 -1.99071201e-04 9.99955369e-01 -4.67821091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.954860624 meters 0.07531440197165806 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.59, Z:-0.46 [[ 9.98003687e-01 6.23768509e-02 -9.88784620e-03 1.18890827e+01] [-6.23718030e-02 9.98052648e-01 8.18368691e-04 -5.94716852e-01] [ 9.91963835e-03 -2.00012175e-04 9.99950779e-01 -4.64939994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984860624 meters 0.07517660652738968 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.60, Z:-0.47 [[ 9.97974677e-01 6.29394296e-02 -9.22887025e-03 1.19175735e+01] [-6.29350735e-02 9.98017332e-01 7.61956215e-04 -5.98269209e-01] [ 9.25852956e-03 -1.79593380e-04 9.99957123e-01 -4.65305348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.014860623999997 meters 0.07516010063929725 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.60, Z:-0.47 [[ 9.97877322e-01 6.43359075e-02 -1.00867201e-02 1.19450666e+01] [-6.43307678e-02 9.97928283e-01 8.33522778e-04 -6.02728241e-01] [ 1.01194487e-02 -1.82867031e-04 9.99948780e-01 -4.67647091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044860624 meters 0.07497735497733601 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.60, Z:-0.47 [[ 9.97838823e-01 6.47150129e-02 -1.13863774e-02 1.19733221e+01] [-6.47084969e-02 9.97903766e-01 9.40137530e-04 -6.04330106e-01] [ 1.14233499e-02 -2.01310359e-04 9.99934731e-01 -4.66649472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.074860624 meters 0.07480270484803485 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.61, Z:-0.47 [[ 9.97828779e-01 6.47479453e-02 -1.20595189e-02 1.20017558e+01] [-6.47406851e-02 9.97901628e-01 9.91853982e-04 -6.06983317e-01] [ 1.20984341e-02 -2.08958929e-04 9.99926789e-01 -4.66992661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104860623999997 meters 0.07480270484803485 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.61, Z:-0.47 [[ 9.97844626e-01 6.45032044e-02 -1.20597858e-02 1.20290387e+01] [-6.44959656e-02 9.97917478e-01 9.88607856e-04 -6.09115922e-01] [ 1.20984394e-02 -2.08669505e-04 9.99926789e-01 -4.67251211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.134860623999998 meters 0.07478899175620463 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.62, Z:-0.47 [[ 9.97927030e-01 6.30454376e-02 -1.29195534e-02 1.20569827e+01] [-6.30369977e-02 9.98010628e-01 1.05985762e-03 -6.15043139e-01] [ 1.29606708e-02 -2.43250717e-04 9.99915977e-01 -4.68171103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164860624 meters 0.07487152552184685 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.62, Z:-0.47 [[ 9.97996945e-01 6.20418191e-02 -1.23657324e-02 1.20846680e+01] [-6.20340680e-02 9.98073522e-01 1.00976903e-03 -6.19556858e-01] [ 1.24045580e-02 -2.40649719e-04 9.99923032e-01 -4.68551986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.194860623999997 meters 0.07520841967648044 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.62, Z:-0.47 [[ 9.98146147e-01 5.96547404e-02 -1.20656915e-02 1.21127215e+01] [-5.96471792e-02 9.98219035e-01 9.85880489e-04 -6.24692670e-01] [ 1.21030153e-02 -2.64368350e-04 9.99926721e-01 -4.68500826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224860623999998 meters 0.0760984881837585 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.64, Z:-0.47 [[ 9.98443445e-01 5.44145374e-02 -1.22370795e-02 1.21402943e+01] [-5.44063736e-02 9.98518376e-01 9.99299809e-04 -6.35251530e-01] [ 1.22733252e-02 -3.31969224e-04 9.99924625e-01 -4.70243929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.254860624 meters 0.07627510733719407 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.64, Z:-0.47 [[ 9.98608562e-01 5.13765396e-02 -1.18908163e-02 1.21687265e+01] [-5.13686637e-02 9.98679290e-01 9.67032675e-04 -6.39492112e-01] [ 1.19247948e-02 -3.54871763e-04 9.99928834e-01 -4.69619735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284860623999997 meters 0.07624876393772362 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.64, Z:-0.47 [[ 9.98771789e-01 4.82622859e-02 -1.12100203e-02 1.21976419e+01] [-4.82550798e-02 9.98834628e-01 9.12574525e-04 -6.42417865e-01] [ 1.12409994e-02 -3.70513267e-04 9.99936749e-01 -4.68386580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.314860623999998 meters 0.07772153531040572 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.65, Z:-0.47 [[ 9.99029723e-01 4.22613131e-02 -1.23932980e-02 1.22257508e+01] [-4.22520436e-02 9.99106474e-01 1.00894451e-03 -6.52849265e-01] [ 1.24248636e-02 -4.84323388e-04 9.99922691e-01 -4.70478004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344860624 meters 0.0780302694640319 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.66, Z:-0.47 [[ 9.99134579e-01 3.98679652e-02 -1.18590887e-02 1.22548732e+01] [-3.98593151e-02 9.99204836e-01 9.64966373e-04 -6.57463296e-01] [ 1.18881300e-02 -4.91436120e-04 9.99929213e-01 -4.70453894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.374860624 meters 0.07852584660510846 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.66, Z:-0.47 [[ 9.99243820e-01 3.72264275e-02 -1.12241603e-02 1.22836661e+01] [-3.72185203e-02 9.99306734e-01 9.12605890e-04 -6.62642427e-01] [ 1.12503520e-02 -4.94169158e-04 9.99936591e-01 -4.70041545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404860623999998 meters 0.07901012384950233 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.67, Z:-0.47 [[ 9.99402217e-01 3.30786434e-02 -1.00504511e-02 1.23139480e+01] [-3.30720903e-02 9.99452634e-01 8.17573491e-04 -6.67180175e-01] [ 1.00719941e-02 -4.84695334e-04 9.99949159e-01 -4.69072751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.434860624 meters 0.08005711066607216 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.67, Z:-0.47 [[ 9.99464163e-01 3.09965527e-02 -1.05166636e-02 1.23421770e+01] [-3.09892692e-02 9.99519352e-01 8.54860827e-04 -6.72256398e-01] [ 1.05381065e-02 -5.28499042e-04 9.99944333e-01 -4.69921173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464860624 meters 0.0801328190037762 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.67, Z:-0.47 [[ 9.99542524e-01 2.78419890e-02 -1.18137850e-02 1.23718422e+01] [-2.78325782e-02 9.99612137e-01 9.60290292e-04 -6.74749944e-01] [ 1.18359393e-02 -6.31042887e-04 9.99929754e-01 -4.70823229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.494860623999998 meters 0.08142986846947131 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.68, Z:-0.47 [[ 9.99571663e-01 2.65469627e-02 -1.23186266e-02 1.24001117e+01] [-2.65366433e-02 9.99647341e-01 1.00043683e-03 -6.80658801e-01] [ 1.23408409e-02 -6.73113305e-04 9.99923622e-01 -4.72638245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524860624 meters 0.08151174611656989 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.68, Z:-0.47 [[ 9.99603810e-01 2.54556722e-02 -1.20096262e-02 1.24288970e+01] [-2.54458385e-02 9.99675731e-01 9.70934121e-04 -6.83060788e-01] [ 1.20304476e-02 -6.64954439e-04 9.99927410e-01 -4.73222808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.554860624 meters 0.08231414516383036 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.69, Z:-0.47 [[ 9.99643467e-01 2.41795588e-02 -1.13263998e-02 1.24566768e+01] [-2.41707267e-02 9.99707426e-01 9.16036045e-04 -6.87328262e-01] [ 1.13452353e-02 -6.41942134e-04 9.99935435e-01 -4.73914604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584860623999997 meters 0.08353121891126883 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.69, Z:-0.48 [[ 9.99685017e-01 2.21546012e-02 -1.17915489e-02 1.24846235e+01] [-2.21448950e-02 9.99754317e-01 9.53087232e-04 -6.91543014e-01] [ 1.18097672e-02 -6.91664412e-04 9.99930023e-01 -4.75689007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.614860624 meters 0.08381786436124236 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.69, Z:-0.48 [[ 9.99696901e-01 2.13447374e-02 -1.22682160e-02 1.25127787e+01] [-2.13341939e-02 9.99771910e-01 9.89656313e-04 -6.93791669e-01] [ 1.22865417e-02 -7.27623849e-04 9.99924253e-01 -4.76122981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644860624 meters 0.08494269495807481 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.70, Z:-0.48 [[ 9.99710633e-01 2.03179519e-02 -1.28775118e-02 1.25398706e+01] [-2.03062623e-02 9.99793268e-01 1.03787159e-03 -6.97232372e-01] [ 1.28959370e-02 -7.76077129e-04 9.99916543e-01 -4.77965209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.674860623999997 meters 0.08447759373273339 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.70, Z:-0.48 [[ 9.99726666e-01 1.89537319e-02 -1.36875823e-02 1.25697358e+01] [-1.89403950e-02 9.99820006e-01 1.10336616e-03 -6.96783129e-01] [ 1.37060315e-02 -8.43816356e-04 9.99905712e-01 -4.77301430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704860624 meters 0.0854924683736989 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.70, Z:-0.48 [[ 9.99750561e-01 1.81494890e-02 -1.30158509e-02 1.25970819e+01] [-1.81373807e-02 9.99834955e-01 1.04771798e-03 -6.98884198e-01] [ 1.30327183e-02 -8.11383194e-04 9.99914741e-01 -4.77249013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.734860624 meters 0.08513109789712253 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.70, Z:-0.48 [[ 9.99772946e-01 1.71938328e-02 -1.25868388e-02 1.26258267e+01] [-1.71824428e-02 9.99851858e-01 1.01249818e-03 -6.98443564e-01] [ 1.26023829e-02 -7.95995648e-04 9.99920270e-01 -4.76858608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764860623999997 meters 0.08468661851791408 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.70, Z:-0.47 [[ 9.99786002e-01 1.68302273e-02 -1.20288857e-02 1.26549016e+01] [-1.68198084e-02 9.99858070e-01 9.66801638e-04 -6.95476270e-01] [ 1.20434499e-02 -7.64271192e-04 9.99927183e-01 -4.74918589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.794860624 meters 0.08534739599742396 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.70, Z:-0.48 [[ 9.99800225e-01 1.66323350e-02 -1.10849381e-02 1.26824541e+01] [-1.66234873e-02 9.99861424e-01 8.89840362e-04 -6.97285864e-01] [ 1.10982021e-02 -7.05392267e-04 9.99938164e-01 -4.75503351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824860624 meters 0.08549845439794872 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.70, Z:-0.48 [[ 9.99818596e-01 1.57938364e-02 -1.06456017e-02 1.27116286e+01] [-1.57856349e-02 9.99875034e-01 8.54004584e-04 -6.97616500e-01] [ 1.06577594e-02 -6.85802083e-04 9.99942969e-01 -4.75230898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.854860623999997 meters 0.0867917942841815 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.70, Z:-0.48 [[ 9.99851245e-01 1.43471816e-02 -9.57317200e-03 1.27392068e+01] [-1.43404927e-02 9.99896876e-01 7.66993925e-04 -6.99279889e-01] [ 9.58318898e-03 -6.29595828e-04 9.99953882e-01 -4.77109498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884860623999998 meters 0.08594762114464394 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.70, Z:-0.48 [[ 9.99862888e-01 1.37745153e-02 -9.19062797e-03 1.27682039e+01] [-1.37683307e-02 9.99904941e-01 7.35854256e-04 -6.97557135e-01] [ 9.19989035e-03 -6.09213757e-04 9.99957495e-01 -4.77629072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.914860624 meters 0.08754992039270182 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.70, Z:-0.48 [[ 9.99891917e-01 1.15157666e-02 -9.14015459e-03 1.27961751e+01] [-1.15095631e-02 9.99933496e-01 7.31018729e-04 -6.98797870e-01] [ 9.14796497e-03 -6.25740532e-04 9.99957961e-01 -4.78472556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944860623999997 meters 0.0881101638898927 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.70, Z:-0.48 [[ 9.99911938e-01 1.01312946e-02 -8.57166001e-03 1.28254814e+01] [-1.01257901e-02 9.99948498e-01 6.85339331e-04 -6.99831919e-01] [ 8.57816193e-03 -5.98484149e-04 9.99963028e-01 -4.78093407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.974860623999998 meters 0.08857319017578047 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.70, Z:-0.48 [[ 9.99916694e-01 9.20732011e-03 -9.04598213e-03 1.28545997e+01] [-9.20115833e-03 9.99957407e-01 7.22544569e-04 -7.00866524e-01] [ 9.05224953e-03 -6.39250863e-04 9.99958823e-01 -4.78185022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004860624 meters 0.09159139171450628 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.71, Z:-0.48 [[ 9.99928598e-01 7.79489204e-03 -9.05749037e-03 1.28823023e+01] [-7.78866221e-03 9.99969407e-01 7.22879847e-04 -7.07793136e-01] [ 9.06284804e-03 -6.52282499e-04 9.99958719e-01 -4.80102658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.034860623999997 meters 0.09389919823631528 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.71, Z:-0.48 [[ 9.99941155e-01 5.27961589e-03 -9.47690772e-03 1.29111023e+01] [-5.27268001e-03 9.99985813e-01 7.56707095e-04 -7.10018523e-01] [ 9.48076839e-03 -7.06693865e-04 9.99954807e-01 -4.81442246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064860623999998 meters 0.0920364878265343 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.71, Z:-0.48 [[ 9.99950022e-01 4.37251957e-03 -8.99079812e-03 1.29403096e+01] [-4.36625009e-03 9.99990211e-01 7.16831632e-04 -7.06637584e-01] [ 8.99384447e-03 -6.77539733e-04 9.99959325e-01 -4.81116129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.094860624 meters 0.09426728654142011 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.71, Z:-0.48 [[ 9.99948170e-01 3.89760956e-03 -9.40561490e-03 1.29681050e+01] [-3.89074044e-03 9.99992151e-01 7.48508406e-04 -7.11582671e-01] [ 9.40845847e-03 -7.11874805e-04 9.99955486e-01 -4.82659976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124860623999997 meters 0.09142372364861066 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.70, Z:-0.48 [[ 9.99944626e-01 3.27086089e-03 -1.00023498e-02 1.29976248e+01] [-3.26306336e-03 9.99994360e-01 7.95789838e-04 -7.03422479e-01] [ 1.00048963e-02 -7.63107470e-04 9.99949659e-01 -4.82266503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.154860623999998 meters 0.092804042759059 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.71, Z:-0.48 [[ 9.99947536e-01 3.12433420e-03 -9.75522596e-03 1.30244712e+01] [-3.11692602e-03 9.99994842e-01 7.74517190e-04 -7.05753777e-01] [ 9.75759550e-03 -7.44070237e-04 9.99952117e-01 -4.83007929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184860624 meters 0.09505414429800461 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.71, Z:-0.48 [[ 9.99956239e-01 3.72997205e-03 -8.57942812e-03 1.30519005e+01] [-3.72426863e-03 9.99992833e-01 6.80659183e-04 -7.06949407e-01] [ 8.58190547e-03 -6.48677302e-04 9.99962964e-01 -4.83065706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.214860624 meters 0.09411410664842361 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.70, Z:-0.48 [[ 9.99962856e-01 4.19413384e-03 -7.52969478e-03 1.30809452e+01] [-4.18975698e-03 9.99991045e-01 5.96959323e-04 -7.04993999e-01] [ 7.53213108e-03 -5.65389558e-04 9.99971473e-01 -4.82217012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244860623999998 meters 0.09768668749623734 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.71, Z:-0.48 [[ 9.99963442e-01 4.64936756e-03 -7.17617345e-03 1.31087932e+01] [-4.64541275e-03 9.99989049e-01 5.67672565e-04 -7.11816291e-01] [ 7.17873418e-03 -5.34315525e-04 9.99974090e-01 -4.83555112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.274860624 meters 0.09216196046184183 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.70, Z:-0.48 [[ 9.99965604e-01 4.98285721e-03 -6.63037835e-03 1.31385553e+01] [-4.97948909e-03 9.99987465e-01 5.24394119e-04 -7.00448324e-01] [ 6.63290821e-03 -4.91360185e-04 9.99977881e-01 -4.81280145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304860624 meters 0.09098384865603587 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.69, Z:-0.48 [[ 9.99945493e-01 6.07835368e-03 -8.48913177e-03 1.31676022e+01] [-6.07287501e-03 9.99981335e-01 6.71003935e-04 -6.94639103e-01] [ 8.49305191e-03 -6.19413924e-04 9.99963742e-01 -4.81934376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.334860623999997 meters 0.09141475842234391 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.70, Z:-0.48 [[ 9.99932885e-01 7.91769452e-03 -8.45790659e-03 1.31966647e+01] [-7.91232126e-03 9.99968474e-01 6.68566835e-04 -6.95342440e-01] [ 8.46293345e-03 -6.01600290e-04 9.99964008e-01 -4.84039257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364860624 meters 0.09074204117891162 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.69, Z:-0.49 [[ 9.99917494e-01 9.18043459e-03 -8.98470291e-03 1.32261146e+01] [-9.17442708e-03 9.99957662e-01 7.09625789e-04 -6.93500106e-01] [ 8.99083720e-03 -6.27137739e-04 9.99959385e-01 -4.85328240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.394860624 meters 0.09067007309739539 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.69, Z:-0.49 [[ 9.99895343e-01 1.06898407e-02 -9.74835557e-03 1.32540778e+01] [-1.06828503e-02 9.99942641e-01 7.68877713e-04 -6.88749670e-01] [ 9.75601560e-03 -6.64657022e-04 9.99952188e-01 -4.86390769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424860623999997 meters 0.09180491231013321 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.69, Z:-0.49 [[ 9.99884112e-01 1.11583377e-02 -1.03563919e-02 1.32817508e+01] [-1.11504811e-02 9.99937498e-01 8.16051982e-04 -6.90233570e-01] [ 1.03648504e-02 -7.00478659e-04 9.99946038e-01 -4.87521959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.454860624 meters 0.09031211678077959 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.69, Z:-0.49 [[ 9.99869167e-01 1.16710890e-02 -1.11997447e-02 1.33107050e+01] [-1.16619387e-02 9.99931608e-01 8.81969816e-04 -6.85850123e-01] [ 1.12092723e-02 -7.51243689e-04 9.99936892e-01 -4.87651023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484860624 meters 0.09192415453886364 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.69, Z:-0.49 [[ 9.99860740e-01 1.20904433e-02 -1.15031003e-02 1.33383988e+01] [-1.20808305e-02 9.99926615e-01 9.04789971e-04 -6.89092751e-01] [ 1.15131955e-02 -7.65696965e-04 9.99933428e-01 -4.89389102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.514860623999997 meters 0.09180999490292407 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.69, Z:-0.49 [[ 9.99876924e-01 1.13473082e-02 -1.08340198e-02 1.33672588e+01] [-1.13387442e-02 9.99935352e-01 8.51564288e-04 -6.85971598e-01] [ 1.08429824e-02 -7.28615301e-04 9.99940948e-01 -4.88372627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544860624 meters 0.09266165086581887 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.69, Z:-0.49 [[ 9.99890067e-01 1.13345026e-02 -9.55945257e-03 1.33946745e+01] [-1.13278507e-02 9.99935557e-01 7.49703574e-04 -6.88024707e-01] [ 9.56733405e-03 -6.41333106e-04 9.99954026e-01 -4.88322769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.574860624 meters 0.09117884466785417 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.69, Z:-0.49 [[ 9.99900018e-01 1.04793194e-02 -9.49407795e-03 1.34235802e+01] [-1.04727214e-02 9.99944882e-01 7.44420390e-04 -6.85184783e-01] [ 9.50135568e-03 -6.44917128e-04 9.99954653e-01 -4.86317083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604860623999997 meters 0.09176556323963413 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.69, Z:-0.48 [[ 9.99936834e-01 8.16855940e-03 -7.72021666e-03 1.34530021e+01] [-8.16413076e-03 9.99966490e-01 6.04982742e-04 -6.85501122e-01] [ 7.72489979e-03 -5.41915669e-04 9.99970016e-01 -4.84837140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.634860623999998 meters 0.0942891857605133 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.69, Z:-0.49 [[ 9.99954743e-01 6.18467384e-03 -7.22922519e-03 1.34805472e+01] [-6.18074448e-03 9.99980739e-01 5.65752330e-04 -6.91154202e-01] [ 7.23258494e-03 -5.21044732e-04 9.99973709e-01 -4.85370048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664860624 meters 0.09362694508332961 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.69, Z:-0.48 [[ 9.99972127e-01 2.83574663e-03 -6.90679621e-03 1.35105340e+01] [-2.83207694e-03 9.99995843e-01 5.41038562e-04 -6.90584425e-01] [ 6.90830175e-03 -5.21462904e-04 9.99976001e-01 -4.84818474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.694860623999997 meters 0.09744566727955932 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.70, Z:-0.49 [[ 9.99973481e-01 5.24566005e-04 -7.26378729e-03 1.35390761e+01] [-5.20450091e-04 9.99999703e-01 5.68513269e-04 -6.99181539e-01] [ 7.26408336e-03 -5.64717753e-04 9.99973457e-01 -4.86876817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724860623999998 meters 0.10188962324577953 Centerline is valid? [True, False] Translation: X:13.54, Y:-0.70, Z:-0.49 [[ 9.99974710e-01 3.48633973e-04 -7.10335146e-03 1.35388429e+01] [-3.44775134e-04 9.99999792e-01 5.44459277e-04 -6.98668395e-01] [ 7.10353980e-03 -5.41996449e-04 9.99974623e-01 -4.87195007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.754860624 meters 0.10016015638519356 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.70, Z:-0.49 [[ 9.99978432e-01 -3.27140208e-06 -6.56777392e-03 1.35380369e+01] [ 7.52659190e-06 9.99999790e-01 6.47864592e-04 -6.98332393e-01] [ 6.56777042e-03 -6.47900052e-04 9.99978222e-01 -4.88007435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784860623999997 meters 0.10147720823682951 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.70, Z:-0.49 [[ 9.99979391e-01 -2.80789797e-05 -6.42009144e-03 1.35380246e+01] [ 3.32582551e-05 9.99999674e-01 8.06623888e-04 -6.98233432e-01] [ 6.42006670e-03 -8.06820785e-04 9.99979066e-01 -4.88572724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.814860623999998 meters 0.10287985182055646 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.70, Z:-0.49 [[ 9.99980165e-01 -2.30548805e-04 -6.29417641e-03 1.35377574e+01] [ 2.34763545e-04 9.99999749e-01 6.68894735e-04 -6.97684734e-01] [ 6.29402061e-03 -6.70359110e-04 9.99979968e-01 -4.88697656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844860624 meters 0.09974222721494155 Centerline is valid? [False, True] Translation: X:13.54, Y:-0.69, Z:-0.49 [[ 9.99974509e-01 1.13516084e-04 -7.13919484e-03 1.35398230e+01] [-1.12819268e-04 9.99999989e-01 9.80069175e-05 -6.94926934e-01] [ 7.13920588e-03 -9.71989805e-05 9.99974511e-01 -4.88812419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.874860623999997 meters 0.09839722911320954 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.69, Z:-0.49 [[ 9.99973011e-01 2.57288551e-03 -6.88168412e-03 1.35694850e+01] [-2.56905511e-03 9.99996540e-01 5.65389933e-04 -6.94050079e-01] [ 6.88311499e-03 -5.47695248e-04 9.99976161e-01 -4.88945005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904860623999998 meters 0.0976463049624094 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.69, Z:-0.49 [[ 9.99956282e-01 5.64080773e-03 -7.45755776e-03 1.35983178e+01] [-5.63639647e-03 9.99983928e-01 6.12399974e-04 -6.94974939e-01] [ 7.46089234e-03 -5.70339449e-04 9.99972005e-01 -4.90082879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.934860624 meters 0.09448459281639957 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.69, Z:-0.49 [[ 9.99947439e-01 6.94584752e-03 -7.54144936e-03 1.36277740e+01] [-6.94138616e-03 9.99975718e-01 6.17592163e-04 -6.91298509e-01] [ 7.54555594e-03 -5.65211590e-04 9.99971372e-01 -4.89858547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964860624 meters 0.09318385690338728 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.69, Z:-0.49 [[ 9.99944973e-01 7.35851600e-03 -7.47686483e-03 1.36564559e+01] [-7.35414250e-03 9.99972770e-01 6.12262317e-04 -6.90810483e-01] [ 7.48116658e-03 -5.57242696e-04 9.99971860e-01 -4.90307855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.994860623999998 meters 0.09258206260092296 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.69, Z:-0.49 [[ 9.99943563e-01 7.82385632e-03 -7.18740794e-03 1.36857583e+01] [-7.81982831e-03 9.99969252e-01 5.88358335e-04 -6.91878479e-01] [ 7.19179017e-03 -5.32120834e-04 9.99973997e-01 -4.90126370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024860624 meters 0.09258206260092296 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.69, Z:-0.49 [[ 9.99944365e-01 7.72058012e-03 -7.18751854e-03 1.37131924e+01] [-7.71655912e-03 9.99970055e-01 5.87007385e-04 -6.93992028e-01] [ 7.19183535e-03 -5.31511815e-04 9.99973997e-01 -4.90453103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.054860624 meters 0.0947457074077555 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.70, Z:-0.49 [[ 9.99952758e-01 8.02359777e-03 -5.48670210e-03 1.37405789e+01] [-8.02126220e-03 9.99967729e-01 4.47550722e-04 -7.00311395e-01] [ 5.49011601e-03 -4.03519303e-04 9.99984848e-01 -4.90615528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084860623999997 meters 0.09384321893210905 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.70, Z:-0.49 [[ 9.99961800e-01 7.56313281e-03 -4.38150018e-03 1.37692749e+01] [-7.56164026e-03 9.99971347e-01 3.57113982e-04 -7.00924508e-01] [ 4.38407554e-03 -3.23969012e-04 9.99990337e-01 -4.89100959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.114860624 meters 0.09579146549074323 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.71, Z:-0.49 [[ 9.99967446e-01 7.20858468e-03 -3.62524302e-03 1.37966932e+01] [-7.20756288e-03 9.99973982e-01 2.94842831e-04 -7.07397218e-01] [ 3.62727410e-03 -2.68704066e-04 9.99993385e-01 -4.89723735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144860624 meters 0.0974774687841825 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.71, Z:-0.49 [[ 9.99978904e-01 5.39538797e-03 -3.61685149e-03 1.38260100e+01] [-5.39435736e-03 9.99985407e-01 2.94642350e-04 -7.13673455e-01] [ 3.61838842e-03 -2.75125545e-04 9.99993416e-01 -4.90496898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.174860623999997 meters 0.0965279588817599 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.71, Z:-0.49 [[ 9.99983781e-01 4.36466012e-03 -3.65886650e-03 1.38545256e+01] [-4.36360094e-03 9.99990435e-01 2.97417231e-04 -7.14987768e-01] [ 3.66012963e-03 -2.81446574e-04 9.99993262e-01 -4.90549631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204860624 meters 0.10059533370192025 Centerline is valid? [True, False] Translation: X:13.85, Y:-0.72, Z:-0.49 [[ 9.99985947e-01 4.21950580e-03 -3.20956579e-03 1.38535552e+01] [-4.21709121e-03 9.99990820e-01 7.58706251e-04 -7.16677590e-01] [ 3.21273769e-03 -7.45160557e-04 9.99994562e-01 -4.90804147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.234860624 meters 0.10071162706848924 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.72, Z:-0.49 [[ 9.99986668e-01 4.15868117e-03 -3.06095554e-03 1.38531352e+01] [-4.15610183e-03 9.99991003e-01 8.48535255e-04 -7.17272205e-01] [ 3.06445678e-03 -8.35802299e-04 9.99994955e-01 -4.90713911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264860623999997 meters 0.10120059647613093 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.72, Z:-0.49 [[ 9.99992026e-01 4.08973668e-04 -3.97254667e-03 1.38551527e+01] [-4.22994992e-04 9.99993682e-01 -3.52935698e-03 -7.16438608e-01] [ 3.97107816e-03 3.53100920e-03 9.99985881e-01 -4.90478907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.294860624 meters 0.10284730407602348 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.72, Z:-0.49 [[ 9.99993019e-01 7.55396577e-04 -3.65947615e-03 1.38549379e+01] [-7.64501048e-04 9.99996615e-01 -2.48715672e-03 -7.19257924e-01] [ 3.65758498e-03 2.48993703e-03 9.99990211e-01 -4.91347017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324860624 meters 0.10520040265924177 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.72, Z:-0.49 [[ 9.99993367e-01 9.60727333e-04 -3.51332809e-03 1.38548063e+01] [-9.67452116e-04 9.99997702e-01 -1.91287938e-03 -7.21008279e-01] [ 3.51148226e-03 1.91626566e-03 9.99991999e-01 -4.91689968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.354860623999997 meters 0.10086463065847784 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.72, Z:-0.49 [[ 9.99993383e-01 1.30072164e-03 -3.39727148e-03 1.38549485e+01] [-1.30448636e-03 9.99998537e-01 -1.10617810e-03 -7.22926103e-01] [ 3.39582768e-03 1.11060247e-03 9.99993617e-01 -4.92394864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384860623999998 meters 0.10659248284997963 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.72, Z:-0.49 [[ 9.99994044e-01 1.36485032e-03 -3.17016249e-03 1.38544190e+01] [-1.36698770e-03 9.99998840e-01 -6.72147122e-04 -7.24620875e-01] [ 3.16924144e-03 6.76476692e-04 9.99994749e-01 -4.92430180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.414860624 meters 0.10345384839089715 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.73, Z:-0.49 [[ 9.99994879e-01 1.55241061e-03 -2.79861027e-03 1.38536499e+01] [-1.55152111e-03 9.99998745e-01 3.19978560e-04 -7.28207524e-01] [ 2.79910350e-03 -3.15634819e-04 9.99996033e-01 -4.92634140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444860623999997 meters 0.10151698685434785 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.73, Z:-0.49 [[ 9.99995202e-01 1.66397542e-03 -2.61277161e-03 1.38532518e+01] [-1.66185978e-03 9.99998290e-01 8.11694172e-04 -7.29940078e-01] [ 2.61411778e-03 -8.07348218e-04 9.99996257e-01 -4.92726627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.474860623999998 meters 0.10507658109054112 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.73, Z:-0.49 [[ 9.99995351e-01 2.00887932e-03 -2.29394674e-03 1.38526856e+01] [-2.00458241e-03 9.99996235e-01 1.87391448e-03 -7.33792085e-01] [ 2.29770257e-03 -1.86930736e-03 9.99995613e-01 -4.92986935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504860624 meters 0.10599236525224244 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.74, Z:-0.49 [[ 9.99995329e-01 2.19911405e-03 -2.12292875e-03 1.38523767e+01] [-2.19395729e-03 9.99994645e-01 2.42836196e-03 -7.35728000e-01] [ 2.12825763e-03 -2.42369300e-03 9.99994798e-01 -4.93145832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.534860623999997 meters 0.10787862845571904 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.74, Z:-0.49 [[ 9.99994912e-01 -1.46913931e-03 -2.83170389e-03 1.38541537e+01] [ 1.46496686e-03 9.99997839e-01 -1.47498697e-03 -7.36086137e-01] [ 2.83386473e-03 1.47083111e-03 9.99994903e-01 -4.93328475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564860623999998 meters 0.10963453989082501 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.74, Z:-0.49 [[ 9.99996486e-01 -1.25058055e-03 -2.33754717e-03 1.38530758e+01] [ 1.24981889e-03 9.99999165e-01 -3.27272542e-04 -7.40488645e-01] [ 2.33795450e-03 3.24349881e-04 9.99997214e-01 -4.93409449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.594860624 meters 0.1107286698484041 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.74, Z:-0.49 [[ 9.99997102e-01 -7.45650525e-04 -2.28890590e-03 1.38533529e+01] [ 7.46972274e-04 9.99999555e-01 5.76658568e-04 -7.43099841e-01] [ 2.28847490e-03 -5.78366646e-04 9.99997214e-01 -4.93955427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624860623999997 meters 0.10951069867398093 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.74, Z:-0.49 [[ 9.99997461e-01 -6.01469196e-04 -2.17191371e-03 1.38530178e+01] [ 6.03565184e-04 9.99999353e-01 9.64515658e-04 -7.44775328e-01] [ 2.17133218e-03 -9.65824100e-04 9.99997176e-01 -4.93843093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.654860623999998 meters 0.11026325435047118 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.75, Z:-0.49 [[ 9.99997312e-01 -4.32503374e-05 -2.31813478e-03 1.38535902e+01] [ 4.73818881e-05 9.99998411e-01 1.78224844e-03 -7.47023132e-01] [ 2.31805402e-03 -1.78235349e-03 9.99995725e-01 -4.94156006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684860624 meters 0.10795684319442873 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.75, Z:-0.49 [[ 9.99996961e-01 1.22157394e-04 -2.46220697e-03 1.38537298e+01] [-1.17561121e-04 9.99998251e-01 1.86678746e-03 -7.47844683e-01] [ 2.46243071e-03 -1.86649233e-03 9.99995226e-01 -4.93758734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.714860624 meters 0.10386798179633157 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.75, Z:-0.49 [[ 9.99996452e-01 4.57935878e-04 -2.62399685e-03 1.38541606e+01] [-4.51951949e-04 9.99997297e-01 2.28060272e-03 -7.49081044e-01] [ 2.62503413e-03 -2.27940871e-03 9.99993957e-01 -4.93809942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744860623999998 meters 0.1053488869077547 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.75, Z:-0.49 [[ 9.99995775e-01 9.93322125e-04 -2.73194052e-03 1.38542832e+01] [-9.84994811e-04 9.99994870e-01 3.04778980e-03 -7.52111804e-01] [ 2.73495395e-03 -3.04508598e-03 9.99991624e-01 -4.93544992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.774860624 meters 0.1040116643306621 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.75, Z:-0.49 [[ 9.99995552e-01 1.23716406e-03 -2.71407348e-03 1.38544211e+01] [-1.22777055e-03 9.99993261e-01 3.45997771e-03 -7.53356411e-01] [ 2.71833575e-03 -3.45663005e-03 9.99990331e-01 -4.93784820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804860624 meters 0.10499489602818966 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.76, Z:-0.49 [[ 9.99994353e-01 1.75194687e-03 -2.86781795e-03 1.38548586e+01] [-1.73987580e-03 9.99989640e-01 4.20624654e-03 -7.55720110e-01] [ 2.87515736e-03 -4.20123314e-03 9.99987041e-01 -4.93864690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.834860623999997 meters 0.10482236264679431 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.76, Z:-0.49 [[ 9.99993852e-01 1.97003005e-03 -2.90082740e-03 1.38550087e+01] [-1.95683486e-03 9.99987759e-01 4.54460010e-03 -7.56813435e-01] [ 2.90974489e-03 -4.53889572e-03 9.99985466e-01 -4.93944901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864860624 meters 0.10648653985072493 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.76, Z:-0.49 [[ 9.99993100e-01 2.26512955e-03 -2.94438488e-03 1.38551652e+01] [-2.25028854e-03 9.99984797e-01 5.03402194e-03 -7.58495433e-01] [ 2.95574283e-03 -5.02736149e-03 9.99982994e-01 -4.93996950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.894860624 meters 0.10631905433615652 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.76, Z:-0.49 [[ 9.99992530e-01 -1.32460556e-03 -3.63124266e-03 1.38563145e+01] [ 1.32935186e-03 9.99998265e-01 1.30497238e-03 -7.60760999e-01] [ 3.62950778e-03 -1.30978983e-03 9.99992556e-01 -4.93287535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924860623999997 meters 0.10708676314921414 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.76, Z:-0.49 [[ 9.99993228e-01 -1.14440390e-03 -3.49762024e-03 1.38561095e+01] [ 1.15066730e-03 9.99997737e-01 1.78927225e-03 -7.62320763e-01] [ 3.49556467e-03 -1.79328473e-03 9.99992283e-01 -4.93454652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.954860624 meters 0.10708831749674619 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.76, Z:-0.49 [[ 9.99993367e-01 -9.57331705e-04 -3.51406187e-03 1.38560461e+01] [ 9.64746587e-04 9.99997311e-01 2.10897190e-03 -7.63684195e-01] [ 3.51203343e-03 -2.11234810e-03 9.99991602e-01 -4.93253040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984860624 meters 0.0999384286722305 Centerline is valid? [False, True] Translation: X:13.86, Y:-0.77, Z:-0.49 [[ 9.99993449e-01 -4.96157082e-04 -3.58560401e-03 1.38566864e+01] [ 5.06381550e-04 9.99995807e-01 2.85118798e-03 -7.65180426e-01] [ 3.58417434e-03 -2.85298499e-03 9.99989507e-01 -4.93963009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.014860623999997 meters 0.10139109714132491 Centerline is valid? [True, False] Translation: X:13.86, Y:-0.77, Z:-0.49 [[ 9.99993117e-01 -9.32849248e-05 -3.70905152e-03 1.38568526e+01] [ 1.06108063e-04 9.99994018e-01 3.45720900e-03 -7.67569165e-01] [ 3.70870683e-03 -3.45757876e-03 9.99987145e-01 -4.93724686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044860624 meters 0.10728013619820197 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.77, Z:-0.49 [[ 9.99993364e-01 1.93628123e-04 -3.63786136e-03 1.38568324e+01] [-1.79015438e-04 9.99991917e-01 4.01673019e-03 -7.69473852e-01] [ 3.63860970e-03 -4.01605230e-03 9.99985316e-01 -4.93891427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.074860624 meters 0.11013585710354581 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.77, Z:-0.49 [[ 9.99993827e-01 3.60875247e-04 -3.49498307e-03 1.38564863e+01] [-3.45232832e-04 9.99989926e-01 4.47524639e-03 -7.71412023e-01] [ 3.49656287e-03 -4.47401219e-03 9.99983879e-01 -4.93814356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104860623999997 meters 0.10219813131446175 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.77, Z:-0.49 [[ 9.99994915e-01 5.44278196e-04 -3.14238858e-03 1.38556645e+01] [-5.27369113e-04 9.99985392e-01 5.37928833e-03 -7.74988776e-01] [ 3.14527050e-03 -5.37760378e-03 9.99980594e-01 -4.93768745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.134860623999998 meters 0.10262960641619708 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.77, Z:-0.49 [[ 9.99987056e-01 -3.22690130e-03 -3.93391419e-03 1.38574133e+01] [ 3.23156829e-03 9.99994082e-01 1.18057013e-03 -7.74678938e-01] [ 3.93008133e-03 -1.19326756e-03 9.99991565e-01 -4.93638184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164860624 meters 0.10476965940294562 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.78, Z:-0.49 [[ 9.99988310e-01 -3.30670201e-03 -3.52781202e-03 1.38560693e+01] [ 3.31272188e-03 9.99993065e-01 1.70192695e-03 -7.77565179e-01] [ 3.52215978e-03 -1.71359372e-03 9.99992329e-01 -4.93013954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.194860623999997 meters 0.10555265964925213 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.78, Z:-0.49 [[ 9.99989948e-01 -2.80564567e-03 -3.49757098e-03 1.38563725e+01] [ 2.81453843e-03 9.99992813e-01 2.54022791e-03 -7.79973099e-01] [ 3.49041886e-03 -2.55004643e-03 9.99990657e-01 -4.93476358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224860623999998 meters 0.10615021426267103 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.78, Z:-0.49 [[ 9.99990943e-01 -2.67441419e-03 -3.31092991e-03 1.38559894e+01] [ 2.68422334e-03 9.99992011e-01 2.96176748e-03 -7.81570881e-01] [ 3.30298246e-03 -2.97062793e-03 9.99990133e-01 -4.93521433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.254860624 meters 0.1076497984878786 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.78, Z:-0.49 [[ 9.99991797e-01 -2.38674740e-03 -3.27256926e-03 1.38558840e+01] [ 2.39805793e-03 9.99991151e-01 3.45660464e-03 -7.83696583e-01] [ 3.26429025e-03 -3.46442409e-03 9.99988671e-01 -4.93380570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284860623999997 meters 0.10819236150078429 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.78, Z:-0.49 [[ 9.99992036e-01 -2.21185842e-03 -3.32188148e-03 1.38560626e+01] [ 2.22414777e-03 9.99990680e-01 3.70038846e-03 -7.84509062e-01] [ 3.31366578e-03 -3.70774735e-03 9.99987636e-01 -4.93435478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.314860623999998 meters 0.10944714156532787 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.79, Z:-0.49 [[ 9.99992108e-01 -2.14301043e-03 -3.34546025e-03 1.38560368e+01] [ 2.15575571e-03 9.99990415e-01 3.81077719e-03 -7.85052007e-01] [ 3.33726165e-03 -3.81795911e-03 9.99987143e-01 -4.93305428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344860624 meters 0.11059565640431099 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.79, Z:-0.49 [[ 9.99992421e-01 -1.82204107e-03 -3.44076541e-03 1.38562648e+01] [ 1.83669455e-03 9.99989238e-01 4.26043758e-03 -7.86604227e-01] [ 3.43296569e-03 -4.26672493e-03 9.99985005e-01 -4.93256581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.374860623999997 meters 0.10468775544412008 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.79, Z:-0.49 [[ 9.99992491e-01 -1.75595075e-03 -3.45471925e-03 1.38561514e+01] [ 1.77098962e-03 9.99988949e-01 4.35490639e-03 -7.87391501e-01] [ 3.44703407e-03 -4.36099196e-03 9.99984550e-01 -4.93006798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404860623999998 meters 0.1027857068324093 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.79, Z:-0.49 [[ 9.99992829e-01 -1.71364931e-03 -3.37711623e-03 1.38559276e+01] [ 1.72884366e-03 9.99988374e-01 4.50143698e-03 -7.88200148e-01] [ 3.36936309e-03 -4.50724321e-03 9.99984166e-01 -4.92908529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.434860624 meters 0.10715505028988483 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.79, Z:-0.49 [[ 9.99993073e-01 -1.62076850e-03 -3.35057378e-03 1.38555799e+01] [ 1.63664863e-03 9.99987416e-01 4.74222939e-03 -7.89567160e-01] [ 3.34284556e-03 -4.74768026e-03 9.99983142e-01 -4.92461442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464860624 meters 0.1016961735528058 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.79, Z:-0.49 [[ 9.99993138e-01 -1.56135817e-03 -3.35954823e-03 1.38554386e+01] [ 1.57769372e-03 9.99986920e-01 4.86528222e-03 -7.90317270e-01] [ 3.35190784e-03 -4.87054917e-03 9.99982521e-01 -4.92204492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.494860623999998 meters 0.10285287143818525 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.79, Z:-0.49 [[ 9.99993352e-01 -1.45868257e-03 -3.34201319e-03 1.38553808e+01] [ 1.47557671e-03 9.99986119e-01 5.05820158e-03 -7.91189041e-01] [ 3.33458849e-03 -5.06309935e-03 9.99981623e-01 -4.92153967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524860624 meters 0.10685217785652106 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.79, Z:-0.49 [[ 9.99993430e-01 -9.89561552e-04 -3.48728007e-03 1.38559611e+01] [ 1.00952119e-03 9.99983094e-01 5.72645039e-03 -7.93167608e-01] [ 3.48155444e-03 -5.72993325e-03 9.99977523e-01 -4.92471457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.554860624 meters 0.10194401450121097 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.79, Z:-0.49 [[ 9.99993346e-01 -9.65637727e-04 -3.51795007e-03 1.38559761e+01] [ 9.85770300e-04 9.99983123e-01 5.72558172e-03 -7.93388685e-01] [ 3.51236186e-03 -5.72901151e-03 9.99977421e-01 -4.92334198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584860623999997 meters 0.10276852099112534 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.79, Z:-0.49 [[ 9.99993157e-01 -9.26426302e-04 -3.58161878e-03 1.38559518e+01] [ 9.46995223e-04 9.99983046e-01 5.74548770e-03 -7.93766203e-01] [ 3.57623528e-03 -5.74884016e-03 9.99977080e-01 -4.92045925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.614860624 meters 0.10138008454295123 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.80, Z:-0.49 [[ 9.99993488e-01 -7.71127828e-04 -3.52548099e-03 1.38554772e+01] [ 7.92758939e-04 9.99980846e-01 6.13837345e-03 -7.95883724e-01] [ 3.52067999e-03 -6.14112834e-03 9.99974945e-01 -4.91464052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644860624 meters 0.1033286486793527 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.80, Z:-0.49 [[ 9.99981383e-01 -4.31517251e-03 -4.31422052e-03 1.38574481e+01] [ 4.32514048e-03 9.99987993e-01 2.30383853e-03 -7.96270186e-01] [ 4.30422726e-03 -2.32245525e-03 9.99988040e-01 -4.91719133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.674860623999997 meters 0.10461687725499752 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.80, Z:-0.49 [[ 9.99982925e-01 -4.09921184e-03 -4.16487060e-03 1.38573037e+01] [ 4.11101964e-03 9.99987544e-01 2.83049991e-03 -7.97957219e-01] [ 4.15321591e-03 -2.84757345e-03 9.99987321e-01 -4.91951217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704860624 meters 0.10288533899988483 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.80, Z:-0.49 [[ 9.99984414e-01 -4.02892497e-03 -3.86504131e-03 1.38566243e+01] [ 4.04212323e-03 9.99986006e-01 3.41306526e-03 -8.00345558e-01] [ 3.85123624e-03 -3.42863504e-03 9.99986706e-01 -4.91910896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.734860624 meters 0.10381045168849475 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.80, Z:-0.49 [[ 9.99985418e-01 -3.63661023e-03 -3.99231344e-03 1.38572926e+01] [ 3.65233033e-03 9.99985579e-01 3.93738709e-03 -8.01440750e-01] [ 3.97793712e-03 -3.95191092e-03 9.99984279e-01 -4.92422296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764860623999997 meters 0.10486942052174718 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.80, Z:-0.49 [[ 9.99986545e-01 -3.25532395e-03 -4.03888929e-03 1.38576208e+01] [ 3.27354257e-03 9.99984461e-01 4.51241959e-03 -8.03121766e-01] [ 4.02413714e-03 -4.52558035e-03 9.99981663e-01 -4.92691064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.794860624 meters 0.10526243203981063 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.80, Z:-0.49 [[ 9.99986721e-01 -3.15922572e-03 -4.07147157e-03 1.38575874e+01] [ 3.17817531e-03 9.99984109e-01 4.65619991e-03 -8.03926058e-01] [ 4.05669689e-03 -4.66907793e-03 9.99980871e-01 -4.92493884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824860624 meters 0.10558693856421553 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.80, Z:-0.49 [[ 9.99986950e-01 -3.07763456e-03 -4.07785010e-03 1.38575016e+01] [ 3.09708220e-03 9.99983821e-01 4.77139235e-03 -8.04711056e-01] [ 4.06309952e-03 -4.78395952e-03 9.99980302e-01 -4.92297023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.854860623999997 meters 0.10459668744279563 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.81, Z:-0.49 [[ 9.99987443e-01 -3.12952338e-03 -3.91410742e-03 1.38568843e+01] [ 3.14859563e-03 9.99983155e-01 4.87606326e-03 -8.05688097e-01] [ 3.89878173e-03 -4.88832597e-03 9.99980452e-01 -4.91881318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884860623999998 meters 0.10390567122195561 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.81, Z:-0.49 [[ 9.99987291e-01 -3.36733353e-03 -3.75222990e-03 1.38561083e+01] [ 3.38505444e-03 9.99983101e-01 4.72646588e-03 -8.05992184e-01] [ 3.73625090e-03 -4.73910732e-03 9.99981790e-01 -4.91294451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.914860624 meters 0.10390567122195561 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.81, Z:-0.49 [[ 9.99987291e-01 -3.36733353e-03 -3.75222990e-03 1.38561083e+01] [ 3.38505444e-03 9.99983101e-01 4.72646588e-03 -8.05992184e-01] [ 3.73625090e-03 -4.73910732e-03 9.99981790e-01 -4.91294451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944860623999997 meters 0.10572940683880827 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.81, Z:-0.49 [[ 9.99988282e-01 -3.39225169e-03 -3.45371323e-03 1.38553181e+01] [ 3.40978584e-03 9.99981264e-01 5.08373168e-03 -8.07882766e-01] [ 3.43640322e-03 -5.09544853e-03 9.99981114e-01 -4.91037992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.974860623999998 meters 0.11470146198470335 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.81, Z:-0.49 [[ 9.99989284e-01 -3.16563092e-03 -3.37805292e-03 1.38553328e+01] [ 3.18427724e-03 9.99979646e-01 5.52881718e-03 -8.09333619e-01] [ 3.36048197e-03 -5.53951459e-03 9.99979010e-01 -4.91262632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004860624 meters 0.10867083222105368 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.81, Z:-0.49 [[ 9.99990007e-01 -3.18795360e-03 -3.13398800e-03 1.38548563e+01] [ 3.20592460e-03 9.99978352e-01 5.74602477e-03 -8.10331755e-01] [ 3.11560210e-03 -5.75601468e-03 9.99978580e-01 -4.91341365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.034860623999997 meters 0.10985520778204366 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.81, Z:-0.49 [[ 9.99990478e-01 -3.26451056e-03 -2.89604615e-03 1.38541566e+01] [ 3.28149544e-03 9.99977331e-01 5.87961322e-03 -8.11545352e-01] [ 2.87678644e-03 -5.88906060e-03 9.99978521e-01 -4.91027996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064860623999998 meters 0.11086543725429426 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.81, Z:-0.49 [[ 9.99990210e-01 -3.38034555e-03 -2.85525351e-03 1.38538446e+01] [ 3.39676135e-03 9.99977618e-01 5.76418581e-03 -8.11600952e-01] [ 2.83570467e-03 -5.77382800e-03 9.99979311e-01 -4.90706538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.094860624 meters 0.11518312061854744 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.81, Z:-0.49 [[ 9.99990175e-01 -3.37271882e-03 -2.87667310e-03 1.38537175e+01] [ 3.38921541e-03 9.99977730e-01 5.74914301e-03 -8.11901144e-01] [ 2.85721880e-03 -5.75883618e-03 9.99979336e-01 -4.90427399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124860623999997 meters 0.10951103905592767 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.81, Z:-0.49 [[ 9.99990172e-01 -3.39835714e-03 -2.84718495e-03 1.38534986e+01] [ 3.41458922e-03 9.99977835e-01 5.71576583e-03 -8.12180448e-01] [ 2.82769763e-03 -5.72543163e-03 9.99979612e-01 -4.90179861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.154860623999998 meters 0.10821677545388775 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.81, Z:-0.49 [[ 9.99990289e-01 -3.35684147e-03 -2.85553453e-03 1.38532240e+01] [ 3.37317407e-03 9.99977870e-01 5.73417376e-03 -8.12898889e-01] [ 2.83622263e-03 -5.74375029e-03 9.99979482e-01 -4.89695008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184860624 meters 0.10682177629591658 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.81, Z:-0.49 [[ 9.99990682e-01 -3.14517106e-03 -2.95683980e-03 1.38535110e+01] [ 3.16269618e-03 9.99977350e-01 5.94110365e-03 -8.13514014e-01] [ 2.93808704e-03 -5.95039988e-03 9.99977980e-01 -4.89735096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.214860624 meters 0.10623433692686403 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.81, Z:-0.49 [[ 9.99990577e-01 -3.14280338e-03 -2.99479994e-03 1.38533645e+01] [ 3.16051979e-03 9.99977426e-01 5.92947180e-03 -8.13920864e-01] [ 2.97609717e-03 -5.93888105e-03 9.99977936e-01 -4.89378291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244860623999998 meters 0.10864581898109638 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.81, Z:-0.49 [[ 9.99991039e-01 -2.84393083e-03 -3.13586415e-03 1.38537924e+01] [ 2.86341477e-03 9.99976516e-01 6.22637429e-03 -8.14938873e-01] [ 3.11808313e-03 -6.23529777e-03 9.99975699e-01 -4.89440338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.274860624 meters 0.10715414878273273 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.82, Z:-0.49 [[ 9.99990889e-01 -2.81003397e-03 -3.21346098e-03 1.38538185e+01] [ 2.82990447e-03 9.99976802e-01 6.19578057e-03 -8.15121975e-01] [ 3.19597608e-03 -6.20481790e-03 9.99975643e-01 -4.89206440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304860624 meters 0.10832490476269181 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.82, Z:-0.49 [[ 9.99990666e-01 -2.83364322e-03 -3.26154738e-03 1.38537812e+01] [ 2.85341480e-03 9.99977486e-01 6.07342022e-03 -8.15106778e-01] [ 3.24426404e-03 -6.08267008e-03 9.99976238e-01 -4.88956034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.334860623999997 meters 0.1076529496582484 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.82, Z:-0.49 [[ 9.99990588e-01 -2.62030999e-03 -3.45806521e-03 1.38540564e+01] [ 2.64170710e-03 9.99977305e-01 6.19760381e-03 -8.15925187e-01] [ 3.44174709e-03 -6.20668068e-03 9.99974815e-01 -4.88635240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364860624 meters 0.10665950950001125 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.82, Z:-0.49 [[ 9.99991100e-01 -2.26594903e-03 -3.55896657e-03 1.38545681e+01] [ 2.28966936e-03 9.99975100e-01 6.67507658e-03 -8.17023969e-01] [ 3.54375257e-03 -6.68316603e-03 9.99971388e-01 -4.89009023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.394860624 meters 0.10821603347902242 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.82, Z:-0.49 [[ 9.99987848e-01 2.26479924e-03 4.37883125e-03 1.38445298e+01] [-2.28030106e-03 9.99991140e-01 3.53842837e-03 -8.20111600e-01] [-4.37077863e-03 -3.54837043e-03 9.99984153e-01 -4.94074116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424860623999997 meters 0.10810285649985953 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.82, Z:-0.49 [[ 9.99987895e-01 2.54280444e-03 4.21224723e-03 1.38450496e+01] [-2.55908124e-03 9.99989263e-01 3.86328794e-03 -8.20934310e-01] [-4.20237841e-03 -3.87402066e-03 9.99983666e-01 -4.94274883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.454860624 meters 0.10961339165105638 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.82, Z:-0.49 [[ 9.99988295e-01 2.60650601e-03 4.07629795e-03 1.38451809e+01] [-2.62219453e-03 9.99989158e-01 3.84812168e-03 -8.21266302e-01] [-4.06622360e-03 -3.85876548e-03 9.99984288e-01 -4.93993691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484860624 meters 0.1021785893566799 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.82, Z:-0.49 [[ 9.99988794e-01 2.66613683e-03 3.91196564e-03 1.38453922e+01] [-2.68099844e-03 9.99989191e-01 3.79870019e-03 -8.21346740e-01] [-3.90179550e-03 -3.80914559e-03 9.99985133e-01 -4.93753331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.514860623999997 meters 0.09925813727821702 Centerline is valid? [False, True] Translation: X:13.85, Y:-0.82, Z:-0.49 [[ 9.99989946e-01 2.65709026e-03 3.61211588e-03 1.38454580e+01] [-2.66969530e-03 9.99990349e-01 3.48932562e-03 -8.21211365e-01] [-3.60280956e-03 -3.49893379e-03 9.99987389e-01 -4.92839809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544860624 meters 0.10656869870811225 Centerline is valid? [True, False] Translation: X:13.85, Y:-0.82, Z:-0.49 [[ 9.99996976e-01 -6.30990028e-04 2.37692606e-03 1.38483986e+01] [ 6.32244293e-04 9.99999661e-01 -5.26969199e-04 -8.20038068e-01] [-2.37659275e-03 5.28470403e-04 9.99997036e-01 -4.93396749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.574860624 meters 0.09938544617169594 Centerline is valid? [False, True] Translation: X:13.85, Y:-0.82, Z:-0.49 [[ 9.99997947e-01 -3.27221782e-04 1.99992161e-03 1.38492944e+01] [ 3.28065099e-04 9.99999857e-01 -4.21361749e-04 -8.20096753e-01] [-1.99978345e-03 4.22016988e-04 9.99997911e-01 -4.93466330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604860623999997 meters 0.10529562172195728 Centerline is valid? [True, False] Translation: X:13.85, Y:-0.82, Z:-0.49 [[ 9.99999108e-01 5.33216079e-05 1.33436176e-03 1.38507007e+01] [-5.25723117e-05 9.99999841e-01 -5.61567836e-04 -8.19265352e-01] [-1.33439149e-03 5.61497185e-04 9.99998952e-01 -4.93441991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.634860623999998 meters 0.0943385511102913 Centerline is valid? [False, True] Translation: X:13.85, Y:-0.82, Z:-0.49 [[ 9.99999490e-01 1.06851633e-05 1.00943541e-03 1.38511558e+01] [-9.68246798e-06 9.99999507e-01 -9.93322573e-04 -8.18118595e-01] [-1.00944553e-03 9.93312293e-04 9.99998997e-01 -4.93030917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664860624 meters 0.09410560829259823 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.82, Z:-0.49 [[ 9.99988250e-01 4.84007355e-03 2.70894682e-04 1.38807289e+01] [-4.84006693e-03 9.99988286e-01 -2.50965027e-05 -8.19460816e-01] [-2.71012978e-04 2.37850594e-05 9.99999963e-01 -4.94876859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.694860623999997 meters 0.09382971425398604 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.82, Z:-0.50 [[ 9.99969982e-01 7.73219070e-03 -4.98689639e-04 1.39100839e+01] [-7.73216900e-03 9.99970105e-01 4.54442971e-05 -8.20829059e-01] [ 4.99026114e-04 -4.15869804e-05 9.99999875e-01 -4.96564270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724860623999998 meters 0.088656066763269 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.81, Z:-0.49 [[ 9.99918342e-01 1.27704069e-02 4.75151497e-04 1.39413507e+01] [-1.27703874e-02 9.99918454e-01 -4.39389840e-05 -8.13470235e-01] [-4.75673869e-04 3.78675274e-05 9.99999886e-01 -4.94817543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.754860624 meters 0.09071072272640304 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.82, Z:-0.50 [[ 9.99880952e-01 1.53648376e-02 1.41543805e-03 1.39699792e+01] [-1.53646669e-02 9.99881948e-01 -1.31381141e-04 -8.19933633e-01] [-1.41728960e-03 1.09617766e-04 9.99998990e-01 -4.97529780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784860623999997 meters 0.08565120540832867 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.81, Z:-0.49 [[ 9.99836778e-01 1.79812944e-02 1.75818783e-03 1.40011179e+01] [-1.79810360e-02 9.99838315e-01 -1.62676932e-04 -8.11836839e-01] [-1.76082870e-03 1.31036341e-04 9.99998441e-01 -4.94630025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.814860623999998 meters 0.0842981125001565 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.81, Z:-0.49 [[ 9.99772415e-01 2.12649897e-02 1.70833571e-03 1.40318346e+01] [-2.12647508e-02 9.99773867e-01 -1.57876482e-04 -8.10837515e-01] [-1.71130664e-03 1.21513218e-04 9.99998528e-01 -4.94126760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844860624 meters 0.08263011528895664 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.81, Z:-0.49 [[ 9.99651241e-01 2.63755982e-02 1.31331571e-03 1.40619828e+01] [-2.63754605e-02 9.99652100e-01 -1.22101097e-04 -8.06741020e-01] [-1.31607929e-03 8.74192063e-05 9.99999130e-01 -4.94322690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.874860623999997 meters 0.08222258184300979 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.81, Z:-0.50 [[ 9.99589548e-01 2.86195068e-02 1.28832951e-03 1.40906023e+01] [-2.86193752e-02 9.99590375e-01 -1.20453808e-04 -8.07308998e-01] [-1.29124910e-03 8.35331821e-05 9.99999163e-01 -4.95753259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904860623999998 meters 0.08149959806739192 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.81, Z:-0.50 [[ 9.99493909e-01 3.17962662e-02 9.61006695e-04 1.41206584e+01] [-3.17961950e-02 9.99494369e-01 -8.91875492e-05 -8.07332580e-01] [-9.63356611e-04 5.85860559e-05 9.99999534e-01 -4.97045708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.934860624 meters 0.0829731864963427 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.81, Z:-0.50 [[ 9.99486381e-01 3.20418475e-02 5.42496985e-04 1.41484208e+01] [-3.20418237e-02 9.99486528e-01 -5.25750820e-05 -8.12787738e-01] [-5.43903030e-04 3.51654857e-05 9.99999851e-01 -5.00610283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964860624 meters 0.0801522086851485 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.81, Z:-0.50 [[ 9.99468191e-01 3.26043653e-02 5.39926341e-04 1.41780147e+01] [-3.26043420e-02 9.99468336e-01 -5.18491861e-05 -8.08817436e-01] [-5.41329792e-04 3.42176692e-05 9.99999853e-01 -4.98662447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.994860623999998 meters 0.08078082399638688 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.81, Z:-0.50 [[ 9.99484194e-01 3.21135096e-02 2.60735687e-04 1.42070233e+01] [-3.21135039e-02 9.99484228e-01 -2.60902900e-05 -8.12218154e-01] [-2.61439057e-04 1.77036960e-05 9.99999966e-01 -4.99163682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024860624 meters 0.08355901179312254 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.82, Z:-0.50 [[ 9.99509717e-01 3.12790242e-02 1.39558884e-03 1.42344551e+01] [-3.12788717e-02 9.99510688e-01 -1.30970156e-04 -8.20692533e-01] [-1.39900258e-03 8.72534988e-05 9.99999018e-01 -5.02467082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.054860624 meters 0.08182068389578967 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.82, Z:-0.50 [[ 9.99542723e-01 3.01755733e-02 1.94421498e-03 1.42633744e+01] [-3.01752785e-02 9.99544606e-01 -1.80779512e-04 -8.18515213e-01] [-1.94878473e-03 1.22029617e-04 9.99998094e-01 -5.00537051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084860623999997 meters 0.08325067025421506 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.82, Z:-0.50 [[ 9.99597075e-01 2.82672013e-02 2.57930037e-03 1.42909926e+01] [-2.82666777e-02 9.99600389e-01 -2.39236880e-04 -8.24740906e-01] [-2.58503221e-03 1.66232233e-04 9.99996645e-01 -5.01651359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.114860624 meters 0.08380579230049999 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.83, Z:-0.50 [[ 9.99633373e-01 2.69360191e-02 2.75142199e-03 1.43201023e+01] [-2.69354226e-02 9.99637144e-01 -2.53655612e-04 -8.28658693e-01] [-2.75725609e-03 1.79451901e-04 9.99996183e-01 -5.03172501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144860624 meters 0.08481430140905864 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.83, Z:-0.50 [[ 9.99677563e-01 2.52163825e-02 2.98392899e-03 1.43494864e+01] [-2.52156737e-02 9.99681997e-01 -2.74908458e-04 -8.33293529e-01] [-2.98991229e-03 1.99578037e-04 9.99995510e-01 -5.03919186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.174860623999997 meters 0.08772007379670532 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.84, Z:-0.50 [[ 9.99748823e-01 2.19921102e-02 4.31719799e-03 1.43783777e+01] [-2.19906011e-02 9.99758099e-01 -3.96710416e-04 -8.41523286e-01] [-4.32487815e-03 3.01672993e-04 9.99990602e-01 -5.04729366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204860624 meters 0.08915115915940318 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.85, Z:-0.51 [[ 9.99790855e-01 1.98709902e-02 4.83637931e-03 1.44077423e+01] [-1.98690703e-02 9.99802492e-01 -4.44703784e-04 -8.46868114e-01] [-4.84426078e-03 3.48516416e-04 9.99988206e-01 -5.05355667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.234860624 meters 0.08675107562332814 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.84, Z:-0.50 [[ 9.99821427e-01 1.80433932e-02 5.61690159e-03 1.44372787e+01] [-1.80407741e-02 9.99837119e-01 -5.16619138e-04 -8.44838141e-01] [-5.62530826e-03 4.15193631e-04 9.99984092e-01 -5.03679285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264860623999997 meters 0.09352201785402671 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.86, Z:-0.51 [[ 9.99879294e-01 1.42651047e-02 6.15656133e-03 1.44656429e+01] [-1.42618976e-02 9.99898135e-01 -5.64514855e-04 -8.61147914e-01] [-6.16398705e-03 4.76642467e-04 9.99980889e-01 -5.09491494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.294860624 meters 0.08876188400798281 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.85, Z:-0.51 [[ 9.99918257e-01 1.18086737e-02 4.90244648e-03 1.44963349e+01] [-1.18066095e-02 9.99930198e-01 -4.49785582e-04 -8.54328320e-01] [-4.90741565e-03 3.91867544e-04 9.99987882e-01 -5.07646543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324860624 meters 0.09247215055025497 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.86, Z:-0.51 [[ 9.99936001e-01 9.07204925e-03 6.75959391e-03 1.45251411e+01] [-9.06806264e-03 9.99958692e-01 -6.20186555e-04 -8.64256394e-01] [-6.76494105e-03 5.58850442e-04 9.99976961e-01 -5.10351934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.354860623999997 meters 0.09237473601446411 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.87, Z:-0.51 [[ 9.99942583e-01 8.63184777e-03 6.34995211e-03 1.45549438e+01] [-8.62832137e-03 9.99962606e-01 -5.82528645e-04 -8.66699165e-01] [-6.35474295e-03 5.27705771e-04 9.99979669e-01 -5.11679404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384860623999998 meters 0.09318256090089339 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.87, Z:-0.51 [[ 9.99941627e-01 7.82002051e-03 7.45591751e-03 1.45846916e+01] [-7.81513484e-03 9.99969227e-01 -6.84184564e-04 -8.70685285e-01] [-7.46103841e-03 6.25875625e-04 9.99971970e-01 -5.13108392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.414860624 meters 0.09524552464623916 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.88, Z:-0.51 [[ 9.99929061e-01 7.73472407e-03 9.05800021e-03 1.46135824e+01] [-7.72752624e-03 9.99969798e-01 -8.29367301e-04 -8.76736721e-01] [-9.06414157e-03 7.59312532e-04 9.99958632e-01 -5.14673345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444860623999997 meters 0.09528736672367102 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.88, Z:-0.52 [[ 9.99925521e-01 7.83175807e-03 9.36039098e-03 1.46452234e+01] [-7.82407544e-03 9.99969024e-01 -8.57097560e-04 -8.78800516e-01] [-9.36681361e-03 7.83797318e-04 9.99955823e-01 -5.15396575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.474860623999998 meters 0.09624499231328693 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.88, Z:-0.52 [[ 9.99912888e-01 8.35987491e-03 1.02141713e-02 1.46749854e+01] [-8.35074625e-03 9.99964694e-01 -9.36048645e-04 -8.83073484e-01] [-1.02216360e-02 8.50671151e-04 9.99947396e-01 -5.16233254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504860624 meters 0.09703162554758321 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.89, Z:-0.52 [[ 9.99917153e-01 8.10083721e-03 1.00031335e-02 1.47054433e+01] [-8.09206754e-03 9.99966838e-01 -9.16855736e-04 -8.85982197e-01] [-1.00102291e-02 8.35833745e-04 9.99949547e-01 -5.17896929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.534860623999997 meters 0.09652751645267682 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.89, Z:-0.52 [[ 9.99920176e-01 8.70840535e-03 9.15449630e-03 1.47365462e+01] [-8.70108834e-03 9.99961793e-01 -8.38804568e-04 -8.87412193e-01] [-9.16145119e-03 7.59083531e-04 9.99957745e-01 -5.19530564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564860623999998 meters 0.09696275456617834 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.89, Z:-0.52 [[ 9.99913860e-01 9.31112573e-03 9.25068512e-03 1.47666304e+01] [-9.30367025e-03 9.99956360e-01 -8.48645162e-04 -8.90259092e-01] [-9.25818326e-03 7.62506736e-04 9.99956851e-01 -5.21047743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.594860624 meters 0.09078105481567274 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.88, Z:-0.52 [[ 9.99870986e-01 1.23243910e-02 1.03015078e-02 1.47980987e+01] [-1.23153059e-02 9.99923717e-01 -9.44890767e-04 -8.79936650e-01] [-1.03123672e-02 8.17902643e-04 9.99946492e-01 -5.19247945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624860623999997 meters 0.08952902588521822 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.88, Z:-0.52 [[ 9.99834290e-01 1.43729734e-02 1.11718828e-02 1.48283507e+01] [-1.43624071e-02 9.99896329e-01 -1.02545102e-03 -8.79214248e-01] [-1.11854634e-02 8.64825966e-04 9.99937067e-01 -5.19825436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.654860623999998 meters 0.08861843036025843 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.88, Z:-0.52 [[ 9.99767532e-01 1.78018809e-02 1.21645178e-02 1.48582586e+01] [-1.77896107e-02 9.99841129e-01 -1.11615613e-03 -8.77870282e-01] [-1.21824549e-02 8.99494619e-04 9.99925387e-01 -5.20582226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684860624 meters 0.08563906573665563 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.87, Z:-0.52 [[ 9.99716955e-01 1.96122075e-02 1.34674059e-02 1.48891101e+01] [-1.95973362e-02 9.99807191e-01 -1.23534290e-03 -8.72980488e-01] [-1.34890371e-02 9.71067961e-04 9.99908547e-01 -5.19760730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.714860623999996 meters 0.08501088854443284 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.87, Z:-0.52 [[ 9.99689477e-01 2.10935491e-02 1.32669403e-02 1.49191506e+01] [-2.10792456e-02 9.99777067e-01 -1.21706553e-03 -8.72653838e-01] [-1.32896549e-02 9.37030509e-04 9.99911250e-01 -5.20302977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744860623999998 meters 0.08515498166155715 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.87, Z:-0.52 [[ 9.99632742e-01 2.31033155e-02 1.41639750e-02 1.49483482e+01] [-2.30872205e-02 9.99732611e-01 -1.29881600e-03 -8.72852630e-01] [-1.41901947e-02 9.71332187e-04 9.99898842e-01 -5.23040262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.774860624 meters 0.0854034989242876 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.88, Z:-0.52 [[ 9.99620812e-01 2.35549064e-02 1.42617630e-02 1.49769402e+01] [-2.35386324e-02 9.99722072e-01 -1.30789749e-03 -8.75151399e-01] [-1.42886066e-02 9.71699156e-04 9.99897441e-01 -5.24204127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804860624 meters 0.08627649727307458 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.88, Z:-0.53 [[ 9.99627552e-01 2.28154004e-02 1.49737811e-02 1.50046361e+01] [-2.27973901e-02 9.99739164e-01 -1.37240452e-03 -8.78921164e-01] [-1.50011874e-02 1.03053024e-03 9.99886945e-01 -5.26028323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.834860623999997 meters 0.08627649727307458 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.88, Z:-0.53 [[ 9.99628993e-01 2.27520845e-02 1.49739156e-02 1.50328799e+01] [-2.27340890e-02 9.99740607e-01 -1.37093521e-03 -8.81426611e-01] [-1.50012231e-02 1.03000826e-03 9.99886945e-01 -5.26965750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864860624 meters 0.0868697983819237 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.88, Z:-0.53 [[ 9.99646537e-01 2.20542640e-02 1.48462366e-02 1.50618925e+01] [-2.20365114e-02 9.99756244e-01 -1.35831007e-03 -8.84629980e-01] [-1.48725743e-02 1.03067070e-03 9.99888866e-01 -5.28088200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.894860624 meters 0.0885995847370071 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.89, Z:-0.53 [[ 9.99708556e-01 1.94299898e-02 1.43275582e-02 1.50907108e+01] [-1.94132085e-02 9.99810688e-01 -1.30942584e-03 -8.89200350e-01] [-1.43502879e-02 1.03090034e-03 9.99896498e-01 -5.29575575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924860623999997 meters 0.08762795073525223 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.89, Z:-0.53 [[ 9.99725933e-01 1.82136021e-02 1.47079685e-02 1.51203741e+01] [-1.81957938e-02 9.99833540e-01 -1.34371134e-03 -8.88810322e-01] [-1.47299941e-02 1.07571991e-03 9.99890929e-01 -5.29785155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.954860624 meters 0.09118309848211056 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.90, Z:-0.53 [[ 9.99757054e-01 1.58182310e-02 1.53498046e-02 1.51489046e+01] [-1.57985729e-02 9.99874213e-01 -1.40110120e-03 -8.97357607e-01] [-1.53700367e-02 1.15825580e-03 9.99881203e-01 -5.31481686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984860624 meters 0.09271888273678563 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.90, Z:-0.53 [[ 9.99788524e-01 1.41152596e-02 1.49554976e-02 1.51791376e+01] [-1.40964052e-02 9.99899709e-01 -1.36537234e-03 -9.02375158e-01] [-1.49732702e-02 1.15426485e-03 9.99887228e-01 -5.32647352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.014860623999997 meters 0.08950048699753639 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.90, Z:-0.53 [[ 9.99807461e-01 1.30319632e-02 1.46699725e-02 1.52103329e+01] [-1.30137104e-02 9.99914422e-01 -1.33900686e-03 -8.98545167e-01] [-1.46861669e-02 1.14783827e-03 9.99891494e-01 -5.32684591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044860624 meters 0.09284887758669579 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.91, Z:-0.53 [[ 9.99842046e-01 1.00251047e-02 1.46758604e-02 1.52396202e+01] [-1.00065091e-02 9.99949036e-01 -1.33997126e-03 -9.06805274e-01] [-1.46885458e-02 1.19290547e-03 9.99891406e-01 -5.34686818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.074860624 meters 0.09379119314764242 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.91, Z:-0.54 [[ 9.99864432e-01 8.55028569e-03 1.40715793e-02 1.52697193e+01] [-8.53304657e-03 9.99962768e-01 -1.28468719e-03 -9.10538716e-01] [-1.40820398e-02 1.16443959e-03 9.99900165e-01 -5.35548585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104860623999997 meters 0.09687160061079068 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.92, Z:-0.54 [[ 9.99864628e-01 7.33931003e-03 1.47261568e-02 1.53003180e+01] [-7.32032012e-03 9.99972304e-01 -1.34302601e-03 -9.18627537e-01] [-1.47356058e-02 1.23504402e-03 9.99890662e-01 -5.37037451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.134860623999998 meters 0.09555792907947665 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.92, Z:-0.54 [[ 9.99855541e-01 6.07710005e-03 1.58734673e-02 1.53325177e+01] [-6.05483367e-03 9.99980617e-01 -1.45042465e-03 -9.19888059e-01] [-1.58819740e-02 1.35410391e-03 9.99872957e-01 -5.37276409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164860624 meters 0.09532018832434484 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.92, Z:-0.54 [[ 9.99861306e-01 4.99354494e-03 1.58881266e-02 1.53647149e+01] [-4.97108533e-03 9.99986589e-01 -1.45278875e-03 -9.22828062e-01] [-1.58951680e-02 1.37360602e-03 9.99872720e-01 -5.37293075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.194860623999997 meters 0.09557112661791896 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.93, Z:-0.54 [[ 9.99869666e-01 2.95370032e-03 1.58722082e-02 1.53955569e+01] [-2.93100095e-03 9.99994649e-01 -1.45320474e-03 -9.27037772e-01] [-1.58764156e-02 1.40649388e-03 9.99872973e-01 -5.37941771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224860623999998 meters 0.10075104457569514 Centerline is valid? [True, False] Translation: X:15.40, Y:-0.93, Z:-0.54 [[ 9.99868986e-01 3.08406939e-03 1.58902047e-02 1.53956294e+01] [-3.06563233e-03 9.99994599e-01 -1.18450596e-03 -9.27719612e-01] [-1.58937720e-02 1.13563725e-03 9.99873041e-01 -5.38113269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.254860624 meters 0.09857636513267237 Centerline is valid? [False, True] Translation: X:15.40, Y:-0.93, Z:-0.53 [[ 9.99996564e-01 -1.11477149e-03 -2.37254704e-03 1.54033523e+01] [ 1.11706740e-03 9.99998909e-01 9.66595680e-04 -9.26887962e-01] [ 2.37146692e-03 -9.69242654e-04 9.99996718e-01 -5.30915344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284860623999997 meters 0.09955707019094555 Centerline is valid? [True, True] Translation: X:15.43, Y:-0.93, Z:-0.53 [[ 9.99996585e-01 -2.11519384e-03 -1.53508617e-03 1.54325364e+01] [ 2.11540393e-03 9.99997753e-01 1.35252624e-04 -9.31550395e-01] [ 1.53479663e-03 -1.38499489e-04 9.99998813e-01 -5.30130136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.314860623999998 meters 0.09686050252995666 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.93, Z:-0.53 [[ 9.99990711e-01 -4.29182309e-03 -3.98101823e-04 1.54638851e+01] [ 4.29183754e-03 9.99990789e-01 3.54455381e-05 -9.31271431e-01] [ 3.97946030e-04 -3.71537972e-05 9.99999920e-01 -5.29822088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344860624 meters 0.0976835253660056 Centerline is valid? [True, True] Translation: X:15.49, Y:-0.94, Z:-0.53 [[ 9.99983411e-01 -5.71852523e-03 -6.90344395e-04 1.54947835e+01] [ 5.71856908e-03 9.99983647e-01 6.15517944e-05 -9.36971075e-01] [ 6.89981121e-04 -6.54985554e-05 9.99999760e-01 -5.30602432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.374860623999997 meters 0.09975987277171759 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.95, Z:-0.53 [[ 9.99972091e-01 -7.47077433e-03 6.33660893e-05 1.55249466e+01] [ 7.47077466e-03 9.99972093e-01 -5.05227804e-06 -9.45349218e-01] [-6.33265766e-05 5.52553081e-06 9.99999998e-01 -5.32496160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404860623999998 meters 0.10053062892382068 Centerline is valid? [True, False] Translation: X:15.53, Y:-0.95, Z:-0.53 [[ 9.99974382e-01 -7.15784428e-03 -2.09048690e-06 1.55255223e+01] [ 7.15784449e-03 9.99974278e-01 4.56799796e-04 -9.46074900e-01] [-1.17926868e-06 -4.56803057e-04 9.99999896e-01 -5.33135307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.434860624 meters 0.10052053569258831 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.95, Z:-0.53 [[ 9.99976855e-01 -6.80275466e-03 -1.12750117e-04 1.55262106e+01] [ 6.80285864e-03 9.99976410e-01 9.49059442e-04 -9.46792420e-01] [ 1.06291239e-04 -9.49804499e-04 9.99999543e-01 -5.33797004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464860623999996 meters 0.10279638928360457 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.95, Z:-0.53 [[ 9.99981264e-01 -6.11253221e-03 -3.30235089e-04 1.55274245e+01] [ 6.11313563e-03 9.99979588e-01 1.85821340e-03 -9.48486226e-01] [ 3.18869959e-04 -1.86019736e-03 9.99998219e-01 -5.34831782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.494860623999998 meters 0.10252533706450252 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.95, Z:-0.53 [[ 9.99982233e-01 -5.95333786e-03 -3.02987806e-04 1.55274565e+01] [ 5.95398357e-03 9.99979906e-01 2.17683527e-03 -9.49541221e-01] [ 2.90022281e-04 -2.17860058e-03 9.99997585e-01 -5.34949953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524860624 meters 0.10210932448960484 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.95, Z:-0.54 [[ 9.99986072e-01 -5.26910210e-03 -3.03204569e-04 1.55281255e+01] [ 5.27008391e-03 9.99980555e-01 3.33394284e-03 -9.52354602e-01] [ 2.85631789e-04 -3.33549432e-03 9.99994396e-01 -5.35892572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.554860624 meters 0.10742500865509594 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.95, Z:-0.54 [[ 9.99987060e-01 -5.08191763e-03 -2.34085214e-04 1.55281247e+01] [ 5.08275220e-03 9.99980184e-01 3.71448517e-03 -9.53511677e-01] [ 2.15203868e-04 -3.71562690e-03 9.99993074e-01 -5.36089221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584860623999997 meters 0.10272523118688207 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.95, Z:-0.54 [[ 9.99989092e-01 -4.66106869e-03 -3.01369507e-04 1.55286265e+01] [ 4.66233324e-03 9.99979709e-01 4.34110465e-03 -9.54997224e-01] [ 2.81129205e-04 -4.34246238e-03 9.99990532e-01 -5.36588922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.614860624 meters 0.10319592609965302 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.96, Z:-0.54 [[ 9.99989424e-01 -4.59418909e-03 -2.12558989e-04 1.55282789e+01] [ 4.59510283e-03 9.99979232e-01 4.51897544e-03 -9.56127345e-01] [ 1.91793547e-04 -4.51990438e-03 9.99989767e-01 -5.36319853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644860624 meters 0.10966943085914715 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.96, Z:-0.54 [[ 9.99990579e-01 -4.33290003e-03 -2.59682909e-04 1.55281804e+01] [ 4.33412210e-03 9.99978571e-01 4.90633019e-03 -9.57838380e-01] [ 2.38418706e-04 -4.90740947e-03 9.99987930e-01 -5.35934024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.674860623999997 meters 0.10257430665033808 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.96, Z:-0.54 [[ 9.99990276e-01 -4.40289862e-03 -2.50531501e-04 1.55279484e+01] [ 4.40405068e-03 9.99978780e-01 4.80044277e-03 -9.57939983e-01] [ 2.29390321e-04 -4.80149944e-03 9.99988446e-01 -5.35586615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704860624 meters 0.10272892213245288 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.96, Z:-0.54 [[ 9.99993197e-01 -3.67238224e-03 -3.44680076e-04 1.55286267e+01] [ 3.67435668e-03 9.99975761e-01 5.91406471e-03 -9.61016903e-01] [ 3.22953015e-04 -5.91529095e-03 9.99982452e-01 -5.36175313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.734860624 meters 0.10713955311457246 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.96, Z:-0.54 [[ 9.99994469e-01 -3.30914646e-03 -3.32519102e-04 1.55287151e+01] [ 3.31124687e-03 9.99973209e-01 6.52819645e-03 -9.63172442e-01] [ 3.10907436e-04 -6.52926140e-03 9.99978636e-01 -5.36272761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764860623999997 meters 0.10305864230991607 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.96, Z:-0.54 [[ 9.99994968e-01 -3.16644083e-03 -1.94443262e-04 1.55283766e+01] [ 3.16771103e-03 9.99971022e-01 6.92242252e-03 -9.64749986e-01] [ 1.72518187e-04 -6.92300362e-03 9.99976021e-01 -5.36192539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.794860624 meters 0.10701323813389992 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.97, Z:-0.54 [[ 9.99995497e-01 -3.00014382e-03 -6.92011596e-05 1.55277913e+01] [ 3.00057337e-03 9.99968181e-01 7.39148747e-03 -9.67061809e-01] [ 4.70234322e-05 -7.39166183e-03 9.99972680e-01 -5.35659648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824860624 meters 0.10482898932182948 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.97, Z:-0.54 [[ 9.99995853e-01 -2.87980019e-03 3.18427411e-06 1.55276775e+01] [ 2.87969058e-03 9.99966293e-01 7.68893994e-03 -9.68100800e-01] [-2.53267775e-05 -7.68889889e-03 9.99970440e-01 -5.35697680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.854860623999997 meters 0.10399447610565127 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.97, Z:-0.54 [[ 9.99996070e-01 -2.80340007e-03 3.17520734e-07 1.55275605e+01] [ 2.80331128e-03 9.99965287e-01 7.84646782e-03 -9.68924591e-01] [-2.23142982e-05 -7.84643610e-03 9.99969216e-01 -5.35492973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884860623999998 meters 0.10343997742644837 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.97, Z:-0.54 [[ 9.99996404e-01 -2.68083132e-03 6.82467957e-05 1.55274580e+01] [ 2.68018705e-03 9.99963284e-01 8.13928866e-03 -9.69931923e-01] [-9.00643499e-05 -8.13907648e-03 9.99966873e-01 -5.35534608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.914860624 meters 0.10556304595424705 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.97, Z:-0.54 [[ 9.99978898e-01 -6.47383002e-03 -5.41608995e-04 1.55286798e+01] [ 6.47600104e-03 9.99970594e-01 4.10764726e-03 -9.70557001e-01] [ 5.15000859e-04 -4.11106804e-03 9.99991417e-01 -5.35309825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944860623999997 meters 0.11471864984959498 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.97, Z:-0.54 [[ 9.99980128e-01 -6.28428793e-03 -5.01112352e-04 1.55288887e+01] [ 6.28645067e-03 9.99970392e-01 4.43788617e-03 -9.71396390e-01] [ 4.73208561e-04 -4.44094820e-03 9.99990027e-01 -5.35707678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.974860623999998 meters 0.10523480733269883 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.97, Z:-0.54 [[ 9.99983305e-01 -5.73101237e-03 -7.38660155e-04 1.55299352e+01] [ 5.73467757e-03 9.99970758e-01 5.05921410e-03 -9.72644191e-01] [ 7.09644137e-04 -5.06336561e-03 9.99986929e-01 -5.36396478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004860624 meters 0.10282987759606223 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.97, Z:-0.54 [[ 9.99984086e-01 -5.57153574e-03 -8.86512321e-04 1.55303534e+01] [ 5.57607116e-03 9.99970941e-01 5.19855589e-03 -9.72942060e-01] [ 8.57522619e-04 -5.20341641e-03 9.99986094e-01 -5.36507193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.034860623999997 meters 0.10285970670246072 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.97, Z:-0.54 [[ 9.99984849e-01 -5.39317545e-03 -1.10256058e-03 1.55309651e+01] [ 5.39892460e-03 9.99971488e-01 5.27963938e-03 -9.72927578e-01] [ 1.07405512e-03 -5.28551203e-03 9.99985455e-01 -5.36685760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064860623999998 meters 0.1016397014616194 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.97, Z:-0.54 [[ 9.99985665e-01 -5.12975505e-03 -1.53475220e-03 1.55321006e+01] [ 5.13750149e-03 9.99973865e-01 5.08671875e-03 -9.72077040e-01] [ 1.50861847e-03 -5.09453063e-03 9.99985885e-01 -5.36886588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.094860624 meters 0.100124117628353 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.97, Z:-0.54 [[ 9.99985443e-01 -5.11749783e-03 -1.71051044e-03 1.55323245e+01] [ 5.12579718e-03 9.99974939e-01 4.88332747e-03 -9.71704785e-01] [ 1.68547716e-03 -4.89202411e-03 9.99986614e-01 -5.36607772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124860623999997 meters 0.10121282924681015 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.97, Z:-0.54 [[ 9.99985769e-01 -4.99945355e-03 -1.86186275e-03 1.55327739e+01] [ 5.00842417e-03 9.99975721e-01 4.84500166e-03 -9.71459503e-01] [ 1.83759519e-03 -4.85425771e-03 9.99986530e-01 -5.36736862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.154860623999998 meters 0.10116874471285288 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.97, Z:-0.54 [[ 9.99985775e-01 -4.74466185e-03 -2.43681690e-03 1.55340914e+01] [ 4.75584699e-03 9.99978088e-01 4.60496097e-03 -9.70104014e-01] [ 2.41491452e-03 -4.61648459e-03 9.99986428e-01 -5.36816008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184860624 meters 0.09906541468903708 Centerline is valid? [False, True] Translation: X:15.53, Y:-0.97, Z:-0.54 [[ 9.99984584e-01 -4.77038348e-03 -2.84168206e-03 1.55348670e+01] [ 4.78197236e-03 9.99980221e-01 4.08543808e-03 -9.68174349e-01] [ 2.82213675e-03 -4.09896395e-03 9.99987617e-01 -5.36692244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.214860623999996 meters 0.09786754165072757 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.97, Z:-0.54 [[ 9.99985776e-01 -4.17062497e-03 -3.32470574e-03 1.55653433e+01] [ 4.17164760e-03 9.99991253e-01 3.00709249e-04 -9.66742823e-01] [ 3.32342251e-03 -3.14574473e-04 9.99994428e-01 -5.35204819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244860623999998 meters 0.09786370573393521 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.97, Z:-0.54 [[ 9.99987320e-01 -3.96146761e-03 -3.10920723e-03 1.55957408e+01] [ 3.96236096e-03 9.99992110e-01 2.81218082e-04 -9.69457152e-01] [ 3.10806866e-03 -2.93534317e-04 9.99995127e-01 -5.36138740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.274860624 meters 0.10234286387163857 Centerline is valid? [True, False] Translation: X:15.60, Y:-0.97, Z:-0.54 [[ 9.99989199e-01 -3.48886827e-03 -3.07081914e-03 1.55961855e+01] [ 3.49189824e-03 9.99993421e-01 9.81887942e-04 -9.71123578e-01] [ 3.06737326e-03 -9.92600324e-04 9.99994803e-01 -5.36854996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304860624 meters 0.09814413258510878 Centerline is valid? [False, True] Translation: X:15.60, Y:-0.97, Z:-0.54 [[ 9.99990126e-01 -3.28065226e-03 -2.99757867e-03 1.55963379e+01] [ 3.28474563e-03 9.99993678e-01 1.36165877e-03 -9.72099081e-01] [ 2.99309259e-03 -1.37149161e-03 9.99994580e-01 -5.37287874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.334860623999997 meters 0.09986904698410885 Centerline is valid? [True, True] Translation: X:15.63, Y:-0.98, Z:-0.54 [[ 9.99982752e-01 -4.46232755e-03 -3.81871785e-03 1.56260206e+01] [ 4.46369685e-03 9.99989976e-01 3.50126749e-04 -9.78127765e-01] [ 3.81711720e-03 -3.67166309e-04 9.99992647e-01 -5.38623916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364860624 meters 0.10105158183779801 Centerline is valid? [True, False] Translation: X:15.63, Y:-0.98, Z:-0.54 [[ 9.99983758e-01 -4.32760144e-03 -3.70882623e-03 1.56260231e+01] [ 4.33029582e-03 9.99990366e-01 7.18756319e-04 -9.79147248e-01] [ 3.70568001e-03 -7.34804960e-04 9.99992864e-01 -5.38954938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.394860624 meters 0.1019723974009332 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.98, Z:-0.54 [[ 9.99984649e-01 -3.98674718e-03 -3.84805396e-03 1.56266669e+01] [ 3.99119087e-03 9.99991376e-01 1.14780010e-03 -9.79888297e-01] [ 3.84344479e-03 -1.16314080e-03 9.99991937e-01 -5.39432280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424860623999997 meters 0.1024636256948221 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.98, Z:-0.54 [[ 9.99985351e-01 -3.73237686e-03 -3.92017358e-03 1.56271027e+01] [ 3.73822812e-03 9.99991908e-01 1.48633741e-03 -9.80496749e-01] [ 3.91459429e-03 -1.50097014e-03 9.99991211e-01 -5.39825094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.454860624 meters 0.102111168180607 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.98, Z:-0.54 [[ 9.99986503e-01 -3.35275637e-03 -3.96895502e-03 1.56274056e+01] [ 3.36090517e-03 9.99992254e-01 2.04824861e-03 -9.82071224e-01] [ 3.96205700e-03 -2.06156024e-03 9.99990026e-01 -5.40071846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484860624 meters 0.10267116886108979 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.98, Z:-0.54 [[ 9.99986813e-01 -3.15778935e-03 -4.05005967e-03 1.56275778e+01] [ 3.16700102e-03 9.99992408e-01 2.27005948e-03 -9.82918537e-01] [ 4.04286056e-03 -2.28285608e-03 9.99989222e-01 -5.40005328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.514860623999997 meters 0.10336244419179158 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.98, Z:-0.54 [[ 9.99987185e-01 -3.13337804e-03 -3.97632527e-03 1.56274654e+01] [ 3.14271059e-03 9.99992317e-01 2.34295630e-03 -9.83236691e-01] [ 3.96895335e-03 -2.35542272e-03 9.99989350e-01 -5.40037762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544860624 meters 0.09708342157516192 Centerline is valid? [False, True] Translation: X:15.63, Y:-0.98, Z:-0.54 [[ 9.99986183e-01 -3.12026540e-03 -4.23057542e-03 1.56277535e+01] [ 3.12943388e-03 9.99992766e-01 2.16230968e-03 -9.82880570e-01] [ 4.22379783e-03 -2.17551911e-03 9.99988713e-01 -5.39628361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.574860624 meters 0.1052332375302144 Centerline is valid? [True, False] Translation: X:15.63, Y:-0.98, Z:-0.54 [[ 9.99985126e-01 -3.08225781e-03 -4.49965256e-03 1.56283091e+01] [ 3.09124708e-03 9.99993238e-01 1.99218462e-03 -9.82113786e-01] [ 4.49348170e-03 -2.00606453e-03 9.99987892e-01 -5.39593548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604860623999997 meters 0.09679779044581871 Centerline is valid? [False, True] Translation: X:15.63, Y:-0.98, Z:-0.54 [[ 9.99984839e-01 -2.84190922e-03 -4.71650343e-03 1.56290519e+01] [ 2.85204798e-03 9.99993634e-01 2.14430321e-03 -9.82108028e-01] [ 4.71037949e-03 -2.15772239e-03 9.99986578e-01 -5.39965784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.634860623999998 meters 0.09546599323938972 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.98, Z:-0.54 [[ 9.99982583e-01 -1.80442383e-03 -5.61943612e-03 1.56586548e+01] [ 1.80728712e-03 9.99998240e-01 5.04496338e-04 -9.81345209e-01] [ 5.61851590e-03 -5.14643486e-04 9.99984084e-01 -5.40493593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664860624 meters 0.09503998321927777 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.98, Z:-0.54 [[ 9.99978869e-01 5.52732943e-04 -6.47738245e-03 1.56877069e+01] [-5.48978592e-04 9.99999680e-01 5.81373017e-04 -9.82181996e-01] [ 6.47770173e-03 -5.77804787e-04 9.99978853e-01 -5.42863857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.694860623999997 meters 0.09575027940637103 Centerline is valid? [True, True] Translation: X:15.72, Y:-0.99, Z:-0.54 [[ 9.99972503e-01 1.87046822e-03 -7.17593031e-03 1.57162611e+01] [-1.86589769e-03 9.99998052e-01 6.43568014e-04 -9.85043040e-01] [ 7.17712011e-03 -6.30160766e-04 9.99974046e-01 -5.43598464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724860623999998 meters 0.09575027940637103 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.99, Z:-0.54 [[ 9.99972621e-01 1.80625959e-03 -7.17598952e-03 1.57445686e+01] [-1.80169211e-03 9.99998170e-01 6.42908033e-04 -9.87504649e-01] [ 7.17713764e-03 -6.29961507e-04 9.99974046e-01 -5.43955929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.754860624 meters 0.0926515995123574 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.98, Z:-0.54 [[ 9.99954526e-01 5.65590044e-03 -7.67832741e-03 1.57747670e+01] [-5.65078150e-03 9.99983797e-01 6.88203934e-04 -9.81853171e-01] [ 7.68209542e-03 -6.44784088e-04 9.99970284e-01 -5.42940467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784860623999997 meters 0.09245749491411474 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.98, Z:-0.54 [[ 9.99937885e-01 8.12005268e-03 -7.63486599e-03 1.58041140e+01] [-8.11506502e-03 9.99966838e-01 6.84026996e-04 -9.83511453e-01] [ 7.64016714e-03 -6.22027073e-04 9.99970620e-01 -5.42607456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.814860623999998 meters 0.08989514994767553 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.98, Z:-0.54 [[ 9.99890820e-01 1.28353240e-02 -7.32140394e-03 1.58347647e+01] [-1.28308619e-02 9.99917466e-01 6.56102544e-04 -9.78859711e-01] [ 7.32922096e-03 -5.62090987e-04 9.99972983e-01 -5.41782609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844860624 meters 0.09103613011759232 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.98, Z:-0.54 [[ 9.99856952e-01 1.52281175e-02 -7.36074352e-03 1.58630025e+01] [-1.52236731e-02 9.99883896e-01 6.59454121e-04 -9.82688804e-01] [ 7.36993115e-03 -5.47302234e-04 9.99972692e-01 -5.42294460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.874860623999997 meters 0.08505170160636177 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.97, Z:-0.54 [[ 9.99801706e-01 1.88141595e-02 -6.52498630e-03 1.58947467e+01] [-1.88107423e-02 9.99822891e-01 5.84694595e-04 -9.71679461e-01] [ 6.53483121e-03 -4.61838818e-04 9.99978541e-01 -5.40132243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904860623999998 meters 0.08449552071836193 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.97, Z:-0.54 [[ 9.99748251e-01 2.15337058e-02 -6.30351456e-03 1.59247906e+01] [-2.15305740e-02 9.99768031e-01 5.64274812e-04 -9.71862476e-01] [ 6.31420327e-03 -4.28414469e-04 9.99979973e-01 -5.40352804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.934860624 meters 0.0831586453107111 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.97, Z:-0.54 [[ 9.99614215e-01 2.69715487e-02 -6.63000016e-03 1.59540261e+01] [-2.69682057e-02 9.99636116e-01 5.93117258e-04 -9.69536940e-01] [ 6.64358490e-03 -4.14089234e-04 9.99977845e-01 -5.40255287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964860623999996 meters 0.08246429346915939 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.97, Z:-0.54 [[ 9.99544694e-01 2.92677113e-02 -7.33522265e-03 1.59837098e+01] [-2.92636812e-02 9.99571511e-01 6.56156910e-04 -9.69207013e-01] [ 7.35128380e-03 -4.41202541e-04 9.99972882e-01 -5.41516571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.994860623999998 meters 0.08158801678080568 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.97, Z:-0.54 [[ 9.99425336e-01 3.30427173e-02 -7.56150159e-03 1.60127661e+01] [-3.30385450e-02 9.99453850e-01 6.76066147e-04 -9.68018228e-01] [ 7.57971094e-03 -4.25856626e-04 9.99971183e-01 -5.42922971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024860624 meters 0.08003738453458635 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.97, Z:-0.54 [[ 9.99381712e-01 3.41534139e-02 -8.35097257e-03 1.60415216e+01] [-3.41483704e-02 9.99416496e-01 7.45822082e-04 -9.65963580e-01] [ 8.37157211e-03 -4.60188844e-04 9.99964852e-01 -5.42599192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.054860624 meters 0.07991877022867165 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.97, Z:-0.54 [[ 9.99353612e-01 3.48033884e-02 -9.00453269e-03 1.60699212e+01] [-3.47975867e-02 9.99394060e-01 8.00221757e-04 -9.67215439e-01] [ 9.02692691e-03 -4.86368497e-04 9.99959138e-01 -5.42685758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084860623999997 meters 0.0799129131368675 Centerline is valid? [True, True] Translation: X:16.10, Y:-0.97, Z:-0.54 [[ 9.99310198e-01 3.60327927e-02 -8.98699518e-03 1.60981446e+01] [-3.60270502e-02 9.99350495e-01 8.00103878e-04 -9.68804820e-01] [ 9.00998805e-03 -4.75777038e-04 9.99959296e-01 -5.43775702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.114860624 meters 0.0812620366015122 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.97, Z:-0.54 [[ 9.99299915e-01 3.64169115e-02 -8.57249564e-03 1.61251514e+01] [-3.64117083e-02 9.99336583e-01 7.62314299e-04 -9.74079944e-01] [ 8.59456964e-03 -4.49641404e-04 9.99962965e-01 -5.44661921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144860624 meters 0.08173744314667704 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.98, Z:-0.55 [[ 9.99313917e-01 3.60959459e-02 -8.29320413e-03 1.61528484e+01] [-3.60910705e-02 9.99348233e-01 7.36844975e-04 -9.76970788e-01] [ 8.31439602e-03 -4.37028824e-04 9.99965339e-01 -5.45787861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.174860623999997 meters 0.0805636898107492 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.98, Z:-0.54 [[ 9.99358433e-01 3.50431934e-02 -7.39577199e-03 1.61817750e+01] [-3.50393134e-02 9.99385721e-01 6.53578615e-04 -9.75985510e-01] [ 7.41413240e-03 -3.94016527e-04 9.99972437e-01 -5.44326331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204860624 meters 0.08082029300490992 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.98, Z:-0.54 [[ 9.99414011e-01 3.34532713e-02 -7.24657196e-03 1.62109798e+01] [-3.34494896e-02 9.99440203e-01 6.42465898e-04 -9.78972395e-01] [ 7.26400794e-03 -3.99695287e-04 9.99973537e-01 -5.44706759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.234860624 meters 0.08193856208892213 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.98, Z:-0.54 [[ 9.99471384e-01 3.16441837e-02 -7.45643456e-03 1.62393128e+01] [-3.16401336e-02 9.99499107e-01 6.60539326e-04 -9.84240712e-01] [ 7.47360192e-03 -4.24267568e-04 9.99971982e-01 -5.44840206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264860623999997 meters 0.08348927880267167 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.99, Z:-0.55 [[ 9.99630911e-01 2.62223714e-02 -7.10132650e-03 1.62695372e+01] [-2.62185575e-02 9.99656036e-01 6.29655713e-04 -9.90655324e-01] [ 7.11539497e-03 -4.43236777e-04 9.99974587e-01 -5.45441775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.294860624 meters 0.08400231905227466 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.99, Z:-0.55 [[ 9.99708563e-01 2.31874393e-02 -6.71805127e-03 1.62998131e+01] [-2.31839577e-02 9.99731038e-01 5.95663416e-04 -9.94869020e-01] [ 6.73005628e-03 -4.39738800e-04 9.99977256e-01 -5.45229175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324860624 meters 0.08854215015397625 Centerline is valid? [True, True] Translation: X:16.33, Y:-1.01, Z:-0.55 [[ 9.99772024e-01 2.00244408e-02 -7.41095222e-03 1.63276234e+01] [-2.00201212e-02 9.99799362e-01 6.56600923e-04 -1.00727381e+00] [ 7.42261337e-03 -5.08083072e-04 9.99972323e-01 -5.47966739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.354860623999997 meters 0.09334442058200028 Centerline is valid? [True, True] Translation: X:16.36, Y:-1.02, Z:-0.55 [[ 9.99871052e-01 1.32957336e-02 -9.00572508e-03 1.63561334e+01] [-1.32890802e-02 9.99911378e-01 7.98231645e-04 -1.01929536e+00] [ 9.01554004e-03 -6.78450912e-04 9.99959129e-01 -5.49310011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384860623999998 meters 0.09340916527862393 Centerline is valid? [True, True] Translation: X:16.39, Y:-1.02, Z:-0.55 [[ 9.99907899e-01 1.07401703e-02 -8.29716245e-03 1.63863772e+01] [-1.07344386e-02 9.99942114e-01 7.35032195e-04 -1.02259383e+00] [ 8.30457653e-03 -6.45899117e-04 9.99965308e-01 -5.48979118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.414860624 meters 0.09140064347049948 Centerline is valid? [True, True] Translation: X:16.42, Y:-1.02, Z:-0.55 [[ 9.99936575e-01 7.64456771e-03 -8.27087310e-03 1.64170402e+01] [-7.63876556e-03 9.99970556e-01 7.32878432e-04 -1.02147896e+00] [ 8.27623211e-03 -6.69652688e-04 9.99965527e-01 -5.47422639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444860623999997 meters 0.09467554602073457 Centerline is valid? [True, True] Translation: X:16.45, Y:-1.03, Z:-0.55 [[ 9.99952281e-01 2.62885646e-03 -9.40874512e-03 1.64458073e+01] [-2.62113000e-03 9.99996218e-01 8.33436972e-04 -1.03104377e+00] [ 9.41090052e-03 -8.08735657e-04 9.99955389e-01 -5.48992422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.474860623999998 meters 0.09588323553377595 Centerline is valid? [True, True] Translation: X:16.48, Y:-1.04, Z:-0.55 [[ 9.99952739e-01 9.43109931e-04 -9.67630190e-03 1.64754998e+01] [-9.34861090e-04 9.99999196e-01 8.56966424e-04 -1.03602357e+00] [ 9.67710233e-03 -8.47879925e-04 9.99952816e-01 -5.49862103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504860624 meters 0.09615046501087932 Centerline is valid? [True, True] Translation: X:16.50, Y:-1.04, Z:-0.55 [[ 9.99948407e-01 1.08113190e-04 -1.01573760e-02 1.65048885e+01] [-9.89862497e-05 9.99999591e-01 8.99051384e-04 -1.03938222e+00] [ 1.01574690e-02 -8.97999559e-04 9.99948008e-01 -5.51010960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.534860623999997 meters 0.09663590244585829 Centerline is valid? [True, True] Translation: X:16.53, Y:-1.04, Z:-0.55 [[ 9.99933311e-01 -1.41992531e-03 -1.14610853e-02 1.65346995e+01] [ 1.43164600e-03 9.99998461e-01 1.01451118e-03 -1.04199111e+00] [ 1.14596272e-02 -1.03085174e-03 9.99933805e-01 -5.51269084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564860623999998 meters 0.09877293185273611 Centerline is valid? [True, True] Translation: X:16.56, Y:-1.05, Z:-0.55 [[ 9.99944363e-01 -2.87923980e-03 -1.01479606e-02 1.65627961e+01] [ 2.88849363e-03 9.99995426e-01 8.97351297e-04 -1.04870341e+00] [ 1.01453304e-02 -9.26613690e-04 9.99948105e-01 -5.51288858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.594860624 meters 0.09628525864679736 Centerline is valid? [True, True] Translation: X:16.59, Y:-1.05, Z:-0.55 [[ 9.99951918e-01 -3.45554429e-03 -9.17721496e-03 1.65906369e+01] [ 3.46308810e-03 9.99993678e-01 8.06251705e-04 -1.04739050e+00] [ 9.17437091e-03 -8.37994442e-04 9.99957563e-01 -5.49541464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624860623999997 meters 0.09743155428391401 Centerline is valid? [True, True] Translation: X:16.62, Y:-1.05, Z:-0.55 [[ 9.99957740e-01 -3.82944807e-03 -8.35785994e-03 1.66181845e+01] [ 3.83572900e-03 9.99992373e-01 7.35599020e-04 -1.05286593e+00] [ 8.35497926e-03 -7.67626419e-04 9.99964802e-01 -5.48936831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.654860623999998 meters 0.09877120086554672 Centerline is valid? [True, True] Translation: X:16.65, Y:-1.06, Z:-0.55 [[ 9.99959069e-01 -4.01604022e-03 -8.10745462e-03 1.66460342e+01] [ 4.02195095e-03 9.99991658e-01 7.12876774e-04 -1.05800724e+00] [ 8.10452405e-03 -7.45455381e-04 9.99966880e-01 -5.48983899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684860624 meters 0.10077817663770203 Centerline is valid? [True, False] Translation: X:16.65, Y:-1.06, Z:-0.55 [[ 9.99958640e-01 -4.10311602e-03 -8.11686069e-03 1.66460097e+01] [ 4.10796533e-03 9.99991394e-01 5.80854877e-04 -1.05759375e+00] [ 8.11440751e-03 -6.14174635e-04 9.99966889e-01 -5.48930714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714860623999996 meters 0.0962094453066911 Centerline is valid? [False, True] Translation: X:16.65, Y:-1.06, Z:-0.55 [[ 9.99957854e-01 -4.18863725e-03 -8.16982051e-03 1.66460501e+01] [ 4.19217316e-03 9.99991126e-01 4.15723736e-04 -1.05715070e+00] [ 8.16800670e-03 -4.49955517e-04 9.99966540e-01 -5.48850831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744860623999998 meters 0.0979437675528702 Centerline is valid? [True, True] Translation: X:16.67, Y:-1.06, Z:-0.55 [[ 9.99965380e-01 -1.22832708e-03 -8.22978722e-03 1.66749685e+01] [ 1.23423927e-03 9.99998984e-01 7.13348599e-04 -1.06354955e+00] [ 8.22890263e-03 -7.23481430e-04 9.99965880e-01 -5.50472002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.774860624 meters 0.09682416357326963 Centerline is valid? [True, True] Translation: X:16.71, Y:-1.06, Z:-0.55 [[ 9.99967453e-01 7.49030518e-04 -8.03322976e-03 1.67051754e+01] [-7.43464505e-04 9.99999482e-01 6.95837394e-04 -1.06478788e+00] [ 8.03374680e-03 -6.89842325e-04 9.99967491e-01 -5.52366334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804860623999996 meters 0.09452178170393406 Centerline is valid? [True, True] Translation: X:16.73, Y:-1.06, Z:-0.55 [[ 9.99958136e-01 1.11706994e-03 -9.08177389e-03 1.67339354e+01] [-1.10997995e-03 9.99999075e-01 7.85687307e-04 -1.06265967e+00] [ 9.08264316e-03 -7.75573828e-04 9.99958451e-01 -5.52622465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834860623999997 meters 0.09789516564621746 Centerline is valid? [True, True] Translation: X:16.76, Y:-1.07, Z:-0.55 [[ 9.99956267e-01 1.48993750e-03 -9.23274109e-03 1.67612547e+01] [-1.48263450e-03 9.99998583e-01 7.97783832e-04 -1.07088640e+00] [ 9.23391665e-03 -7.84060162e-04 9.99957059e-01 -5.54507126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864860624 meters 0.09337582434735031 Centerline is valid? [True, True] Translation: X:16.79, Y:-1.06, Z:-0.55 [[ 9.99952864e-01 2.55644989e-03 -9.36669935e-03 1.67912672e+01] [-2.54901534e-03 9.99996427e-01 8.05573723e-04 -1.06365941e+00] [ 9.36872529e-03 -7.81659890e-04 9.99955807e-01 -5.51426151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.894860624 meters 0.09290929900891552 Centerline is valid? [True, True] Translation: X:16.82, Y:-1.06, Z:-0.55 [[ 9.99959409e-01 3.26222363e-03 -8.39875261e-03 1.68198896e+01] [-3.25626082e-03 9.99994437e-01 7.23540013e-04 -1.06474227e+00] [ 8.40106624e-03 -6.96162114e-04 9.99964468e-01 -5.51503524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924860623999997 meters 0.09277511729520735 Centerline is valid? [True, True] Translation: X:16.85, Y:-1.07, Z:-0.55 [[ 9.99952915e-01 3.79808313e-03 -8.92989691e-03 1.68481961e+01] [-3.79136809e-03 9.99992517e-01 7.68781230e-04 -1.06676886e+00] [ 8.93274999e-03 -7.34888505e-04 9.99959832e-01 -5.51741080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.954860624 meters 0.09263369081813287 Centerline is valid? [True, True] Translation: X:16.88, Y:-1.07, Z:-0.55 [[ 9.99953941e-01 3.28029429e-03 -9.01977362e-03 1.68772032e+01] [-3.27342767e-03 9.99994341e-01 7.75943188e-04 -1.06930749e+00] [ 9.02226790e-03 -7.46381872e-04 9.99959020e-01 -5.52226383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984860624 meters 0.09184048293215988 Centerline is valid? [True, True] Translation: X:16.91, Y:-1.07, Z:-0.55 [[ 9.99957948e-01 2.22078808e-03 -8.89780187e-03 1.69066395e+01] [-2.21406292e-03 9.99997256e-01 7.65602178e-04 -1.07088963e+00] [ 8.89947769e-03 -7.45869689e-04 9.99960121e-01 -5.51966335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014860623999997 meters 0.09199041142212154 Centerline is valid? [True, True] Translation: X:16.93, Y:-1.07, Z:-0.55 [[ 9.99959604e-01 1.38255971e-03 -8.88141248e-03 1.69348938e+01] [-1.37583911e-03 9.99998763e-01 7.62769186e-04 -1.07360838e+00] [ 8.88245606e-03 -7.50518979e-04 9.99960269e-01 -5.52273833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044860624 meters 0.09522488249247893 Centerline is valid? [True, True] Translation: X:16.96, Y:-1.08, Z:-0.55 [[ 9.99953375e-01 -7.89302863e-04 -9.62413568e-03 1.69633278e+01] [ 7.97299031e-04 9.99999340e-01 8.27036901e-04 -1.08162413e+00] [ 9.62347654e-03 -8.34671655e-04 9.99953345e-01 -5.52767390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.074860624 meters 0.0977848176885886 Centerline is valid? [True, True] Translation: X:16.99, Y:-1.09, Z:-0.55 [[ 9.99951066e-01 -1.31668488e-03 -9.80465520e-03 1.69903710e+01] [ 1.32499494e-03 9.99998768e-01 8.41114903e-04 -1.08816902e+00] [ 9.80353564e-03 -8.54064862e-04 9.99951579e-01 -5.53985720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104860623999997 meters 0.09900551988102219 Centerline is valid? [True, True] Translation: X:17.02, Y:-1.09, Z:-0.55 [[ 9.99955641e-01 -2.21525578e-03 -9.15470086e-03 1.70188708e+01] [ 2.22253420e-03 9.99997222e-01 7.84950115e-04 -1.09271644e+00] [ 9.15293656e-03 -8.05261932e-04 9.99957787e-01 -5.54734670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.134860623999998 meters 0.10145635192761407 Centerline is valid? [True, False] Translation: X:17.02, Y:-1.09, Z:-0.56 [[ 9.99959253e-01 -2.14068354e-03 -8.76986473e-03 1.70185032e+01] [ 2.15239429e-03 9.99996804e-01 1.32611944e-03 -1.09406561e+00] [ 8.76699791e-03 -1.34494161e-03 9.99960665e-01 -5.55476745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164860624 meters 0.09543776039122363 Centerline is valid? [False, True] Translation: X:17.02, Y:-1.09, Z:-0.56 [[ 9.99960704e-01 -1.98213274e-03 -8.64065947e-03 1.70186374e+01] [ 1.99699207e-03 9.99996542e-01 1.71141075e-03 -1.09467276e+00] [ 8.63723735e-03 -1.72859882e-03 9.99961204e-01 -5.56115238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.194860623999997 meters 0.09781912520452847 Centerline is valid? [True, True] Translation: X:17.05, Y:-1.10, Z:-0.56 [[ 9.99956393e-01 -3.32417360e-03 -8.72704826e-03 1.70470550e+01] [ 3.33109063e-03 9.99994149e-01 7.78180896e-04 -1.10075077e+00] [ 8.72441039e-03 -8.07217551e-04 9.99961616e-01 -5.56379562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224860623999998 meters 0.0969037570721182 Centerline is valid? [True, True] Translation: X:17.08, Y:-1.10, Z:-0.56 [[ 9.99956343e-01 -4.41063107e-03 -8.23767911e-03 1.70767850e+01] [ 4.41683006e-03 9.99989976e-01 7.34475890e-04 -1.10177954e+00] [ 8.23435703e-03 -7.70828253e-04 9.99965800e-01 -5.55611246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.254860624 meters 0.09769103261721804 Centerline is valid? [True, True] Translation: X:17.10, Y:-1.11, Z:-0.56 [[ 9.99960622e-01 -5.13950690e-03 -7.23462795e-03 1.71048499e+01] [ 5.14429976e-03 9.99986561e-01 6.44035968e-04 -1.10693396e+00] [ 7.23122069e-03 -6.81227702e-04 9.99973622e-01 -5.55500482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284860623999997 meters 0.10105501709119317 Centerline is valid? [True, False] Translation: X:17.10, Y:-1.11, Z:-0.56 [[ 9.99961756e-01 -4.99210535e-03 -7.18091846e-03 1.71049933e+01] [ 4.99930875e-03 9.99987018e-01 9.85530481e-04 -1.10758965e+00] [ 7.17590536e-03 -1.02139242e-03 9.99973731e-01 -5.55920569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.314860623999998 meters 0.0988797879409905 Centerline is valid? [False, True] Translation: X:17.11, Y:-1.11, Z:-0.56 [[ 9.99962359e-01 -4.72589952e-03 -7.27640087e-03 1.71055568e+01] [ 4.73592351e-03 9.99987859e-01 1.36098862e-03 -1.10811978e+00] [ 7.26988063e-03 -1.39539787e-03 9.99972600e-01 -5.56432064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344860624 meters 0.0973382469098856 Centerline is valid? [True, True] Translation: X:17.14, Y:-1.11, Z:-0.56 [[ 9.99939600e-01 -6.22647272e-03 -9.05686018e-03 1.71356899e+01] [ 6.23415668e-03 9.99980231e-01 8.20428815e-04 -1.10692136e+00] [ 9.05157275e-03 -8.76841147e-04 9.99958649e-01 -5.56686815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.374860623999997 meters 0.10172991072885884 Centerline is valid? [True, False] Translation: X:17.14, Y:-1.11, Z:-0.56 [[ 9.99940584e-01 -5.94408526e-03 -9.13762348e-03 1.71362370e+01] [ 5.95566969e-03 9.99981495e-01 1.24108518e-03 -1.10751637e+00] [ 9.13007727e-03 -1.29543211e-03 9.99957481e-01 -5.57233067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404860623999998 meters 0.09717096423293684 Centerline is valid? [False, True] Translation: X:17.14, Y:-1.11, Z:-0.56 [[ 9.99941963e-01 -5.67113826e-03 -9.16020950e-03 1.71366295e+01] [ 5.68673089e-03 9.99982424e-01 1.67706414e-03 -1.10830808e+00] [ 9.15053764e-03 -1.72905846e-03 9.99956638e-01 -5.57741452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434860624 meters 0.09835456977569404 Centerline is valid? [True, True] Translation: X:17.17, Y:-1.11, Z:-0.56 [[ 9.99940523e-01 -6.01411243e-03 -9.09840603e-03 1.71651007e+01] [ 6.02194876e-03 9.99981520e-01 8.34135905e-04 -1.11328432e+00] [ 9.09322131e-03 -8.88876428e-04 9.99958261e-01 -5.58430116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464860623999996 meters 0.09659115007878548 Centerline is valid? [True, True] Translation: X:17.19, Y:-1.11, Z:-0.56 [[ 9.99935525e-01 -7.06868206e-03 -8.88702237e-03 1.71941827e+01] [ 7.07619081e-03 9.99974632e-01 8.13751889e-04 -1.11455479e+00] [ 8.88104477e-03 -8.76585689e-04 9.99960179e-01 -5.58361737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494860623999998 meters 0.09716403516872278 Centerline is valid? [True, True] Translation: X:17.22, Y:-1.12, Z:-0.56 [[ 9.99933699e-01 -7.33304203e-03 -8.87824205e-03 1.72236981e+01] [ 7.34054852e-03 9.99972727e-01 8.13201042e-04 -1.11914084e+00] [ 8.87203668e-03 -8.78318292e-04 9.99960257e-01 -5.58534748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524860624 meters 0.10162226023876 Centerline is valid? [True, False] Translation: X:17.22, Y:-1.12, Z:-0.56 [[ 9.99935244e-01 -7.12934196e-03 -8.87014080e-03 1.72239396e+01] [ 7.13977481e-03 9.99973856e-01 1.14506623e-03 -1.11975943e+00] [ 8.86174533e-03 -1.20832289e-03 9.99960004e-01 -5.58904681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554860623999996 meters 0.0980021345626431 Centerline is valid? [False, True] Translation: X:17.22, Y:-1.12, Z:-0.56 [[ 9.99935595e-01 -7.08013952e-03 -8.87002312e-03 1.72238120e+01] [ 7.09187306e-03 9.99974018e-01 1.29207585e-03 -1.12030598e+00] [ 8.86064458e-03 -1.35489771e-03 9.99959826e-01 -5.58741483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584860623999997 meters 0.10386400426439023 Centerline is valid? [True, False] Translation: X:17.22, Y:-1.12, Z:-0.56 [[ 9.99936128e-01 -6.94411853e-03 -8.91731676e-03 1.72240238e+01] [ 6.95759499e-03 9.99974699e-01 1.48113665e-03 -1.12072261e+00] [ 8.90680595e-03 -1.54308513e-03 9.99959143e-01 -5.58880047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614860624 meters 0.10060122471536227 Centerline is valid? [False, False] Translation: X:17.22, Y:-1.12, Z:-0.56 [[ 9.99937330e-01 -6.59188130e-03 -9.04888588e-03 1.72246500e+01] [ 6.60961078e-03 9.99976292e-01 1.93079323e-03 -1.12154610e+00] [ 9.03594379e-03 -1.99048184e-03 9.99957194e-01 -5.59341798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644860624 meters 0.10060122471536227 Centerline is valid? [False, False] Translation: X:17.22, Y:-1.12, Z:-0.56 [[ 9.99937330e-01 -6.59188130e-03 -9.04888588e-03 1.72246500e+01] [ 6.60961078e-03 9.99976292e-01 1.93079323e-03 -1.12154610e+00] [ 9.03594379e-03 -1.99048184e-03 9.99957194e-01 -5.59341798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674860623999997 meters 0.1000470154580257 Centerline is valid? [False, False] Translation: X:17.22, Y:-1.12, Z:-0.56 [[ 9.99939026e-01 -6.39639532e-03 -9.00169190e-03 1.72245413e+01] [ 6.41809531e-03 9.99976562e-01 2.38383707e-03 -1.12309871e+00] [ 8.98623296e-03 -2.44146544e-03 9.99956642e-01 -5.59342278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704860624 meters 0.1017748557629957 Centerline is valid? [False, False] Translation: X:17.22, Y:-1.12, Z:-0.56 [[ 9.99940666e-01 -6.19194401e-03 -8.96239768e-03 1.72246669e+01] [ 6.21715242e-03 9.99976788e-01 2.78756263e-03 -1.12411202e+00] [ 8.94492921e-03 -2.84311782e-03 9.99955951e-01 -5.59651265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734860624 meters 0.09986307961343321 Centerline is valid? [False, True] Translation: X:17.22, Y:-1.12, Z:-0.56 [[ 9.99941724e-01 -6.15611426e-03 -8.86857590e-03 1.72246205e+01] [ 6.18247913e-03 9.99976541e-01 2.94849954e-03 -1.12443628e+00] [ 8.85021656e-03 -3.00315750e-03 9.99956326e-01 -5.59902025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764860623999997 meters 0.09765379151286327 Centerline is valid? [True, True] Translation: X:17.25, Y:-1.12, Z:-0.56 [[ 9.99937266e-01 -5.91067375e-03 -9.51458314e-03 1.72538766e+01] [ 5.91925282e-03 9.99982099e-01 8.73768015e-04 -1.12257968e+00] [ 9.50924827e-03 -9.30032423e-04 9.99954354e-01 -5.58379319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794860624 meters 0.09891890695441234 Centerline is valid? [True, True] Translation: X:17.28, Y:-1.13, Z:-0.56 [[ 9.99941159e-01 -5.78357517e-03 -9.17758810e-03 1.72816792e+01] [ 5.79156538e-03 9.99982872e-01 8.44283892e-04 -1.12846666e+00] [ 9.17254793e-03 -8.97386815e-04 9.99957529e-01 -5.59165226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824860624 meters 0.09855760716736131 Centerline is valid? [True, True] Translation: X:17.31, Y:-1.13, Z:-0.56 [[ 9.99940858e-01 -6.39871520e-03 -8.79412783e-03 1.73101350e+01] [ 6.40603943e-03 9.99979157e-01 8.04938582e-04 -1.13080353e+00] [ 8.78879396e-03 -8.61226506e-04 9.99961007e-01 -5.59420459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854860623999997 meters 0.1047781830512338 Centerline is valid? [True, False] Translation: X:17.31, Y:-1.13, Z:-0.56 [[ 9.99942578e-01 -6.11291115e-03 -8.80190450e-03 1.73104126e+01] [ 6.12432873e-03 9.99980439e-01 1.27080278e-03 -1.13191754e+00] [ 8.79396401e-03 -1.32463557e-03 9.99960455e-01 -5.59782430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884860623999998 meters 0.09985011507948606 Centerline is valid? [False, True] Translation: X:17.31, Y:-1.13, Z:-0.56 [[ 9.99943984e-01 -6.06324341e-03 -8.67562805e-03 1.73101772e+01] [ 6.07655359e-03 9.99980400e-01 1.50866754e-03 -1.13261421e+00] [ 8.66631058e-03 -1.56130094e-03 9.99961228e-01 -5.59855135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.914860624 meters 0.10016321419383667 Centerline is valid? [True, False] Translation: X:17.31, Y:-1.13, Z:-0.56 [[ 9.99945240e-01 -5.99880841e-03 -8.57499776e-03 1.73098167e+01] [ 6.01429203e-03 9.99980328e-01 1.78102585e-03 -1.13373139e+00] [ 8.56414504e-03 -1.83250086e-03 9.99961648e-01 -5.59625849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944860623999997 meters 0.1009757596045394 Centerline is valid? [False, False] Translation: X:17.31, Y:-1.13, Z:-0.56 [[ 9.99946353e-01 -5.96421726e-03 -8.46869504e-03 1.73095729e+01] [ 5.98127054e-03 9.99980132e-01 1.98978599e-03 -1.13449718e+00] [ 8.45665927e-03 -2.04033280e-03 9.99962160e-01 -5.59616808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.974860623999998 meters 0.1000543240243743 Centerline is valid? [False, False] Translation: X:17.31, Y:-1.14, Z:-0.56 [[ 9.99948911e-01 -5.62109396e-03 -8.40110065e-03 1.73098546e+01] [ 5.64317333e-03 9.99980680e-01 2.60676188e-03 -1.13585512e+00] [ 8.38628548e-03 -2.65403757e-03 9.99961312e-01 -5.60226030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004860624 meters 0.09962901646041585 Centerline is valid? [False, True] Translation: X:17.31, Y:-1.14, Z:-0.56 [[ 9.99951728e-01 -5.62685321e-03 -8.05482361e-03 1.73090137e+01] [ 5.65136241e-03 9.99979461e-01 3.02327688e-03 -1.13782831e+00] [ 8.03764664e-03 -3.06865166e-03 9.99962989e-01 -5.60051865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.034860623999997 meters 0.10401662211262282 Centerline is valid? [True, False] Translation: X:17.31, Y:-1.14, Z:-0.56 [[ 9.99953035e-01 -5.50122223e-03 -7.97898161e-03 1.73089231e+01] [ 5.52805086e-03 9.99979128e-01 3.34426456e-03 -1.13875197e+00] [ 7.96041753e-03 -3.38821571e-03 9.99962575e-01 -5.60171633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064860623999998 meters 0.10352190647659854 Centerline is valid? [False, False] Translation: X:17.31, Y:-1.14, Z:-0.56 [[ 9.99953707e-01 -5.53169896e-03 -7.87300219e-03 1.73085564e+01] [ 5.55903243e-03 9.99978583e-01 3.45415866e-03 -1.13934661e+00] [ 7.85372620e-03 -3.49776503e-03 9.99963042e-01 -5.59978213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.094860624 meters 0.10352730679836733 Centerline is valid? [False, False] Translation: X:17.31, Y:-1.14, Z:-0.56 [[ 9.99954260e-01 -5.49422593e-03 -7.82888961e-03 1.73083724e+01] [ 5.52252275e-03 9.99978280e-01 3.59738843e-03 -1.13997824e+00] [ 7.80895470e-03 -3.64045910e-03 9.99962883e-01 -5.59831315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124860623999997 meters 0.10404587736705505 Centerline is valid? [False, False] Translation: X:17.31, Y:-1.14, Z:-0.56 [[ 9.99923542e-01 -8.82583545e-03 -8.66115888e-03 1.73107117e+01] [ 8.82669548e-03 9.99961042e-01 6.10766378e-05 -1.14063935e+00] [ 8.66028240e-03 -1.37521380e-04 9.99962490e-01 -5.60527855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.154860623999998 meters 0.10350979754281332 Centerline is valid? [False, False] Translation: X:17.31, Y:-1.14, Z:-0.56 [[ 9.99925765e-01 -8.61547782e-03 -8.61619881e-03 1.73108445e+01] [ 8.61963701e-03 9.99962751e-01 4.45698582e-04 -1.14159552e+00] [ 8.61203796e-03 -5.19934002e-04 9.99962781e-01 -5.60867715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184860624 meters 0.10441878932133243 Centerline is valid? [False, False] Translation: X:17.30, Y:-1.15, Z:-0.57 [[ 9.99993346e-01 -3.53178589e-03 -9.13598548e-04 1.73018316e+01] [ 3.53156767e-03 9.99993735e-01 -2.40352935e-04 -1.14537972e+00] [ 9.14441700e-04 2.37124900e-04 9.99999554e-01 -5.66318085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214860623999996 meters 0.10451365549383958 Centerline is valid? [False, False] Translation: X:17.30, Y:-1.15, Z:-0.57 [[ 9.99994994e-01 -2.99779223e-03 -1.01278418e-03 1.73026075e+01] [ 2.99832157e-03 9.99995369e-01 5.21546972e-04 -1.14687660e+00] [ 1.01121600e-03 -5.24581014e-04 9.99999351e-01 -5.67116824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244860623999998 meters 0.10681815279855154 Centerline is valid? [False, False] Translation: X:17.30, Y:-1.15, Z:-0.57 [[ 9.99995711e-01 -2.70259661e-03 -1.12888037e-03 1.73031190e+01] [ 2.70360532e-03 9.99995947e-01 8.92981937e-04 -1.14776242e+00] [ 1.12646242e-03 -8.96030154e-04 9.99998964e-01 -5.67487254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.274860624 meters 0.10103661483638875 Centerline is valid? [False, False] Translation: X:17.30, Y:-1.15, Z:-0.57 [[ 9.99996790e-01 -2.19396522e-03 -1.26778417e-03 1.73041049e+01] [ 2.19594283e-03 9.99996371e-01 1.56061252e-03 -1.14871127e+00] [ 1.26435564e-03 -1.56339150e-03 9.99997979e-01 -5.68482359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304860623999996 meters 0.10738098712305581 Centerline is valid? [False, False] Translation: X:17.30, Y:-1.15, Z:-0.57 [[ 9.99997094e-01 -1.93208700e-03 -1.44182341e-03 1.73045205e+01] [ 1.93473287e-03 9.99996443e-01 1.83595149e-03 -1.14946207e+00] [ 1.43827106e-03 -1.83873569e-03 9.99997275e-01 -5.68519902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334860623999997 meters 0.09913983159469894 Centerline is valid? [False, True] Translation: X:17.30, Y:-1.15, Z:-0.57 [[ 9.99997125e-01 -1.87234773e-03 -1.49838639e-03 1.73046141e+01] [ 1.87516132e-03 9.99996477e-01 1.87854579e-03 -1.14969643e+00] [ 1.49486382e-03 -1.88135010e-03 9.99997113e-01 -5.68451455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364860624 meters 0.09818886946572966 Centerline is valid? [True, True] Translation: X:17.34, Y:-1.15, Z:-0.57 [[ 9.99999400e-01 -8.26411430e-04 -7.18744030e-04 1.73352643e+01] [ 8.26463187e-04 9.99999656e-01 7.17162021e-05 -1.15196736e+00] [ 7.18684516e-04 -7.23101745e-05 9.99999739e-01 -5.68592806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.394860624 meters 0.10317190248234707 Centerline is valid? [True, False] Translation: X:17.34, Y:-1.15, Z:-0.57 [[ 9.99999456e-01 -6.50363371e-04 -8.15059523e-04 1.73354994e+01] [ 6.50601479e-04 9.99999746e-01 2.91904692e-04 -1.15254875e+00] [ 8.14869472e-04 -2.92434812e-04 9.99999625e-01 -5.68613425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424860623999997 meters 0.09941371751272134 Centerline is valid? [False, True] Translation: X:17.34, Y:-1.15, Z:-0.57 [[ 9.99999427e-01 -2.54269352e-04 -1.03994702e-03 1.73362190e+01] [ 2.55006008e-04 9.99999717e-01 7.08288579e-04 -1.15344632e+00] [ 1.03976663e-03 -7.08553366e-04 9.99999208e-01 -5.68894905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.454860624 meters 0.09864072466389409 Centerline is valid? [True, True] Translation: X:17.37, Y:-1.16, Z:-0.57 [[ 9.99999697e-01 5.66795124e-04 -5.33880795e-04 1.73664213e+01] [-5.66766864e-04 9.99999838e-01 5.30846285e-05 -1.15594097e+00] [ 5.33910797e-04 -5.27820264e-05 9.99999856e-01 -5.68930052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484860624 meters 0.09723011709861232 Centerline is valid? [True, True] Translation: X:17.40, Y:-1.16, Z:-0.57 [[ 9.99999482e-01 9.41663947e-04 -3.87282148e-04 1.73969320e+01] [-9.41649104e-04 9.99999556e-01 3.85080886e-05 -1.15764046e+00] [ 3.87318238e-04 -3.81433847e-05 9.99999924e-01 -5.69004749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514860623999997 meters 0.09788884319641317 Centerline is valid? [True, True] Translation: X:17.43, Y:-1.16, Z:-0.57 [[ 9.99999358e-01 1.09992512e-03 -2.74081304e-04 1.74266319e+01] [-1.09991783e-03 9.99999395e-01 2.67366262e-05 -1.16216255e+00] [ 2.74110546e-04 -2.64351421e-05 9.99999962e-01 -5.69179158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544860624 meters 0.09835734341828674 Centerline is valid? [True, True] Translation: X:17.46, Y:-1.17, Z:-0.57 [[ 9.99999063e-01 1.07572554e-03 -8.46238619e-04 1.74560006e+01] [-1.07565520e-03 9.99999418e-01 8.35785110e-05 -1.16580789e+00] [ 8.46328034e-04 -8.26681717e-05 9.99999638e-01 -5.70238521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.574860624 meters 0.09940023626603062 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.17, Z:-0.57 [[ 9.99997794e-01 1.24029122e-03 -1.69505922e-03 1.74848705e+01] [-1.24000797e-03 9.99999217e-01 1.68149552e-04 -1.17105414e+00] [ 1.69526644e-03 -1.66047294e-04 9.99998549e-01 -5.71346452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604860623999997 meters 0.09650762131275031 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.17, Z:-0.57 [[ 9.99995830e-01 1.70380104e-03 -2.33180167e-03 1.75148352e+01] [-1.70326682e-03 9.99998523e-01 2.31071556e-04 -1.16960010e+00] [ 2.33219193e-03 -2.27098912e-04 9.99997255e-01 -5.72057314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.634860623999998 meters 0.0997181440711323 Centerline is valid? [True, True] Translation: X:17.54, Y:-1.18, Z:-0.57 [[ 9.99993311e-01 2.54602958e-03 -2.62611396e-03 1.75423790e+01] [-2.54535569e-03 9.99996727e-01 2.59922365e-04 -1.17865995e+00] [ 2.62676713e-03 -2.53236233e-04 9.99996518e-01 -5.72882430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664860624 meters 0.09960701251911208 Centerline is valid? [True, True] Translation: X:17.57, Y:-1.18, Z:-0.57 [[ 9.99993332e-01 3.00769452e-03 -2.07092778e-03 1.75716596e+01] [-3.00727693e-03 9.99995457e-01 2.04728413e-04 -1.18107697e+00] [ 2.07153413e-03 -1.98499195e-04 9.99997835e-01 -5.72518112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.694860623999997 meters 0.09785329220941139 Centerline is valid? [True, True] Translation: X:17.60, Y:-1.18, Z:-0.57 [[ 9.99992390e-01 3.31085367e-03 -2.06341556e-03 1.76011688e+01] [-3.31043998e-03 9.99994500e-01 2.03870334e-04 -1.18060187e+00] [ 2.06407919e-03 -1.97037969e-04 9.99997850e-01 -5.71690247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724860623999998 meters 0.09784698577306607 Centerline is valid? [True, True] Translation: X:17.63, Y:-1.18, Z:-0.57 [[ 9.99993573e-01 1.79114237e-03 -3.10561892e-03 1.76306617e+01] [-1.79019540e-03 9.99998350e-01 3.07673159e-04 -1.18454545e+00] [ 3.10616488e-03 -3.02111517e-04 9.99995130e-01 -5.73524566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.754860624 meters 0.10000753894748374 Centerline is valid? [True, False] Translation: X:17.63, Y:-1.19, Z:-0.57 [[ 9.99993414e-01 2.03622706e-03 -3.00416284e-03 1.76308683e+01] [-2.03384875e-03 9.99997616e-01 7.94513985e-04 -1.18556030e+00] [ 3.00577349e-03 -7.88398740e-04 9.99995172e-01 -5.74139428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784860623999997 meters 0.09959068403382408 Centerline is valid? [False, True] Translation: X:17.63, Y:-1.19, Z:-0.57 [[ 9.99993873e-01 1.98830761e-03 -2.88123571e-03 1.76305374e+01] [-1.98581385e-03 9.99997651e-01 8.68119236e-04 -1.18601886e+00] [ 2.88295503e-03 -8.62392319e-04 9.99995472e-01 -5.74044158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.814860623999998 meters 0.09999643121454302 Centerline is valid? [True, True] Translation: X:17.66, Y:-1.19, Z:-0.57 [[ 9.99996421e-01 1.63402686e-03 -2.11832990e-03 1.76592216e+01] [-1.63357898e-03 9.99998643e-01 2.13141244e-04 -1.18965702e+00] [ 2.11867531e-03 -2.09680022e-04 9.99997734e-01 -5.74244506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844860624 meters 0.09885188472259317 Centerline is valid? [True, True] Translation: X:17.69, Y:-1.19, Z:-0.57 [[ 9.99996323e-01 -3.45769012e-05 -2.71156787e-03 1.76896084e+01] [ 3.53203240e-05 9.99999962e-01 2.74119723e-04 -1.19166874e+00] [ 2.71155829e-03 -2.74214488e-04 9.99996286e-01 -5.73471792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.874860623999997 meters 0.10024709295520512 Centerline is valid? [True, False] Translation: X:17.69, Y:-1.19, Z:-0.57 [[ 9.99996664e-01 1.77649626e-04 -2.57696603e-03 1.76896149e+01] [-1.75778936e-04 9.99999721e-01 7.26135740e-04 -1.19283753e+00] [ 2.57709430e-03 -7.25680342e-04 9.99996416e-01 -5.73877748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904860623999998 meters 0.1020096834649881 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.19, Z:-0.57 [[ 9.99996824e-01 3.06072475e-04 -2.50150870e-03 1.76895717e+01] [-3.03463867e-04 9.99999410e-01 1.04312700e-03 -1.19377425e+00] [ 2.50182650e-03 -1.04236457e-03 9.99996327e-01 -5.74039726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.934860624 meters 0.10369478505123665 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.19, Z:-0.57 [[ 9.99997846e-01 -6.22048783e-05 -2.07481311e-03 1.76883789e+01] [ 6.42468928e-05 9.99999514e-01 9.84139857e-04 -1.19418110e+00] [ 2.07475088e-03 -9.84271037e-04 9.99997363e-01 -5.73620254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964860623999996 meters 0.10476255313766909 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.20, Z:-0.57 [[ 9.99998162e-01 1.19374408e-04 -1.91360469e-03 1.76882561e+01] [-1.16539350e-04 9.99998896e-01 1.48157048e-03 -1.19544587e+00] [ 1.91377944e-03 -1.48134475e-03 9.99997072e-01 -5.73944275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.994860623999998 meters 0.10643362881394561 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.20, Z:-0.57 [[ 9.99999137e-01 6.45057414e-05 -1.31226923e-03 1.76869914e+01] [-6.17231884e-05 9.99997750e-01 2.12034314e-03 -1.19857494e+00] [ 1.31240306e-03 -2.12026032e-03 9.99996891e-01 -5.73823968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024860624 meters 0.1070804261893568 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.20, Z:-0.57 [[ 9.99999442e-01 1.34526386e-04 -1.04736073e-03 1.76864640e+01] [-1.31874796e-04 9.99996787e-01 2.53134496e-03 -1.20020369e+00] [ 1.04769790e-03 -2.53120543e-03 9.99996248e-01 -5.73859444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.054860623999996 meters 0.11155352110118075 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.20, Z:-0.57 [[ 9.99992433e-01 -3.53572337e-03 -1.62276374e-03 1.76881263e+01] [ 3.53363857e-03 9.99992930e-01 -1.28579954e-03 -1.20054472e+00] [ 1.62729850e-03 1.28005555e-03 9.99997857e-01 -5.74440751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084860623999997 meters 0.10985039966789381 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.20, Z:-0.57 [[ 9.99993085e-01 -3.57565744e-03 -1.02226662e-03 1.76868697e+01] [ 3.57509406e-03 9.99993457e-01 -5.52403669e-04 -1.20370260e+00] [ 1.02423513e-03 5.48745150e-04 9.99999325e-01 -5.74414403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114860624 meters 0.11632952147770284 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.20, Z:-0.57 [[ 9.99993718e-01 -3.40902161e-03 -9.71125812e-04 1.76869095e+01] [ 3.40885832e-03 9.99994175e-01 -1.69742623e-04 -1.20473381e+00] [ 9.71698812e-04 1.66431127e-04 9.99999514e-01 -5.74619237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144860624 meters 0.10998476646296453 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.21, Z:-0.57 [[ 9.99994807e-01 -3.05374698e-03 -1.02971203e-03 1.76872872e+01] [ 3.05418688e-03 9.99995245e-01 4.25902231e-04 -1.20603677e+00] [ 1.02840654e-03 -4.29044952e-04 9.99999379e-01 -5.74986562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174860623999997 meters 0.10682873577940474 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.21, Z:-0.58 [[ 9.99995302e-01 -2.94140220e-03 -8.62057660e-04 1.76869790e+01] [ 2.94213439e-03 9.99995311e-01 8.49315938e-04 -1.20732067e+00] [ 8.59555438e-04 -8.51848238e-04 9.99999268e-01 -5.75067402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204860624 meters 0.11351737305470773 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.21, Z:-0.58 [[ 9.99996438e-01 -2.63304787e-03 -4.37096859e-04 1.76861472e+01] [ 2.63389999e-03 9.99994610e-01 1.96049335e-03 -1.21151281e+00] [ 4.31932430e-04 -1.96163764e-03 9.99997983e-01 -5.75023231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.234860624 meters 0.11077508867626729 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.21, Z:-0.57 [[ 9.99997441e-01 -2.21518414e-03 -4.58905291e-04 1.76860943e+01] [ 2.21641734e-03 9.99993887e-01 2.70441118e-03 -1.21395900e+00] [ 4.52911716e-04 -2.70542139e-03 9.99996238e-01 -5.74835517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264860623999997 meters 0.11110355259244072 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.22, Z:-0.57 [[ 9.99997827e-01 -2.04570928e-03 -4.02548954e-04 1.76858324e+01] [ 2.04695472e-03 9.99993043e-01 3.11819295e-03 -1.21563668e+00] [ 3.96167238e-04 -3.11901017e-03 9.99995057e-01 -5.74604752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.294860624 meters 0.1168616748137723 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.22, Z:-0.57 [[ 9.99998113e-01 -1.92774136e-03 -2.42231177e-04 1.76853675e+01] [ 1.92857448e-03 9.99992059e-01 3.48750958e-03 -1.21714473e+00] [ 2.35506237e-04 -3.48797016e-03 9.99993889e-01 -5.74404484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324860624 meters 0.11175170225141658 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.22, Z:-0.57 [[ 9.99998687e-01 -1.59997857e-03 -2.58288453e-04 1.76850988e+01] [ 1.60102318e-03 9.99990329e-01 4.09612917e-03 -1.21954628e+00] [ 2.51732237e-04 -4.09653732e-03 9.99991577e-01 -5.73904088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.354860623999997 meters 0.10967194991571005 Centerline is valid? [False, False] Translation: X:17.68, Y:-1.22, Z:-0.57 [[ 9.99998654e-01 -1.62324537e-03 -2.36937281e-04 1.76848694e+01] [ 1.62420343e-03 9.99990272e-01 4.10092907e-03 -1.21992959e+00] [ 2.30278162e-04 -4.10130839e-03 9.99991563e-01 -5.73628613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384860623999998 meters 0.11080194639816898 Centerline is valid? [False, False] Translation: X:17.68, Y:-1.22, Z:-0.57 [[ 9.99998691e-01 -1.55580027e-03 -4.43583761e-04 1.76849643e+01] [ 1.55759870e-03 9.99990451e-01 4.08320915e-03 -1.22035727e+00] [ 4.37226868e-04 -4.08389473e-03 9.99991565e-01 -5.73123948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.414860624 meters 0.10953532936467397 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.22, Z:-0.57 [[ 9.99998991e-01 -1.06890631e-03 -9.36086843e-04 1.76858248e+01] [ 1.07310188e-03 9.99989330e-01 4.49305474e-03 -1.22159987e+00] [ 9.31274201e-04 -4.49405472e-03 9.99989468e-01 -5.72871591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444860623999997 meters 0.109823830052867 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.22, Z:-0.57 [[ 9.99999081e-01 -9.12660418e-04 -1.00264741e-03 1.76858383e+01] [ 9.17376251e-04 9.99988473e-01 4.71303294e-03 -1.22252630e+00] [ 9.98334450e-04 -4.71394842e-03 9.99988391e-01 -5.72670441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474860623999998 meters 0.11015903112093138 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.22, Z:-0.57 [[ 9.99999154e-01 -6.04633751e-04 -1.15149312e-03 1.76861859e+01] [ 6.10537502e-04 9.99986637e-01 5.13360767e-03 -1.22370525e+00] [ 1.14837378e-03 -5.13430636e-03 9.99986160e-01 -5.72699275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504860624 meters 0.10839558016112515 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.22, Z:-0.57 [[ 9.99999119e-01 -4.60663099e-04 -1.24497064e-03 1.76862484e+01] [ 4.67309176e-04 9.99985615e-01 5.34333237e-03 -1.22452851e+00] [ 1.24249125e-03 -5.34390944e-03 9.99984949e-01 -5.72501011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534860623999997 meters 0.10839558016112515 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.22, Z:-0.57 [[ 9.99999119e-01 -4.60663099e-04 -1.24497064e-03 1.76862484e+01] [ 4.67309176e-04 9.99985615e-01 5.34333237e-03 -1.22452851e+00] [ 1.24249125e-03 -5.34390944e-03 9.99984949e-01 -5.72501011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564860623999998 meters 0.10979026315115474 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.23, Z:-0.57 [[ 9.99998972e-01 -4.08257812e-05 -1.43363570e-03 1.76865477e+01] [ 4.93084035e-05 9.99982491e-01 5.91732366e-03 -1.22631846e+00] [ 1.43336901e-03 -5.91738826e-03 9.99981465e-01 -5.72337662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.594860624 meters 0.10516334997739672 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.23, Z:-0.57 [[ 9.99998829e-01 7.29433472e-05 -1.52836821e-03 1.76866717e+01] [-6.37168706e-05 9.99981781e-01 6.03599457e-03 -1.22684970e+00] [ 1.52878065e-03 -6.03589013e-03 9.99980615e-01 -5.72225047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624860623999997 meters 0.10156399596178355 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.23, Z:-0.57 [[ 9.99990488e-01 -3.65419450e-03 -2.38124013e-03 1.76885642e+01] [ 3.65855157e-03 9.99991637e-01 1.82796847e-03 -1.22587424e+00] [ 2.37454046e-03 -1.83666298e-03 9.99995494e-01 -5.72544888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.654860623999998 meters 0.09906591303251629 Centerline is valid? [False, True] Translation: X:17.69, Y:-1.23, Z:-0.57 [[ 9.99991455e-01 -3.20904668e-03 -2.60625194e-03 1.76891034e+01] [ 3.21530587e-03 9.99991949e-01 2.40097509e-03 -1.22752328e+00] [ 2.59852612e-03 -2.40933447e-03 9.99993721e-01 -5.72635001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684860624 meters 0.10312723414870295 Centerline is valid? [True, False] Translation: X:17.69, Y:-1.23, Z:-0.57 [[ 9.99992150e-01 -2.92317430e-03 -2.67502366e-03 1.76893866e+01] [ 2.93076832e-03 9.99991674e-01 2.83935657e-03 -1.22860694e+00] [ 2.66670145e-03 -2.84717416e-03 9.99992391e-01 -5.72824236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.714860623999996 meters 0.0999804288584634 Centerline is valid? [False, True] Translation: X:17.69, Y:-1.23, Z:-0.57 [[ 9.99992386e-01 -2.86181362e-03 -2.65287777e-03 1.76891812e+01] [ 2.86984043e-03 9.99991301e-01 3.02684575e-03 -1.22947417e+00] [ 2.64419243e-03 -3.03443604e-03 9.99991900e-01 -5.72593790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744860623999998 meters 0.1013409881467306 Centerline is valid? [True, False] Translation: X:17.69, Y:-1.23, Z:-0.57 [[ 9.99993662e-01 -2.37008464e-03 -2.65670638e-03 1.76892544e+01] [ 2.38057089e-03 9.99989362e-01 3.95089851e-03 -1.23227255e+00] [ 2.64731415e-03 -3.95719795e-03 9.99988666e-01 -5.72626638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.774860624 meters 0.1031710447975934 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.23, Z:-0.57 [[ 9.99994143e-01 -2.27956204e-03 -2.55278953e-03 1.76889506e+01] [ 2.29038632e-03 9.99988366e-01 4.24531073e-03 -1.23347610e+00] [ 2.54308238e-03 -4.25113274e-03 9.99987730e-01 -5.72473000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804860623999996 meters 0.10369240599769558 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.23, Z:-0.57 [[ 9.99994471e-01 -2.24629796e-03 -2.45207473e-03 1.76885867e+01] [ 2.25724145e-03 9.99987465e-01 4.46934553e-03 -1.23442597e+00] [ 2.44200451e-03 -4.47485574e-03 9.99987006e-01 -5.72248404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.834860623999997 meters 0.10375068475865869 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.24, Z:-0.57 [[ 9.99994951e-01 -2.03453059e-03 -2.44115552e-03 1.76887092e+01] [ 2.04630476e-03 9.99986240e-01 4.83042897e-03 -1.23539967e+00] [ 2.43129427e-03 -4.83539993e-03 9.99985354e-01 -5.72414809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864860624 meters 0.10248896676462528 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.24, Z:-0.57 [[ 9.99995702e-01 -1.99043157e-03 -2.15256067e-03 1.76879214e+01] [ 2.00175905e-03 9.99984094e-01 5.27304104e-03 -1.23733276e+00] [ 2.14203081e-03 -5.27732729e-03 9.99983781e-01 -5.72094611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.894860624 meters 0.10835752335014412 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.24, Z:-0.57 [[ 9.99996160e-01 -1.91113749e-03 -2.00682942e-03 1.76875405e+01] [ 1.92230778e-03 9.99982589e-01 5.57904093e-03 -1.23859003e+00] [ 1.99613216e-03 -5.58287725e-03 9.99982423e-01 -5.71974150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924860623999997 meters 0.10638334696370105 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.24, Z:-0.57 [[ 9.99981585e-01 -5.58446714e-03 -2.37568112e-03 1.76887550e+01] [ 5.58934243e-03 9.99982277e-01 2.05049783e-03 -1.23978823e+00] [ 2.36418808e-03 -2.06373857e-03 9.99995076e-01 -5.72582682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.954860624 meters 0.10372279925343703 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.24, Z:-0.57 [[ 9.99983804e-01 -5.14765373e-03 -2.42780088e-03 1.76892351e+01] [ 5.15432875e-03 9.99982932e-01 2.75121307e-03 -1.24129022e+00] [ 2.41359715e-03 -2.76368220e-03 9.99993268e-01 -5.73119215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984860624 meters 0.11020365497966367 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.24, Z:-0.57 [[ 9.99985054e-01 -4.89593421e-03 -2.43343576e-03 1.76894920e+01] [ 4.90376359e-03 9.99982786e-01 3.22193187e-03 -1.24226708e+00] [ 2.41761951e-03 -3.23381671e-03 9.99991849e-01 -5.73501500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.014860624 meters 0.10436501889245427 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.24, Z:-0.57 [[ 9.99986367e-01 -4.65823251e-03 -2.35940492e-03 1.76892185e+01] [ 4.66717683e-03 9.99981890e-01 3.79971092e-03 -1.24428138e+00] [ 2.34166225e-03 -3.81067088e-03 9.99989998e-01 -5.73272612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.044860624 meters 0.10582196462868745 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99987466e-01 -4.46661775e-03 -2.26224497e-03 1.76890682e+01] [ 4.47614987e-03 9.99981052e-01 4.22617817e-03 -1.24557556e+00] [ 2.24332538e-03 -4.23625135e-03 9.99988511e-01 -5.73336930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.074860624 meters 0.11073369831892658 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99988941e-01 -4.16085539e-03 -2.19227613e-03 1.76891013e+01] [ 4.17133335e-03 9.99979795e-01 4.79679426e-03 -1.24722328e+00] [ 2.17227307e-03 -4.80588593e-03 9.99986092e-01 -5.73562490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104860624000004 meters 0.10983896298010386 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99990192e-01 -3.96129726e-03 -1.98102107e-03 1.76888791e+01] [ 3.97184946e-03 9.99977793e-01 5.35138585e-03 -1.24902138e+00] [ 1.95977865e-03 -5.35920168e-03 9.99983719e-01 -5.73864074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.134860624 meters 0.10978855892589934 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99990242e-01 -3.92992069e-03 -2.01801398e-03 1.76889391e+01] [ 3.94081502e-03 9.99977529e-01 5.42324402e-03 -1.24928358e+00] [ 1.99665572e-03 -5.43114372e-03 9.99983258e-01 -5.73838052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164860624 meters 0.11082825547519148 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99990168e-01 -3.91953049e-03 -2.07412415e-03 1.76889930e+01] [ 3.93077284e-03 9.99977454e-01 5.44425887e-03 -1.24941980e+00] [ 2.05273845e-03 -5.45235825e-03 9.99983029e-01 -5.73759941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.194860624 meters 0.11141643634374025 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99989589e-01 -4.06107500e-03 -2.08062413e-03 1.76887019e+01] [ 4.07192522e-03 9.99977994e-01 5.23746329e-03 -1.24927914e+00] [ 2.05930861e-03 -5.24588091e-03 9.99984120e-01 -5.73311574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.224860624 meters 0.11436679270062604 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99990014e-01 -3.99343348e-03 -2.00598035e-03 1.76883655e+01] [ 4.00428544e-03 9.99977212e-01 5.43523504e-03 -1.25029227e+00] [ 1.98422938e-03 -5.44321329e-03 9.99983217e-01 -5.72997209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.254860624 meters 0.11550161575173563 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99990718e-01 -3.78428639e-03 -2.05997074e-03 1.76886039e+01] [ 3.79608068e-03 9.99976252e-01 5.75198336e-03 -1.25109458e+00] [ 2.03815466e-03 -5.75974978e-03 9.99981335e-01 -5.73175668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284860624000004 meters 0.11631456993199422 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99991037e-01 -3.71161921e-03 -2.03708059e-03 1.76886244e+01] [ 3.72358283e-03 9.99975657e-01 5.90089400e-03 -1.25159864e+00] [ 2.01512913e-03 -5.90842635e-03 9.99980515e-01 -5.73283084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.314860624000005 meters 0.11583437788986588 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99991088e-01 -3.68306299e-03 -2.06392597e-03 1.76886899e+01] [ 3.69524194e-03 9.99975599e-01 5.92845450e-03 -1.25174848e+00] [ 2.04204074e-03 -5.93602836e-03 9.99980297e-01 -5.73285358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344860624 meters 0.11959202979842076 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99990298e-01 -3.85927787e-03 -2.12359376e-03 1.76886129e+01] [ 3.87111326e-03 9.99976840e-01 5.59768893e-03 -1.25113728e+00] [ 2.10194154e-03 -5.60585529e-03 9.99982078e-01 -5.72954110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.374860624 meters 0.1053815670240531 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99989910e-01 -3.95393972e-03 -2.13229474e-03 1.76885350e+01] [ 3.96556956e-03 9.99977134e-01 5.47777939e-03 -1.25093739e+00] [ 2.11058718e-03 -5.48617988e-03 9.99982723e-01 -5.72826603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404860624 meters 0.12216995611577597 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99990841e-01 -3.66864246e-03 -2.20438002e-03 1.76890818e+01] [ 3.68151217e-03 9.99976037e-01 5.86283335e-03 -1.25166787e+00] [ 2.18281855e-03 -5.87089510e-03 9.99980384e-01 -5.73381609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.434860624 meters 0.1209348184289713 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99990503e-01 -3.72016839e-03 -2.27008137e-03 1.76891264e+01] [ 3.73312762e-03 9.99976607e-01 5.73142533e-03 -1.25152002e+00] [ 2.24870639e-03 -5.73984540e-03 9.99980999e-01 -5.73242347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464860624 meters 0.12289505878108012 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99990093e-01 -3.76147717e-03 -2.38017698e-03 1.76893034e+01] [ 3.77467348e-03 9.99977395e-01 5.56426832e-03 -1.25112997e+00] [ 2.35919331e-03 -5.57319759e-03 9.99981687e-01 -5.73141688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.494860624000005 meters 0.12424198766391278 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99989078e-01 -4.01766459e-03 -2.38809749e-03 1.76890508e+01] [ 4.02987144e-03 9.99978727e-01 5.12889484e-03 -1.25037428e+00] [ 2.36744051e-03 -5.13846255e-03 9.99983996e-01 -5.72717755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.524860624 meters 0.11016612865692063 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99988260e-01 -4.16305162e-03 -2.47955513e-03 1.76891536e+01] [ 4.17496491e-03 9.99979673e-01 4.81896803e-03 -1.24949917e+00] [ 2.45944312e-03 -4.82926351e-03 9.99985315e-01 -5.72581815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.554860624 meters 0.10552259781309375 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99987024e-01 -4.43391172e-03 -2.50855564e-03 1.76888586e+01] [ 4.44486481e-03 9.99980539e-01 4.37769818e-03 -1.24873219e+00] [ 2.48909650e-03 -4.38879156e-03 9.99987271e-01 -5.72053540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584860624 meters 0.10870336054300482 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99987557e-01 -4.26369159e-03 -2.58969674e-03 1.76893395e+01] [ 4.27548259e-03 9.99980442e-01 4.56470016e-03 -1.24874671e+00] [ 2.57018361e-03 -4.57571556e-03 9.99986228e-01 -5.72494562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.614860624 meters 0.10691281424970953 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99988361e-01 -4.05024261e-03 -2.62162990e-03 1.76897730e+01] [ 4.06290984e-03 9.99980011e-01 4.84465742e-03 -1.24912326e+00] [ 2.60195546e-03 -4.85525248e-03 9.99984828e-01 -5.73007224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644860624 meters 0.10657955964757676 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99988696e-01 -3.91720733e-03 -2.69521753e-03 1.76901784e+01] [ 3.93050706e-03 9.99980038e-01 4.94709394e-03 -1.24919207e+00] [ 2.67578493e-03 -4.95763158e-03 9.99984131e-01 -5.73335913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.674860624000004 meters 0.11080327666960134 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99987465e-01 -4.22714035e-03 -2.68336103e-03 1.76898525e+01] [ 4.23909573e-03 9.99981045e-01 4.46543505e-03 -1.24822804e+00] [ 2.66443414e-03 -4.47675410e-03 9.99986430e-01 -5.72908682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.704860624 meters 0.11094453421646276 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.25, Z:-0.57 [[ 9.99986419e-01 -3.95949245e-03 -3.38882178e-03 1.76917327e+01] [ 3.97314884e-03 9.99983976e-01 4.03263586e-03 -1.24540736e+00] [ 3.37280029e-03 -4.04604538e-03 9.99986127e-01 -5.73639403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.734860624 meters 0.10307104742249798 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.24, Z:-0.57 [[ 9.99984112e-01 -4.23766246e-03 -3.71724581e-03 1.76922202e+01] [ 4.24947619e-03 9.99985927e-01 3.17596745e-03 -1.24301794e+00] [ 3.70373482e-03 -3.19171334e-03 9.99988048e-01 -5.73407529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764860624 meters 0.10654691228804118 Centerline is valid? [False, False] Translation: X:17.69, Y:-1.24, Z:-0.57 [[ 9.99983117e-01 -3.86689629e-03 -4.33735186e-03 1.76939869e+01] [ 3.88006982e-03 9.99987873e-01 3.03293914e-03 -1.24119033e+00] [ 4.32557120e-03 -3.04971716e-03 9.99985994e-01 -5.74213881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.794860624 meters 0.09475513741949161 Centerline is valid? [False, True] Translation: X:17.70, Y:-1.24, Z:-0.58 [[ 9.99987793e-01 5.71160572e-04 -4.90783565e-03 1.76956361e+01] [-5.38564878e-04 9.99977808e-01 6.64031866e-03 -1.23810097e+00] [ 4.91151942e-03 -6.63759442e-03 9.99965909e-01 -5.75049572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824860624 meters 0.1011501743937524 Centerline is valid? [True, False] Translation: X:17.70, Y:-1.23, Z:-0.57 [[ 9.99984852e-01 4.07337959e-04 -5.48913943e-03 1.76966488e+01] [-3.76662902e-04 9.99984315e-01 5.58819368e-03 -1.23487071e+00] [ 5.49132962e-03 -5.58604147e-03 9.99969320e-01 -5.74891749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.854860624000004 meters 0.09991363703459669 Centerline is valid? [False, True] Translation: X:17.70, Y:-1.23, Z:-0.57 [[ 9.99981575e-01 1.60175646e-04 -6.06823684e-03 1.76975648e+01] [-1.33502198e-04 9.99990330e-01 4.39573471e-03 -1.23130315e+00] [ 6.06888225e-03 -4.39484359e-03 9.99971927e-01 -5.74619776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.884860624 meters 0.08959243207227582 Centerline is valid? [True, True] Translation: X:17.73, Y:-1.21, Z:-0.57 [[ 9.99939726e-01 9.54797979e-03 -5.42042390e-03 1.77305748e+01] [-9.54521634e-03 9.99954300e-01 5.35463816e-04 -1.20880153e+00] [ 5.42528878e-03 -4.83692422e-04 9.99985166e-01 -5.70441334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.914860624 meters 0.0885098838237776 Centerline is valid? [True, True] Translation: X:17.76, Y:-1.21, Z:-0.57 [[ 9.99889035e-01 1.37861859e-02 -5.64432036e-03 1.77604858e+01] [-1.37832596e-02 9.99904851e-01 5.57012561e-04 -1.20689652e+00] [ 5.65146239e-03 -4.79153619e-04 9.99983916e-01 -5.71383696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944860624 meters 0.0853624850935307 Centerline is valid? [True, True] Translation: X:17.79, Y:-1.20, Z:-0.57 [[ 9.99833650e-01 1.73837740e-02 -5.52060058e-03 1.77920532e+01] [-1.73810271e-02 9.99848790e-01 5.45165243e-04 -1.20052623e+00] [ 5.52924284e-03 -4.49120846e-04 9.99984613e-01 -5.70667718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.974860624 meters 0.0863723957817739 Centerline is valid? [True, True] Translation: X:17.82, Y:-1.20, Z:-0.57 [[ 9.99763538e-01 2.11679157e-02 -4.97860929e-03 1.78205792e+01] [-2.11657323e-02 9.99775860e-01 4.90848551e-04 -1.20337096e+00] [ 4.98788363e-03 -3.85356573e-04 9.99987486e-01 -5.71772645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004860624 meters 0.08530565187586164 Centerline is valid? [True, True] Translation: X:17.85, Y:-1.20, Z:-0.57 [[ 9.99690695e-01 2.44527001e-02 -4.53639346e-03 1.78513540e+01] [-2.44509185e-02 9.99700931e-01 4.47773548e-04 -1.20164275e+00] [ 4.54598604e-03 -3.36716062e-04 9.99989610e-01 -5.73184562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.034860624000004 meters 0.0828993491809494 Centerline is valid? [True, True] Translation: X:17.88, Y:-1.20, Z:-0.57 [[ 9.99576953e-01 2.86111210e-02 -5.22673622e-03 1.78824680e+01] [-2.86088126e-02 9.99590551e-01 5.15912879e-04 -1.19518935e+00] [ 5.23935698e-03 -3.66163907e-04 9.99986207e-01 -5.74057231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064860624000005 meters 0.08300825931830545 Centerline is valid? [True, True] Translation: X:17.91, Y:-1.20, Z:-0.58 [[ 9.99545597e-01 2.95288140e-02 -6.05386817e-03 1.79112354e+01] [-2.95257422e-02 9.99563842e-01 5.96187414e-04 -1.19577206e+00] [ 6.06883244e-03 -4.17171554e-04 9.99981497e-01 -5.75030297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.094860624 meters 0.08287135781028816 Centerline is valid? [True, True] Translation: X:17.94, Y:-1.20, Z:-0.58 [[ 9.99512997e-01 3.07215998e-02 -5.47287396e-03 1.79405728e+01] [-3.07191076e-02 9.99527912e-01 5.38874569e-04 -1.19698211e+00] [ 5.48684537e-03 -3.70490332e-04 9.99984879e-01 -5.75561258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124860624 meters 0.08468840092792879 Centerline is valid? [True, True] Translation: X:17.97, Y:-1.20, Z:-0.58 [[ 9.99489171e-01 3.15097557e-02 -5.34158450e-03 1.79679962e+01] [-3.15074021e-02 9.99503381e-01 5.24214557e-04 -1.19929943e+00] [ 5.35544964e-03 -3.55647322e-04 9.99985596e-01 -5.77567897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.154860624 meters 0.09913138187981331 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.23, Z:-0.58 [[ 9.99501812e-01 3.14069105e-02 -3.11978369e-03 1.79928816e+01] [-3.14061083e-02 9.99506660e-01 3.05798861e-04 -1.22628135e+00] [ 3.12784877e-03 -2.07666251e-04 9.99995087e-01 -5.84923665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.184860624 meters 0.09913138187981331 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.23, Z:-0.59 [[ 9.99504190e-01 3.13311624e-02 -3.11980819e-03 1.80202898e+01] [-3.13303607e-02 9.99509037e-01 3.05549308e-04 -1.22884798e+00] [ 3.12784970e-03 -2.07653097e-04 9.99995087e-01 -5.85372593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.214860624 meters 0.08409371741593952 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.20, Z:-0.58 [[ 9.99499906e-01 3.13420107e-02 -4.19719780e-03 1.80526428e+01] [-3.13405579e-02 9.99508679e-01 4.11482946e-04 -1.19963231e+00] [ 4.20803234e-03 -2.79734645e-04 9.99991107e-01 -5.79928821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244860624000005 meters 0.08324860689779295 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.20, Z:-0.58 [[ 9.99516840e-01 3.07852649e-02 -4.28417238e-03 1.80820331e+01] [-3.07837473e-02 9.99525980e-01 4.19743973e-04 -1.19943155e+00] [ 4.29506353e-03 -2.87658289e-04 9.99990735e-01 -5.79788791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.274860624 meters 0.08619387832000708 Centerline is valid? [True, True] Translation: X:18.11, Y:-1.20, Z:-0.58 [[ 9.99550213e-01 2.97759338e-02 -3.57284095e-03 1.81094946e+01] [-2.97748744e-02 9.99556569e-01 3.49354777e-04 -1.20464219e+00] [ 3.58165900e-03 -2.42816752e-04 9.99993556e-01 -5.81730738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304860624 meters 0.08441724604353681 Centerline is valid? [True, True] Translation: X:18.14, Y:-1.20, Z:-0.58 [[ 9.99566241e-01 2.92841458e-02 -3.12557228e-03 1.81385214e+01] [-2.92833329e-02 9.99571105e-01 3.05519726e-04 -1.20194082e+00] [ 3.13317862e-03 -2.13860031e-04 9.99995069e-01 -5.80894825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.334860624 meters 0.08387506715287697 Centerline is valid? [True, True] Translation: X:18.17, Y:-1.20, Z:-0.58 [[ 9.99578285e-01 2.88791507e-02 -3.04098016e-03 1.81675986e+01] [-2.88783801e-02 9.99582888e-01 2.97022555e-04 -1.20236254e+00] [ 3.04828949e-03 -2.09078715e-04 9.99995332e-01 -5.81680031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.364860624 meters 0.08936108594097147 Centerline is valid? [True, True] Translation: X:18.19, Y:-1.21, Z:-0.59 [[ 9.99619199e-01 2.73384382e-02 -3.75066946e-03 1.81946167e+01] [-2.73372539e-02 9.99626200e-01 3.66658945e-04 -1.21335193e+00] [ 3.75929134e-03 -2.63986317e-04 9.99992899e-01 -5.85090537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.394860624 meters 0.08952533390633219 Centerline is valid? [True, True] Translation: X:18.22, Y:-1.22, Z:-0.59 [[ 9.99618348e-01 2.73225560e-02 -4.07883523e-03 1.82237641e+01] [-2.73211568e-02 9.99626628e-01 3.98358195e-04 -1.21515374e+00] [ 4.08819647e-03 -2.86767664e-04 9.99991602e-01 -5.86426186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424860624000004 meters 0.0903432075304211 Centerline is valid? [True, True] Translation: X:18.25, Y:-1.22, Z:-0.59 [[ 9.99625822e-01 2.70135434e-02 -4.29931884e-03 1.82522440e+01] [-2.70119869e-02 9.99635022e-01 4.19697668e-04 -1.21797183e+00] [ 4.30908720e-03 -3.03407483e-04 9.99990670e-01 -5.86946431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.454860624 meters 0.0903432075304211 Centerline is valid? [True, True] Translation: X:18.28, Y:-1.22, Z:-0.59 [[ 9.99628204e-01 2.69252648e-02 -4.29940295e-03 1.82796527e+01] [-2.69237111e-02 9.99637403e-01 4.18837155e-04 -1.22053221e+00] [ 4.30912130e-03 -3.02925549e-04 9.99990670e-01 -5.87395287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.484860624 meters 0.08387222274240784 Centerline is valid? [True, True] Translation: X:18.31, Y:-1.21, Z:-0.58 [[ 9.99632510e-01 2.68001225e-02 -4.07403898e-03 1.83089932e+01] [-2.67987289e-02 9.99640771e-01 3.96287781e-04 -1.20644523e+00] [ 4.08319602e-03 -2.86963083e-04 9.99991623e-01 -5.83647215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.514860624 meters 0.08814142267042291 Centerline is valid? [True, True] Translation: X:18.34, Y:-1.22, Z:-0.59 [[ 9.99635566e-01 2.66844271e-02 -4.08368280e-03 1.83354726e+01] [-2.66830288e-02 9.99643866e-01 3.96532159e-04 -1.21543061e+00] [ 4.09280970e-03 -2.87422623e-04 9.99991583e-01 -5.86364931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.544860624 meters 0.08993148199409333 Centerline is valid? [True, True] Translation: X:18.36, Y:-1.22, Z:-0.59 [[ 9.99624684e-01 2.70331548e-02 -4.43837853e-03 1.83634166e+01] [-2.70315032e-02 9.99634489e-01 4.31689494e-04 -1.21978066e+00] [ 4.44842618e-03 -3.11551430e-04 9.99990057e-01 -5.87782348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.574860624 meters 0.08505327374026055 Centerline is valid? [True, True] Translation: X:18.39, Y:-1.21, Z:-0.59 [[ 9.99616742e-01 2.72871412e-02 -4.66705619e-03 1.83929578e+01] [-2.72853191e-02 9.99627583e-01 4.53642763e-04 -1.21080857e+00] [ 4.67769671e-03 -3.26126783e-04 9.99989006e-01 -5.86584849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604860624000004 meters 0.09209287151728529 Centerline is valid? [True, True] Translation: X:18.42, Y:-1.22, Z:-0.59 [[ 9.99596257e-01 2.79761165e-02 -4.96581541e-03 1.84193287e+01] [-2.79740650e-02 9.99608533e-01 4.82112756e-04 -1.22476838e+00] [ 4.97735910e-03 -3.43004063e-04 9.99987554e-01 -5.92480167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.634860624 meters 0.09313771202295197 Centerline is valid? [True, True] Translation: X:18.45, Y:-1.23, Z:-0.59 [[ 9.99599950e-01 2.77089522e-02 -5.67045362e-03 1.84464320e+01] [-2.77062794e-02 9.99615956e-01 5.49382879e-04 -1.22757682e+00] [ 5.68349874e-03 -3.92055926e-04 9.99983772e-01 -5.93907744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664860624 meters 0.09307172150061722 Centerline is valid? [True, True] Translation: X:18.47, Y:-1.23, Z:-0.59 [[ 9.99595929e-01 2.80319107e-02 -4.71070053e-03 1.84747801e+01] [-2.80300692e-02 9.99606976e-01 4.56510765e-04 -1.22711946e+00] [ 4.72164598e-03 -3.24285041e-04 9.99988800e-01 -5.92875161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.694860624 meters 0.09372111293175019 Centerline is valid? [True, True] Translation: X:18.50, Y:-1.23, Z:-0.59 [[ 9.99604641e-01 2.77262630e-02 -4.67083264e-03 1.85038523e+01] [-2.77244494e-02 9.99615501e-01 4.52612166e-04 -1.22910480e+00] [ 4.68158596e-03 -3.22936958e-04 9.99988989e-01 -5.93052111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.724860624 meters 0.09426252975179004 Centerline is valid? [True, True] Translation: X:18.53, Y:-1.23, Z:-0.59 [[ 9.99626902e-01 2.70628440e-02 -3.69578085e-03 1.85322563e+01] [-2.70617055e-02 9.99633701e-01 3.57727732e-04 -1.23162155e+00] [ 3.70410822e-03 -2.57580131e-04 9.99993107e-01 -5.93301267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.754860624 meters 0.0853352358792871 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.22, Z:-0.59 [[ 9.99662678e-01 2.57273307e-02 -3.55461710e-03 1.85636222e+01] [-2.57262682e-02 9.99668965e-01 3.44313153e-04 -1.21578512e+00] [ 3.56229866e-03 -2.52749975e-04 9.99993623e-01 -5.88883010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784860624000004 meters 0.08587960943492297 Centerline is valid? [True, True] Translation: X:18.59, Y:-1.22, Z:-0.59 [[ 9.99680712e-01 2.49406892e-02 -4.05410948e-03 1.85918534e+01] [-2.49393049e-02 9.99688890e-01 3.91682152e-04 -1.21875465e+00] [ 4.06261703e-03 -2.90450421e-04 9.99991705e-01 -5.89735855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.814860624000005 meters 0.08549509628485934 Centerline is valid? [True, True] Translation: X:18.62, Y:-1.22, Z:-0.59 [[ 9.99690611e-01 2.46114692e-02 -3.59964773e-03 1.86207116e+01] [-2.46103761e-02 9.99697058e-01 3.47647443e-04 -1.21949829e+00] [ 3.60711337e-03 -2.58951200e-04 9.99993461e-01 -5.89826501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844860624 meters 0.08444841570911835 Centerline is valid? [True, True] Translation: X:18.65, Y:-1.22, Z:-0.59 [[ 9.99702114e-01 2.41030147e-02 -3.83781781e-03 1.86496419e+01] [-2.41017693e-02 9.99709442e-01 3.70448096e-04 -1.21872873e+00] [ 3.84563162e-03 -2.77839545e-04 9.99992567e-01 -5.88984414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.874860624 meters 0.08556486713503303 Centerline is valid? [True, True] Translation: X:18.68, Y:-1.22, Z:-0.59 [[ 9.99741772e-01 2.23416758e-02 -4.15206291e-03 1.86785687e+01] [-2.23402023e-02 9.99750346e-01 4.00933194e-04 -1.22152454e+00] [ 4.15998385e-03 -3.08071736e-04 9.99991300e-01 -5.89539806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.904860624 meters 0.0896568451773297 Centerline is valid? [True, True] Translation: X:18.71, Y:-1.23, Z:-0.59 [[ 9.99768132e-01 2.11372244e-02 -4.11087943e-03 1.87063593e+01] [-2.11357721e-02 9.99776536e-01 3.96409506e-04 -1.23155140e+00] [ 4.11833980e-03 -3.09430980e-04 9.99991472e-01 -5.91958008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.934860624 meters 0.08871561779054538 Centerline is valid? [True, True] Translation: X:18.74, Y:-1.23, Z:-0.59 [[ 9.99825453e-01 1.78587476e-02 -5.48902040e-03 1.87374635e+01] [-1.78561014e-02 9.99840426e-01 5.30712652e-04 -1.23089100e+00] [ 5.49762236e-03 -4.32607513e-04 9.99984794e-01 -5.91987328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964860624 meters 0.09077764379982657 Centerline is valid? [True, True] Translation: X:18.77, Y:-1.24, Z:-0.59 [[ 9.99856947e-01 1.59376017e-02 -5.66384311e-03 1.87664326e+01] [-1.59347556e-02 9.99872884e-01 5.47267011e-04 -1.23680104e+00] [ 5.67184526e-03 -4.56936766e-04 9.99983811e-01 -5.93880269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.994860624000005 meters 0.09247515417622242 Centerline is valid? [True, True] Translation: X:18.80, Y:-1.24, Z:-0.59 [[ 9.99882698e-01 1.39475571e-02 -6.32904677e-03 1.87958127e+01] [-1.39439641e-02 9.99902591e-01 6.11473710e-04 -1.24206158e+00] [ 6.33695883e-03 -5.23149981e-04 9.99979784e-01 -5.94724385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.024860624 meters 0.09367050113733662 Centerline is valid? [True, True] Translation: X:18.83, Y:-1.25, Z:-0.60 [[ 9.99905842e-01 1.21665336e-02 -6.34692266e-03 1.88258216e+01] [-1.21628853e-02 9.99925841e-01 6.13098574e-04 -1.24600799e+00] [ 6.35391126e-03 -5.35843953e-04 9.99979670e-01 -5.95513886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.054860624 meters 0.09685536143904327 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.25, Z:-0.60 [[ 9.99934321e-01 9.40381842e-03 -6.55149500e-03 1.88548462e+01] [-9.39987343e-03 9.99955620e-01 6.32682385e-04 -1.25280686e+00] [ 6.55715388e-03 -5.71057607e-04 9.99978339e-01 -5.96926643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084860624 meters 0.09687310411347644 Centerline is valid? [True, True] Translation: X:18.88, Y:-1.25, Z:-0.60 [[ 9.99940751e-01 8.73996365e-03 -6.48898736e-03 1.88836501e+01] [-8.73608698e-03 9.99961644e-01 6.25528163e-04 -1.25499249e+00] [ 6.49420557e-03 -5.68802743e-04 9.99978751e-01 -5.97178862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.114860624 meters 0.09780880907545007 Centerline is valid? [True, True] Translation: X:18.91, Y:-1.26, Z:-0.60 [[ 9.99946961e-01 7.96098073e-03 -6.53443536e-03 1.89119819e+01] [-7.95703568e-03 9.99968144e-01 6.29508278e-04 -1.25835745e+00] [ 6.53923870e-03 -5.77480154e-04 9.99978452e-01 -5.97210835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144860624 meters 0.09938155703371615 Centerline is valid? [True, True] Translation: X:18.94, Y:-1.26, Z:-0.60 [[ 9.99952010e-01 7.58484817e-03 -6.20057265e-03 1.89393057e+01] [-7.58129370e-03 9.99971084e-01 5.96552307e-04 -1.26163356e+00] [ 6.20491811e-03 -5.49515316e-04 9.99980598e-01 -5.97101408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.174860624000004 meters 0.09557288363136784 Centerline is valid? [True, True] Translation: X:18.97, Y:-1.25, Z:-0.59 [[ 9.99948271e-01 8.31399654e-03 -5.85948896e-03 1.89696662e+01] [-8.31083395e-03 9.99965305e-01 5.63879935e-04 -1.25388986e+00] [ 5.86397376e-03 -5.15153526e-04 9.99982674e-01 -5.94299631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.204860624 meters 0.09088512136179881 Centerline is valid? [True, True] Translation: X:19.00, Y:-1.25, Z:-0.59 [[ 9.99938426e-01 9.36729645e-03 -5.94961356e-03 1.89999164e+01] [-9.36405625e-03 9.99955993e-01 5.72230581e-04 -1.24627108e+00] [ 5.95471199e-03 -5.16482831e-04 9.99982137e-01 -5.92790689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.234860624 meters 0.09611545927152898 Centerline is valid? [True, True] Translation: X:19.03, Y:-1.26, Z:-0.60 [[ 9.99933542e-01 1.00545949e-02 -5.64067340e-03 1.90264566e+01] [-1.00516993e-02 9.99949334e-01 5.41471690e-04 -1.25680258e+00] [ 5.64583189e-03 -4.84737352e-04 9.99983945e-01 -5.95900973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264860624 meters 0.09427905074635108 Centerline is valid? [True, True] Translation: X:19.06, Y:-1.25, Z:-0.60 [[ 9.99918843e-01 1.15424384e-02 -5.39254977e-03 1.90564796e+01] [-1.15398101e-02 9.99933280e-01 5.18252908e-04 -1.25431065e+00] [ 5.39817188e-03 -4.55981848e-04 9.99985326e-01 -5.96510684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.294860624 meters 0.09672527181652119 Centerline is valid? [True, True] Translation: X:19.08, Y:-1.26, Z:-0.60 [[ 9.99925497e-01 1.12486907e-02 -4.74006029e-03 1.90842624e+01] [-1.12466624e-02 9.99936651e-01 4.54347553e-04 -1.26026497e+00] [ 4.74487083e-03 -4.01003844e-04 9.99988663e-01 -5.97407918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324860624 meters 0.09228134395540828 Centerline is valid? [True, True] Translation: X:19.11, Y:-1.25, Z:-0.59 [[ 9.99934093e-01 1.06904968e-02 -4.18607547e-03 1.91138165e+01] [-1.06889109e-02 9.99942792e-01 4.01034963e-04 -1.25358154e+00] [ 4.19012325e-03 -3.56263944e-04 9.99991158e-01 -5.94908127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.354860624000004 meters 0.09722806356967308 Centerline is valid? [True, True] Translation: X:19.14, Y:-1.26, Z:-0.60 [[ 9.99936923e-01 1.02952278e-02 -4.48974682e-03 1.91408203e+01] [-1.02934020e-02 9.99946929e-01 4.29580610e-04 -1.26281438e+00] [ 4.49393118e-03 -3.83338744e-04 9.99989829e-01 -5.97627343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.384860624 meters 0.09482806456337342 Centerline is valid? [True, True] Translation: X:19.17, Y:-1.26, Z:-0.60 [[ 9.99941177e-01 9.54681245e-03 -5.14796696e-03 1.91709114e+01] [-9.54439797e-03 9.99954329e-01 4.93381732e-04 -1.25890871e+00] [ 5.15244208e-03 -4.44218464e-04 9.99986627e-01 -5.97583879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.414860624 meters 0.09562826491266108 Centerline is valid? [True, True] Translation: X:19.20, Y:-1.26, Z:-0.60 [[ 9.99950826e-01 8.03143062e-03 -5.81740576e-03 1.92001232e+01] [-8.02832728e-03 9.99967618e-01 5.56613773e-04 -1.26208619e+00] [ 5.82168778e-03 -5.09882365e-04 9.99982924e-01 -5.98970923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444860624 meters 0.09907980945616314 Centerline is valid? [True, True] Translation: X:19.23, Y:-1.27, Z:-0.60 [[ 9.99959148e-01 7.19571033e-03 -5.47031006e-03 1.92275406e+01] [-7.19295579e-03 9.99973994e-01 5.23050950e-04 -1.27027147e+00] [ 5.47393152e-03 -4.83681884e-04 9.99984901e-01 -6.00875504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.474860624 meters 0.09907980945616314 Centerline is valid? [True, True] Translation: X:19.25, Y:-1.27, Z:-0.60 [[ 9.99959831e-01 7.10001842e-03 -5.47040894e-03 1.92549883e+01] [-7.09726807e-03 9.99974678e-01 5.22017867e-04 -1.27277062e+00] [ 5.47397675e-03 -4.83171940e-04 9.99984901e-01 -6.01324980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504860624 meters 0.0999612525849287 Centerline is valid? [True, True] Translation: X:19.29, Y:-1.28, Z:-0.60 [[ 9.99974580e-01 5.26249985e-03 -4.81103080e-03 1.92853346e+01] [-5.26034485e-03 9.99986058e-01 4.60473136e-04 -1.27567748e+00] [ 4.81338696e-03 -4.35153750e-04 9.99988321e-01 -6.00969596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.534860624000004 meters 0.10078624138762927 Centerline is valid? [True, False] Translation: X:19.28, Y:-1.27, Z:-0.60 [[ 9.99976815e-01 4.89966953e-03 -4.72882532e-03 1.92848292e+01] [-4.89973945e-03 9.99987996e-01 -3.20091728e-06 -1.27472857e+00] [ 4.72875287e-03 2.63708550e-05 9.99988819e-01 -6.00515103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564860624000005 meters 0.0980906550599222 Centerline is valid? [False, True] Translation: X:19.28, Y:-1.27, Z:-0.60 [[ 9.99977505e-01 4.78060713e-03 -4.70485051e-03 1.92847792e+01] [-4.78140713e-03 9.99988556e-01 -1.58805639e-04 -1.27415449e+00] [ 4.70403748e-03 1.81297872e-04 9.99988920e-01 -6.00536014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.594860624 meters 0.10198489535373537 Centerline is valid? [True, False] Translation: X:19.28, Y:-1.27, Z:-0.60 [[ 9.99980150e-01 4.52812707e-03 -4.38135230e-03 1.92840814e+01] [-4.52921065e-03 9.99989715e-01 -2.37425827e-04 -1.27412826e+00] [ 4.38023214e-03 2.57265182e-04 9.99990374e-01 -6.00609904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624860624 meters 0.09765053968499623 Centerline is valid? [False, True] Translation: X:19.28, Y:-1.27, Z:-0.60 [[ 9.99981119e-01 4.49737815e-03 -4.18745274e-03 1.92837255e+01] [-4.49787152e-03 9.99989879e-01 -1.08410702e-04 -1.27457720e+00] [ 4.18692280e-03 1.27243279e-04 9.99991227e-01 -6.00743982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.654860624 meters 0.09828535010262769 Centerline is valid? [True, True] Translation: X:19.31, Y:-1.28, Z:-0.60 [[ 9.99986839e-01 3.58757820e-03 -3.66752324e-03 1.93120938e+01] [-3.58628677e-03 9.99993505e-01 3.58641099e-04 -1.27903116e+00] [ 3.66878607e-03 -3.45483589e-04 9.99993210e-01 -6.01635944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.684860624 meters 0.0996945116642047 Centerline is valid? [True, True] Translation: X:19.34, Y:-1.28, Z:-0.60 [[ 9.99989702e-01 2.82447320e-03 -3.55235608e-03 1.93393797e+01] [-2.82326004e-03 9.99995955e-01 3.46477780e-04 -1.28429183e+00] [ 3.55332032e-03 -3.36444987e-04 9.99993630e-01 -6.02259547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.714860624 meters 0.10158626093938475 Centerline is valid? [True, False] Translation: X:19.34, Y:-1.28, Z:-0.60 [[ 9.99991058e-01 2.51419628e-03 -3.40051448e-03 1.93388068e+01] [-2.51393779e-03 9.99996837e-01 8.02881268e-05 -1.28369395e+00] [ 3.40070558e-03 -7.17387270e-05 9.99994215e-01 -6.01967383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744860624000005 meters 0.09934532795945976 Centerline is valid? [False, True] Translation: X:19.34, Y:-1.28, Z:-0.60 [[ 9.99991765e-01 2.26817353e-03 -3.36540090e-03 1.93384111e+01] [-2.26906316e-03 9.99997392e-01 -2.60550632e-04 -1.28313894e+00] [ 3.36480115e-03 2.68184794e-04 9.99994303e-01 -6.01484172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.774860624 meters 0.10097538745032433 Centerline is valid? [True, False] Translation: X:19.34, Y:-1.28, Z:-0.60 [[ 9.99991784e-01 2.35993865e-03 -3.29598194e-03 1.93385579e+01] [-2.35999627e-03 9.99997215e-01 -1.35937549e-05 -1.28334274e+00] [ 3.29594068e-03 2.13721483e-05 9.99994568e-01 -6.01950171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804860624 meters 0.11251622804994553 Centerline is valid? [False, False] Translation: X:19.34, Y:-1.29, Z:-0.60 [[ 9.99992335e-01 2.50385344e-03 -3.00994499e-03 1.93381017e+01] [-2.50230717e-03 9.99996735e-01 5.17375279e-04 -1.28516967e+00] [ 3.01123059e-03 -5.09839507e-04 9.99995336e-01 -6.02233436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.834860624 meters 0.10363354300190525 Centerline is valid? [False, False] Translation: X:19.34, Y:-1.29, Z:-0.60 [[ 9.99992085e-01 2.70348211e-03 -2.91918630e-03 1.93380108e+01] [-2.70067532e-03 9.99995888e-01 9.65011431e-04 -1.28665008e+00] [ 2.92178318e-03 -9.57120018e-04 9.99995274e-01 -6.02399681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.864860624 meters 0.10525800772079354 Centerline is valid? [False, False] Translation: X:19.34, Y:-1.29, Z:-0.60 [[ 9.99992641e-01 2.68945051e-03 -2.73589570e-03 1.93376255e+01] [-2.68632259e-03 9.99995735e-01 1.14632439e-03 -1.28745737e+00] [ 2.73896701e-03 -1.13896646e-03 9.99995600e-01 -6.02438364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.894860624 meters 0.10685945896180349 Centerline is valid? [False, False] Translation: X:19.34, Y:-1.29, Z:-0.60 [[ 9.99993508e-01 2.45348795e-03 -2.63897680e-03 1.93369417e+01] [-2.45085542e-03 9.99996496e-01 1.00032766e-03 -1.28771631e+00] [ 2.64142185e-03 -9.93853413e-04 9.99996018e-01 -6.01787288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924860624000004 meters 0.10293820209976748 Centerline is valid? [False, False] Translation: X:19.34, Y:-1.29, Z:-0.60 [[ 9.99993163e-01 2.45162123e-03 -2.76830672e-03 1.93370243e+01] [-2.44904539e-03 9.99996565e-01 9.33482613e-04 -1.28773399e+00] [ 2.77058575e-03 -9.26696521e-04 9.99995733e-01 -6.01465539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.954860624 meters 0.1022741938962714 Centerline is valid? [False, False] Translation: X:19.34, Y:-1.29, Z:-0.60 [[ 9.99993270e-01 2.38679101e-03 -2.78638313e-03 1.93368634e+01] [-2.38441749e-03 9.99996792e-01 8.54839250e-04 -1.28779391e+00] [ 2.78841452e-03 -8.48189596e-04 9.99995753e-01 -6.01176021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984860624 meters 0.108255723194642 Centerline is valid? [False, False] Translation: X:19.34, Y:-1.29, Z:-0.60 [[ 9.99993460e-01 2.45761513e-03 -2.65335892e-03 1.93361332e+01] [-2.45455277e-03 9.99996319e-01 1.15678593e-03 -1.28962649e+00] [ 2.65619209e-03 -1.15026556e-03 9.99995811e-01 -6.00523048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.014860624 meters 0.10186614831508116 Centerline is valid? [False, False] Translation: X:19.34, Y:-1.29, Z:-0.60 [[ 9.99993777e-01 2.48564484e-03 -2.50354374e-03 1.93355655e+01] [-2.48221520e-03 9.99995978e-01 1.37209008e-03 -1.29095491e+00] [ 2.50694420e-03 -1.36586721e-03 9.99995925e-01 -6.00141177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.044860624 meters 0.1016847090006899 Centerline is valid? [False, False] Translation: X:19.34, Y:-1.29, Z:-0.60 [[ 9.99994053e-01 2.52052969e-03 -2.35377201e-03 1.93351828e+01] [-2.51670547e-03 9.99995511e-01 1.62627180e-03 -1.29201651e+00] [ 2.35786051e-03 -1.62033838e-03 9.99995907e-01 -6.00084459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.074860624 meters 0.1056652265584789 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.29, Z:-0.60 [[ 9.99994729e-01 2.54910460e-03 -2.01077043e-03 1.93344229e+01] [-2.54478435e-03 9.99994455e-01 2.14819256e-03 -1.29395422e+00] [ 2.01623524e-03 -2.14306426e-03 9.99995671e-01 -6.00085064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104860624000004 meters 0.10374115467014082 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.30, Z:-0.60 [[ 9.99995039e-01 2.56367543e-03 -1.83025244e-03 1.93338191e+01] [-2.55927896e-03 9.99993844e-01 2.40042980e-03 -1.29534697e+00] [ 1.83639510e-03 -2.39573377e-03 9.99995444e-01 -5.99779736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.134860624 meters 0.10619604577863184 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.30, Z:-0.60 [[ 9.99995334e-01 2.62777863e-03 -1.55798626e-03 1.93332102e+01] [-2.62333161e-03 9.99992499e-01 2.84954395e-03 -1.29709569e+00] [ 1.56546254e-03 -2.84544354e-03 9.99994726e-01 -5.99773661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164860624 meters 0.10848115623462759 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.30, Z:-0.60 [[ 9.99997811e-01 -9.47581768e-04 -1.86542617e-03 1.93339147e+01] [ 9.46733448e-04 9.99999448e-01 -4.55589810e-04 -1.30020902e+00] [ 1.86585685e-03 4.53822751e-04 9.99998156e-01 -5.99772775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.194860624 meters 0.10961747985166176 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.30, Z:-0.60 [[ 9.99998393e-01 -7.92342122e-04 -1.60841652e-03 1.93334053e+01] [ 7.92597521e-04 9.99999673e-01 1.58157653e-04 -1.30242704e+00] [ 1.60829068e-03 -1.59432226e-04 9.99998694e-01 -5.99853432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.224860624 meters 0.10854749040469729 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.30, Z:-0.60 [[ 9.99998657e-01 -5.67378974e-04 -1.53782815e-03 1.93331527e+01] [ 5.68451975e-04 9.99999595e-01 6.97390538e-04 -1.30454541e+00] [ 1.53743185e-03 -6.98263783e-04 9.99998574e-01 -5.99659488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.254860624 meters 0.11074284364295806 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.31, Z:-0.60 [[ 9.99998669e-01 -5.44596406e-04 -1.53825587e-03 1.93330095e+01] [ 5.45760823e-04 9.99999565e-01 7.56654147e-04 -1.30503031e+00] [ 1.53784313e-03 -7.57492659e-04 9.99998531e-01 -5.99414442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284860624000004 meters 0.10956417877014174 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.31, Z:-0.60 [[ 9.99998780e-01 -4.29148677e-04 -1.50174012e-03 1.93328005e+01] [ 4.30689999e-04 9.99999381e-01 1.02618505e-03 -1.30619471e+00] [ 1.50129880e-03 -1.02683059e-03 9.99998346e-01 -5.99216276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.314860624 meters 0.10788282664131546 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.31, Z:-0.60 [[ 9.99998957e-01 -1.64451315e-04 -1.43464275e-03 1.93327003e+01] [ 1.66635817e-04 9.99998827e-01 1.52269383e-03 -1.30800899e+00] [ 1.43439065e-03 -1.52293130e-03 9.99997812e-01 -5.99242179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344860624 meters 0.10788282664131546 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.31, Z:-0.60 [[ 9.99998957e-01 -1.64451315e-04 -1.43464275e-03 1.93327003e+01] [ 1.66635817e-04 9.99998827e-01 1.52269383e-03 -1.30800899e+00] [ 1.43439065e-03 -1.52293130e-03 9.99997812e-01 -5.99242179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.374860624 meters 0.11235503983513223 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.31, Z:-0.60 [[ 9.99998901e-01 3.13186680e-04 -1.44907083e-03 1.93329540e+01] [-3.09910919e-04 9.99997398e-01 2.26026683e-03 -1.31029594e+00] [ 1.44977494e-03 -2.25981526e-03 9.99996396e-01 -5.99509448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.404860624 meters 0.10604938775319805 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.31, Z:-0.60 [[ 9.99998771e-01 8.06242657e-04 -1.34477918e-03 1.93328346e+01] [-8.02037255e-04 9.99994796e-01 3.12481961e-03 -1.31341985e+00] [ 1.34729154e-03 -3.12373720e-03 9.99994214e-01 -5.99581507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.434860624 meters 0.10554091263804627 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.31, Z:-0.60 [[ 9.99998889e-01 7.62773521e-04 -1.28068956e-03 1.93324625e+01] [-7.58703486e-04 9.99994670e-01 3.17548661e-03 -1.31403160e+00] [ 1.28310491e-03 -3.17451142e-03 9.99994138e-01 -5.99240516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464860624 meters 0.10773048829651913 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.32, Z:-0.60 [[ 9.99998689e-01 9.64822187e-04 -1.30039527e-03 1.93324412e+01] [-9.60178361e-04 9.99993177e-01 3.56699408e-03 -1.31550335e+00] [ 1.30382792e-03 -3.56574080e-03 9.99992793e-01 -5.99110645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.494860624000005 meters 0.10643890625738585 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.32, Z:-0.60 [[ 9.99998295e-01 1.22281189e-03 -1.38397087e-03 1.93327091e+01] [-1.21739716e-03 9.99991628e-01 3.90656277e-03 -1.31659217e+00] [ 1.38873628e-03 -3.90487126e-03 9.99991412e-01 -5.99194400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.524860624 meters 0.10696553923890341 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.32, Z:-0.60 [[ 9.99997542e-01 1.61608723e-03 -1.51791944e-03 1.93331537e+01] [-1.60941518e-03 9.99989084e-01 4.38650680e-03 -1.31810000e+00] [ 1.52499184e-03 -4.38405305e-03 9.99989227e-01 -5.99352579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.554860624 meters 0.10750878533996684 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.32, Z:-0.60 [[ 9.99996920e-01 1.90821242e-03 -1.58681755e-03 1.93334827e+01] [-1.90060263e-03 9.99986753e-01 4.78339283e-03 -1.31928610e+00] [ 1.59592426e-03 -4.78036218e-03 9.99987301e-01 -5.99574552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584860624 meters 0.10638606705776874 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.32, Z:-0.60 [[ 9.99996446e-01 2.07934400e-03 -1.66885533e-03 1.93336083e+01] [-2.07102395e-03 9.99985496e-01 4.97181986e-03 -1.32011109e+00] [ 1.67916925e-03 -4.96834595e-03 9.99986248e-01 -5.99467610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.614860624 meters 0.10356593671350019 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.32, Z:-0.60 [[ 9.99996206e-01 2.07256054e-03 -1.81444798e-03 1.93334871e+01] [-2.06373914e-03 9.99986108e-01 4.85020337e-03 -1.32041239e+00] [ 1.82447512e-03 -4.84644042e-03 9.99986592e-01 -5.98760358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644860624 meters 0.10311041994349335 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.32, Z:-0.60 [[ 9.99996061e-01 1.99644439e-03 -1.97283225e-03 1.93334503e+01] [-1.98735637e-03 9.99987455e-01 4.59785725e-03 -1.32020649e+00] [ 1.98198687e-03 -4.59391842e-03 9.99987484e-01 -5.98173176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.674860624000004 meters 0.10402675615853449 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.32, Z:-0.60 [[ 9.99994302e-01 2.43758528e-03 -2.33524979e-03 1.93344507e+01] [-2.42611563e-03 9.99985043e-01 4.90183513e-03 -1.32070063e+00] [ 2.34716351e-03 -4.89614162e-03 9.99985259e-01 -5.98400155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.704860624 meters 0.10618757887076731 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.32, Z:-0.60 [[ 9.99993459e-01 2.63293745e-03 -2.47983132e-03 1.93347974e+01] [-2.62035243e-03 9.99983742e-01 5.06459713e-03 -1.32129548e+00] [ 2.49312577e-03 -5.05806597e-03 9.99984100e-01 -5.98401993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.734860624 meters 0.10041779079984335 Centerline is valid? [False, False] Translation: X:19.34, Y:-1.32, Z:-0.60 [[ 9.99992596e-01 2.84069112e-03 -2.59574206e-03 1.93351296e+01] [-2.82699146e-03 9.99982137e-01 5.26625707e-03 -1.32193752e+00] [ 2.61065551e-03 -5.25887994e-03 9.99982764e-01 -5.98482991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764860624 meters 0.09947067904836421 Centerline is valid? [False, True] Translation: X:19.34, Y:-1.32, Z:-0.60 [[ 9.99993487e-01 -8.77138903e-04 -3.50101105e-03 1.93368817e+01] [ 8.80563000e-04 9.99999135e-01 9.76609522e-04 -1.32117224e+00] [ 3.50015141e-03 -9.79686021e-04 9.99993395e-01 -5.98281432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.794860624 meters 0.10059022997041621 Centerline is valid? [True, False] Translation: X:19.34, Y:-1.32, Z:-0.60 [[ 9.99993870e-01 -8.03671287e-04 -3.40805091e-03 1.93365944e+01] [ 8.07821363e-04 9.99998934e-01 1.21652532e-03 -1.32219194e+00] [ 3.40706959e-03 -1.21927096e-03 9.99993453e-01 -5.98141904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824860624 meters 0.10434195813420596 Centerline is valid? [False, False] Translation: X:19.34, Y:-1.32, Z:-0.60 [[ 9.99994381e-01 -7.38183131e-04 -3.27007359e-03 1.93362669e+01] [ 7.43104375e-04 9.99998593e-01 1.50397435e-03 -1.32329032e+00] [ 3.26895878e-03 -1.50639591e-03 9.99993522e-01 -5.98089354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.854860624000004 meters 0.10049607874453793 Centerline is valid? [False, False] Translation: X:19.34, Y:-1.33, Z:-0.60 [[ 9.99995508e-01 -5.16677927e-04 -2.95256762e-03 1.93357254e+01] [ 5.23241676e-04 9.99997393e-01 2.22272466e-03 -1.32602630e+00] [ 2.95141149e-03 -2.22425958e-03 9.99993171e-01 -5.98216952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.884860624 meters 0.10398765743050166 Centerline is valid? [False, False] Translation: X:19.33, Y:-1.33, Z:-0.60 [[ 9.99996853e-01 -4.42414404e-04 -2.46944448e-03 1.93347617e+01] [ 4.49693912e-04 9.99995553e-01 2.94805580e-03 -1.32937035e+00] [ 2.46812924e-03 -2.94915701e-03 9.99992605e-01 -5.98239334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.914860624 meters 0.10445313127385548 Centerline is valid? [False, False] Translation: X:19.34, Y:-1.33, Z:-0.60 [[ 9.99996763e-01 -2.07501759e-04 -2.53611301e-03 1.93351496e+01] [ 2.15903665e-04 9.99994488e-01 3.31308199e-03 -1.33003930e+00] [ 2.53541156e-03 -3.31361882e-03 9.99991296e-01 -5.98583028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944860624 meters 0.10445313127385548 Centerline is valid? [False, False] Translation: X:19.34, Y:-1.33, Z:-0.60 [[ 9.99996763e-01 -2.07501759e-04 -2.53611301e-03 1.93351496e+01] [ 2.15903665e-04 9.99994488e-01 3.31308199e-03 -1.33003930e+00] [ 2.53541156e-03 -3.31361882e-03 9.99991296e-01 -5.98583028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.974860624 meters 0.0982162216853135 Centerline is valid? [False, True] Translation: X:19.33, Y:-1.33, Z:-0.60 [[ 9.99996824e-01 -2.91037350e-04 -2.50344555e-03 1.93349089e+01] [ 2.99113887e-04 9.99994750e-01 3.22639924e-03 -1.33014579e+00] [ 2.50249341e-03 -3.22713780e-03 9.99991662e-01 -5.98319499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004860624 meters 0.0982162216853135 Centerline is valid? [True, True] Translation: X:19.36, Y:-1.33, Z:-0.60 [[ 9.99996025e-01 -2.74932790e-04 -2.80604556e-03 1.93642271e+01] [ 2.75743212e-04 9.99999920e-01 2.88429993e-04 -1.33174375e+00] [ 2.80596604e-03 -2.89202594e-04 9.99996021e-01 -5.97599686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.034860624000004 meters 0.10224283804106427 Centerline is valid? [True, False] Translation: X:19.36, Y:-1.33, Z:-0.60 [[ 9.99996312e-01 -2.19113290e-04 -2.70701455e-03 1.93639788e+01] [ 2.20508236e-04 9.99999843e-01 5.15020295e-04 -1.33266075e+00] [ 2.70690127e-03 -5.15615315e-04 9.99996203e-01 -5.97529219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.064860624 meters 0.10022026018871547 Centerline is valid? [False, False] Translation: X:19.36, Y:-1.33, Z:-0.60 [[ 9.99996489e-01 1.48311039e-04 -2.64580088e-03 1.93641953e+01] [-1.45299461e-04 9.99999341e-01 1.13840414e-03 -1.33433455e+00] [ 2.64596798e-03 -1.13801571e-03 9.99995852e-01 -5.97973670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.094860624 meters 0.10107081842959377 Centerline is valid? [False, False] Translation: X:19.36, Y:-1.34, Z:-0.60 [[ 9.99997036e-01 3.99750506e-04 -2.40186032e-03 1.93635424e+01] [-3.95382310e-04 9.99998268e-01 1.81887170e-03 -1.33718496e+00] [ 2.40258325e-03 -1.81791665e-03 9.99995461e-01 -5.97711177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124860624 meters 0.10247660015912734 Centerline is valid? [False, False] Translation: X:19.36, Y:-1.34, Z:-0.60 [[ 9.99997444e-01 3.32727355e-04 -2.23653760e-03 1.93630069e+01] [-3.28518864e-04 9.99998175e-01 1.88180318e-03 -1.33787064e+00] [ 2.23715964e-03 -1.88106363e-03 9.99995728e-01 -5.97417195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.154860624 meters 0.10621928147721449 Centerline is valid? [False, False] Translation: X:19.36, Y:-1.34, Z:-0.60 [[ 9.99998125e-01 1.50413306e-04 -1.93082472e-03 1.93618427e+01] [-1.46581655e-04 9.99998020e-01 1.98445195e-03 -1.33926681e+00] [ 1.93111939e-03 -1.98416520e-03 9.99996167e-01 -5.96633579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.184860624 meters 0.1029015327317012 Centerline is valid? [False, False] Translation: X:19.36, Y:-1.34, Z:-0.60 [[ 9.99998291e-01 2.98851026e-04 -1.82451120e-03 1.93618076e+01] [-2.94643931e-04 9.99997298e-01 2.30570886e-03 -1.34031989e+00] [ 1.82519533e-03 -2.30516734e-03 9.99995677e-01 -5.96856747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.214860624 meters 0.10423860998504067 Centerline is valid? [False, False] Translation: X:19.36, Y:-1.34, Z:-0.60 [[ 9.99998466e-01 4.49830175e-04 -1.69278803e-03 1.93616944e+01] [-4.45314571e-04 9.99996344e-01 2.66698629e-03 -1.34151791e+00] [ 1.69398154e-03 -2.66622837e-03 9.99995011e-01 -5.97069610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244860624000005 meters 0.10219085434040741 Centerline is valid? [False, False] Translation: X:19.36, Y:-1.34, Z:-0.60 [[ 9.99998520e-01 7.10086923e-04 -1.56729588e-03 1.93615160e+01] [-7.05013882e-04 9.99994519e-01 3.23499401e-03 -1.34364483e+00] [ 1.56958442e-03 -3.23388425e-03 9.99993539e-01 -5.97145404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.274860624 meters 0.10539456697053345 Centerline is valid? [False, False] Translation: X:19.36, Y:-1.34, Z:-0.60 [[ 9.99998394e-01 8.03502179e-04 -1.60177343e-03 1.93615053e+01] [-7.98117469e-04 9.99994038e-01 3.35952734e-03 -1.34434215e+00] [ 1.60446327e-03 -3.35824355e-03 9.99993074e-01 -5.97005768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304860624 meters 0.10187760439565068 Centerline is valid? [False, False] Translation: X:19.36, Y:-1.34, Z:-0.60 [[ 9.99998331e-01 8.44420876e-04 -1.62008905e-03 1.93614627e+01] [-8.38877464e-04 9.99993802e-01 3.41930486e-03 -1.34472181e+00] [ 1.62296634e-03 -3.41794009e-03 9.99992842e-01 -5.96881864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.334860624 meters 0.10339591593108222 Centerline is valid? [False, False] Translation: X:19.36, Y:-1.35, Z:-0.60 [[ 9.99998024e-01 9.57329831e-04 -1.74204325e-03 1.93616190e+01] [-9.51181419e-04 9.99993328e-01 3.52683767e-03 -1.34517267e+00] [ 1.74540797e-03 -3.52517371e-03 9.99992263e-01 -5.96728951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.364860624 meters 0.10058693136169007 Centerline is valid? [False, False] Translation: X:19.36, Y:-1.35, Z:-0.60 [[ 9.99996987e-01 1.23306616e-03 -2.12252735e-03 1.93624389e+01] [-1.22551324e-03 9.99992926e-01 3.55608427e-03 -1.34516258e+00] [ 2.12689722e-03 -3.55347237e-03 9.99991425e-01 -5.96728464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.394860624 meters 0.10007838693584059 Centerline is valid? [False, False] Translation: X:19.36, Y:-1.34, Z:-0.60 [[ 9.99996382e-01 1.25156777e-03 -2.38098802e-03 1.93629081e+01] [-1.24362648e-03 9.99993669e-01 3.33385389e-03 -1.34444740e+00] [ 2.38514549e-03 -3.33088077e-03 9.99991608e-01 -5.96608793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424860624000004 meters 0.09863422672379477 Centerline is valid? [False, True] Translation: X:19.36, Y:-1.34, Z:-0.60 [[ 9.99995529e-01 1.35725578e-03 -2.66440699e-03 1.93635637e+01] [-1.34880753e-03 9.99994066e-01 3.17002107e-03 -1.34374860e+00] [ 2.66869371e-03 -3.16641313e-03 9.99991426e-01 -5.96691255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.454860624 meters 0.09714458859461883 Centerline is valid? [True, True] Translation: X:19.39, Y:-1.34, Z:-0.60 [[ 9.99974018e-01 5.97977742e-03 -4.02560852e-03 1.93930389e+01] [-5.97822576e-03 9.99982051e-01 3.97369558e-04 -1.34221169e+00] [ 4.02791244e-03 -3.73293237e-04 9.99991818e-01 -5.96581477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484860624 meters 0.09396998203159647 Centerline is valid? [True, True] Translation: X:19.42, Y:-1.34, Z:-0.60 [[ 9.99959961e-01 8.23990007e-03 -3.49002514e-03 1.94233693e+01] [-8.23874768e-03 9.99966002e-01 3.44444324e-04 -1.33941989e+00] [ 3.49274467e-03 -3.15677096e-04 9.99993851e-01 -5.96256213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.514860624 meters 0.09452727881191622 Centerline is valid? [True, True] Translation: X:19.45, Y:-1.34, Z:-0.60 [[ 9.99954619e-01 9.07140062e-03 -2.91011308e-03 1.94511234e+01] [-9.07060634e-03 9.99958820e-01 2.86018960e-04 -1.34367202e+00] [ 2.91258784e-03 -2.59609490e-04 9.99995725e-01 -5.96501757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.544860624 meters 0.12847818185619475 Centerline is valid? [True, False] Translation: X:19.53, Y:-1.35, Z:-0.59 [[ 9.99973222e-01 6.49539194e-03 -3.37126808e-03 1.95295143e+01] [-6.50429472e-03 9.99975371e-01 -2.63656858e-03 -1.35175734e+00] [ 3.35405951e-03 2.65842570e-03 9.99990841e-01 -5.93347019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.574860624 meters 0.09638445654779985 Centerline is valid? [False, True] Translation: X:19.46, Y:-1.35, Z:-0.59 [[ 9.99958574e-01 2.65472252e-03 -8.70646002e-03 1.94569420e+01] [-2.62875260e-03 9.99992066e-01 2.99292245e-03 -1.34723989e+00] [ 8.71433633e-03 -2.96991134e-03 9.99957619e-01 -5.91176369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604860624000004 meters 0.09673416943307019 Centerline is valid? [True, True] Translation: X:19.49, Y:-1.35, Z:-0.59 [[ 9.99953496e-01 3.48329375e-05 -9.64392529e-03 1.94866580e+01] [-2.58015318e-05 9.99999561e-01 9.36609322e-04 -1.35223331e+00] [ 9.64395368e-03 -9.36316937e-04 9.99953058e-01 -5.91771876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.634860624 meters 0.09732171951319118 Centerline is valid? [True, True] Translation: X:19.52, Y:-1.36, Z:-0.59 [[ 9.99939856e-01 -3.37247051e-03 -1.04360443e-02 1.95161691e+01] [ 3.38322716e-03 9.99993764e-01 1.01323890e-03 -1.35839168e+00] [ 1.04325621e-02 -1.04848547e-03 9.99945030e-01 -5.92139497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664860624 meters 0.09978110330458556 Centerline is valid? [True, True] Translation: X:19.55, Y:-1.37, Z:-0.59 [[ 9.99903826e-01 -1.00104654e-02 -9.59837322e-03 1.95454946e+01] [ 1.00198659e-02 9.99949366e-01 9.31797232e-04 -1.37023616e+00] [ 9.58855949e-03 -1.02788203e-03 9.99953500e-01 -5.92905447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.694860624 meters 0.10630443536146286 Centerline is valid? [True, False] Translation: X:19.55, Y:-1.37, Z:-0.59 [[ 9.99909849e-01 -9.76103425e-03 -9.22038636e-03 1.95450379e+01] [ 9.77792362e-03 9.99950596e-01 1.78844153e-03 -1.37288335e+00] [ 9.20247380e-03 -1.87843653e-03 9.99955892e-01 -5.93352589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.724860624 meters 0.10144517298630301 Centerline is valid? [False, False] Translation: X:19.54, Y:-1.37, Z:-0.59 [[ 9.99914467e-01 -9.45816349e-03 -9.03333772e-03 1.95448997e+01] [ 9.48121406e-03 9.99951896e-01 2.51231435e-03 -1.37499471e+00] [ 9.00914130e-03 -2.59774647e-03 9.99956043e-01 -5.93700231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.754860624 meters 0.10325786492910881 Centerline is valid? [False, False] Translation: X:19.54, Y:-1.38, Z:-0.59 [[ 9.99919195e-01 -9.14608194e-03 -8.82903964e-03 1.95448934e+01] [ 9.17501954e-03 9.99952651e-01 3.24262527e-03 -1.37687110e+00] [ 8.79896428e-03 -3.32336986e-03 9.99955766e-01 -5.94291820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784860624000004 meters 0.10666681448535645 Centerline is valid? [False, False] Translation: X:19.54, Y:-1.38, Z:-0.60 [[ 9.99987497e-01 -4.73788732e-03 -1.59924420e-03 1.95350795e+01] [ 4.73958011e-03 9.99988210e-01 1.05637376e-03 -1.38200288e+00] [ 1.59422036e-03 -1.06394029e-03 9.99998163e-01 -5.98415868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.814860624 meters 0.1058322361205605 Centerline is valid? [False, False] Translation: X:19.54, Y:-1.38, Z:-0.60 [[ 9.99989439e-01 -4.31088989e-03 -1.59334253e-03 1.95352000e+01] [ 4.31375095e-03 9.99989082e-01 1.79657984e-03 -1.38413195e+00] [ 1.58558027e-03 -1.80343415e-03 9.99997117e-01 -5.98564971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844860624 meters 0.10488131942488167 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.39, Z:-0.60 [[ 9.99990686e-01 -4.03532588e-03 -1.53093812e-03 1.95349793e+01] [ 4.03891912e-03 9.99989079e-01 2.35129208e-03 -1.38618872e+00] [ 1.52143317e-03 -2.35745351e-03 9.99996064e-01 -5.98402368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.874860624 meters 0.1113147363491714 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.39, Z:-0.60 [[ 9.99991229e-01 -4.08598315e-03 -9.20610792e-04 1.95332528e+01] [ 4.08876858e-03 9.99987007e-01 3.04434890e-03 -1.39046534e+00] [ 9.08159672e-04 -3.04808636e-03 9.99994942e-01 -5.97486810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.904860624 meters 0.10766848478717572 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.39, Z:-0.60 [[ 9.99992346e-01 -3.81134070e-03 -8.84371217e-04 1.95330546e+01] [ 3.81451207e-03 9.99986200e-01 3.61248295e-03 -1.39258525e+00] [ 8.70590609e-04 -3.61582875e-03 9.99993084e-01 -5.97272263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.934860624 meters 0.10395244947357578 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.40, Z:-0.60 [[ 9.99993603e-01 -3.49166838e-03 -7.76378854e-04 1.95325238e+01] [ 3.49500598e-03 9.99984475e-01 4.33995753e-03 -1.39550788e+00] [ 7.61213108e-04 -4.34264321e-03 9.99990281e-01 -5.96759643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964860624 meters 0.10913899991456749 Centerline is valid? [False, False] Translation: X:19.54, Y:-1.40, Z:-0.60 [[ 9.99976276e-01 -6.66309266e-03 -1.74681985e-03 1.95351620e+01] [ 6.66481189e-03 9.99977309e-01 9.80236730e-04 -1.39617113e+00] [ 1.74024881e-03 -9.91855701e-04 9.99997994e-01 -5.97676218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.994860624000005 meters 0.1106682893482873 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.40, Z:-0.60 [[ 9.99984888e-01 -1.35760085e-03 5.32738211e-03 1.95259086e+01] [ 1.36227617e-03 9.99998690e-01 -8.74070440e-04 -1.39917842e+00] [-5.32618849e-03 8.81314597e-04 9.99985427e-01 -6.01952908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.024860624 meters 0.10482400647634114 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.40, Z:-0.60 [[ 9.99986947e-01 -8.19151104e-04 5.04330206e-03 1.95263672e+01] [ 8.20160960e-04 9.99999644e-01 -1.98172219e-04 -1.40134160e+00] [-5.04313793e-03 2.02305952e-04 9.99987263e-01 -6.01757488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.054860624 meters 0.10237630300137927 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.40, Z:-0.60 [[ 9.99988297e-01 -5.24905316e-04 4.80944832e-03 1.95268921e+01] [ 5.24356419e-04 9.99999856e-01 1.15389007e-04 -1.40211419e+00] [-4.80950820e-03 -1.12865792e-04 9.99988428e-01 -6.01818790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084860624 meters 0.10339569050682017 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.40, Z:-0.60 [[ 9.99989270e-01 -3.72102636e-04 4.61750328e-03 1.95271116e+01] [ 3.70918314e-04 9.99999898e-01 2.57338955e-04 -1.40272355e+00] [-4.61759857e-03 -2.55623478e-04 9.99989306e-01 -6.01575475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.114860624 meters 0.10006040284733773 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.40, Z:-0.60 [[ 9.99991064e-01 1.99823384e-04 4.22272087e-03 1.95278814e+01] [-2.03624587e-04 9.99999574e-01 8.99767981e-04 -1.40441715e+00] [-4.22253928e-03 -9.00619790e-04 9.99990679e-01 -6.01549682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144860624 meters 0.1012280862002004 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.40, Z:-0.60 [[ 9.99991485e-01 2.46488994e-04 4.11934236e-03 1.95277809e+01] [-2.50306200e-04 9.99999540e-01 9.26164480e-04 -1.40499554e+00] [-4.11911217e-03 -9.27187690e-04 9.99991087e-01 -6.01079464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.174860624000004 meters 0.101093888838837 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.41, Z:-0.60 [[ 9.99991945e-01 6.58689234e-04 3.95920675e-03 1.95282907e+01] [-6.64461529e-04 9.99998718e-01 1.45680390e-03 -1.40631494e+00] [-3.95824209e-03 -1.45942290e-03 9.99991101e-01 -6.01306734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.204860624 meters 0.10278141012180297 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.41, Z:-0.60 [[ 9.99991955e-01 8.24576013e-04 3.92568223e-03 1.95282850e+01] [-8.31469587e-04 9.99998115e-01 1.75471138e-03 -1.40739435e+00] [-3.92422793e-03 -1.75796134e-03 9.99990755e-01 -6.01216931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.234860624 meters 0.09253628200941534 Centerline is valid? [False, True] Translation: X:19.53, Y:-1.41, Z:-0.60 [[ 9.99991624e-01 1.26878300e-03 3.89139471e-03 1.95285548e+01] [-1.27837316e-03 9.99996150e-01 2.46295658e-03 -1.40933795e+00] [-3.88825477e-03 -2.46791061e-03 9.99989395e-01 -6.01514352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.264860624 meters 0.10196291601698623 Centerline is valid? [True, False] Translation: X:19.53, Y:-1.41, Z:-0.60 [[ 9.99991609e-01 1.34068674e-03 3.87092811e-03 1.95286075e+01] [-1.35070035e-03 9.99995746e-01 2.58542173e-03 -1.40981486e+00] [-3.86744541e-03 -2.59062850e-03 9.99989166e-01 -6.01532558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.294860624 meters 0.10196291601698623 Centerline is valid? [False, False] Translation: X:19.53, Y:-1.41, Z:-0.60 [[ 9.99991609e-01 1.34068674e-03 3.87092811e-03 1.95286075e+01] [-1.35070035e-03 9.99995746e-01 2.58542173e-03 -1.40981486e+00] [-3.86744541e-03 -2.59062850e-03 9.99989166e-01 -6.01532558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324860624 meters 0.09362263213873841 Centerline is valid? [False, True] Translation: X:19.53, Y:-1.41, Z:-0.60 [[ 9.99991572e-01 1.47662693e-03 3.83092903e-03 1.95287340e+01] [-1.48731033e-03 9.99995009e-01 2.78737655e-03 -1.41046521e+00] [-3.82679399e-03 -2.79305084e-03 9.99988777e-01 -6.01581518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.354860624000004 meters 0.103816272299823 Centerline is valid? [True, False] Translation: X:19.53, Y:-1.41, Z:-0.60 [[ 9.99992943e-01 -2.09283748e-03 3.11994900e-03 1.95304390e+01] [ 2.09600426e-03 9.99997291e-01 -1.01208589e-03 -1.41046499e+00] [-3.11782242e-03 1.01861817e-03 9.99994621e-01 -6.02094113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.384860624 meters 0.09527275165270659 Centerline is valid? [False, True] Translation: X:19.53, Y:-1.41, Z:-0.60 [[ 9.99993181e-01 -2.02136872e-03 3.09063762e-03 1.95303101e+01] [ 2.02407352e-03 9.99997571e-01 -8.72283079e-04 -1.41118387e+00] [-3.08886691e-03 8.78532808e-04 9.99994844e-01 -6.01821408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.414860624 meters 0.09557807797459025 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.42, Z:-0.60 [[ 9.99991085e-01 -2.17882868e-03 3.61706011e-03 1.95624976e+01] [ 2.18014444e-03 9.99997559e-01 -3.59861343e-04 -1.41628211e+00] [-3.61626721e-03 3.67743849e-04 9.99993394e-01 -6.03203351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444860624 meters 0.09490151871912143 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.42, Z:-0.60 [[ 9.99987464e-01 -2.98229549e-03 4.02225984e-03 1.95943843e+01] [ 2.98393081e-03 9.99995468e-01 -4.00627757e-04 -1.42009457e+00] [-4.02104682e-03 4.12624879e-04 9.99991830e-01 -6.02860993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.474860624 meters 0.10834507534897707 Centerline is valid? [True, False] Translation: X:19.59, Y:-1.42, Z:-0.60 [[ 9.99987259e-01 -2.94892557e-03 4.09704082e-03 1.95940424e+01] [ 2.94993176e-03 9.99995620e-01 -2.39568503e-04 -1.42097064e+00] [-4.09631641e-03 2.51651441e-04 9.99991578e-01 -6.02599317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504860624 meters 0.0990027403957546 Centerline is valid? [False, True] Translation: X:19.59, Y:-1.42, Z:-0.60 [[ 9.99988786e-01 -2.43797086e-03 4.05995560e-03 1.95945039e+01] [ 2.43557613e-03 9.99996857e-01 5.94681905e-04 -1.42283752e+00] [-4.06139266e-03 -5.84786906e-04 9.99991582e-01 -6.03160662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.534860624000004 meters 0.09408810747788969 Centerline is valid? [True, True] Translation: X:19.63, Y:-1.42, Z:-0.60 [[ 9.99990145e-01 -2.55779007e-03 3.62883998e-03 1.96271772e+01] [ 2.55913788e-03 9.99996658e-01 -3.66820725e-04 -1.41896522e+00] [-3.62788960e-03 3.76103812e-04 9.99993348e-01 -6.02091762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.564860624 meters 0.0940139803306722 Centerline is valid? [True, True] Translation: X:19.66, Y:-1.42, Z:-0.60 [[ 9.99989000e-01 -2.97830763e-03 3.62356552e-03 1.96590044e+01] [ 2.97965510e-03 9.99995494e-01 -3.66521131e-04 -1.42293428e+00] [-3.62245758e-03 3.77314074e-04 9.99993368e-01 -6.02809147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.594860624 meters 0.09645843396665468 Centerline is valid? [True, True] Translation: X:19.69, Y:-1.43, Z:-0.60 [[ 9.99989686e-01 -3.48843307e-03 2.90842908e-03 1.96894219e+01] [ 3.48930090e-03 9.99993869e-01 -2.93362641e-04 -1.43172126e+00] [-2.90738788e-03 3.03508000e-04 9.99995727e-01 -6.04687572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624860624 meters 0.0974607357932545 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.44, Z:-0.61 [[ 9.99984292e-01 -4.85203119e-03 2.80586449e-03 1.97197476e+01] [ 4.85285000e-03 9.99988184e-01 -2.85086906e-04 -1.43983277e+00] [-2.80444808e-03 2.98698867e-04 9.99996023e-01 -6.06382397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.654860624 meters 0.09543215360827485 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.44, Z:-0.61 [[ 9.99982253e-01 -5.47731167e-03 2.34364485e-03 1.97520030e+01] [ 5.47788160e-03 9.99984968e-01 -2.36833340e-04 -1.44094756e+00] [-2.34231241e-03 2.49667346e-04 9.99997226e-01 -6.07033082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.684860624 meters 0.10143349163881031 Centerline is valid? [True, False] Translation: X:19.75, Y:-1.44, Z:-0.61 [[ 9.99985170e-01 -4.94807056e-03 2.27526883e-03 1.97526437e+01] [ 4.94672569e-03 9.99987587e-01 5.96327461e-04 -1.44265121e+00] [-2.27819126e-03 -5.85063486e-04 9.99997234e-01 -6.07766738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.714860624 meters 0.09481933945549086 Centerline is valid? [False, True] Translation: X:19.75, Y:-1.44, Z:-0.61 [[ 9.99987674e-01 -4.47270686e-03 2.15572745e-03 1.97533749e+01] [ 4.46992381e-03 9.99989172e-01 1.29409604e-03 -1.44392956e+00] [-2.16149222e-03 -1.28444415e-03 9.99996839e-01 -6.08485937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744860624000005 meters 0.09527775747959913 Centerline is valid? [True, True] Translation: X:19.79, Y:-1.45, Z:-0.61 [[ 9.99990068e-01 -4.23553127e-03 1.38719573e-03 1.97857066e+01] [ 4.23573302e-03 9.99991019e-01 -1.42531779e-04 -1.44877082e+00] [-1.38657957e-03 1.48406154e-04 9.99999028e-01 -6.09479040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.774860624 meters 0.0959792942339051 Centerline is valid? [True, True] Translation: X:19.82, Y:-1.45, Z:-0.61 [[ 9.99990989e-01 -3.73812887e-03 2.01209260e-03 1.98164202e+01] [ 3.73855594e-03 9.99992990e-01 -2.08531396e-04 -1.45357260e+00] [-2.01129898e-03 2.16051838e-04 9.99997954e-01 -6.10914459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804860624 meters 0.0992571777006342 Centerline is valid? [True, True] Translation: X:19.85, Y:-1.46, Z:-0.61 [[ 9.99993905e-01 -3.01831120e-03 1.75487614e-03 1.98467209e+01] [ 3.01863414e-03 9.99995427e-01 -1.81401711e-04 -1.46340957e+00] [-1.75432059e-03 1.86697935e-04 9.99998444e-01 -6.12845831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.834860624 meters 0.0978742564700742 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.46, Z:-0.61 [[ 9.99994827e-01 -2.68210254e-03 1.77569537e-03 1.98794547e+01] [ 2.68243215e-03 9.99996385e-01 -1.83267046e-04 -1.46411741e+00] [-1.77519741e-03 1.88029280e-04 9.99998407e-01 -6.12995299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.864860624 meters 0.09540537488176468 Centerline is valid? [True, True] Translation: X:19.91, Y:-1.46, Z:-0.61 [[ 9.99996937e-01 -2.28086495e-03 9.60853016e-04 1.99117452e+01] [ 2.28096053e-03 9.99997394e-01 -9.83895299e-05 -1.46305675e+00] [-9.60626099e-04 1.00580896e-04 9.99999534e-01 -6.13677389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.894860624 meters 0.0939710659234112 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.46, Z:-0.61 [[ 9.99999182e-01 -1.16055261e-03 5.38139019e-04 1.99428937e+01] [ 1.16058249e-03 9.99999325e-01 -5.52170239e-05 -1.46402465e+00] [-5.38074573e-04 5.58415334e-05 9.99999854e-01 -6.13953561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924860624000004 meters 0.09388808653470217 Centerline is valid? [True, True] Translation: X:19.97, Y:-1.47, Z:-0.61 [[ 9.99999224e-01 -1.07841889e-03 6.23840269e-04 1.99737702e+01] [ 1.07845941e-03 9.99999416e-01 -6.46245362e-05 -1.46689156e+00] [-6.23770213e-04 6.52972725e-05 9.99999803e-01 -6.14146064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.954860624 meters 0.09459110652014496 Centerline is valid? [True, True] Translation: X:20.00, Y:-1.47, Z:-0.62 [[ 9.99999100e-01 -8.50458043e-04 1.03728751e-03 2.00046624e+01] [ 8.50569842e-04 9.99999633e-01 -1.07343711e-04 -1.47144511e+00] [-1.03719583e-03 1.08225900e-04 9.99999456e-01 -6.15440544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984860624 meters 0.09549606113486561 Centerline is valid? [True, True] Translation: X:20.03, Y:-1.48, Z:-0.62 [[ 9.99998834e-01 -9.10216973e-04 1.22642630e-03 2.00349941e+01] [ 9.10374082e-04 9.99999577e-01 -1.27550893e-04 -1.47617171e+00] [-1.22630968e-03 1.28667251e-04 9.99999240e-01 -6.16920158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.014860624 meters 0.09725509528295302 Centerline is valid? [True, True] Translation: X:20.07, Y:-1.48, Z:-0.62 [[ 9.99998522e-01 -8.30512122e-04 1.50548705e-03 2.00650465e+01] [ 8.30747448e-04 9.99999643e-01 -1.55693598e-04 -1.48162606e+00] [-1.50535721e-03 1.56944048e-04 9.99998855e-01 -6.17501848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.044860624 meters 0.09767034890054388 Centerline is valid? [True, True] Translation: X:20.10, Y:-1.48, Z:-0.62 [[ 9.99998018e-01 -5.19821178e-04 1.92213840e-03 2.00958643e+01] [ 5.20206360e-04 9.99999845e-01 -1.99897876e-04 -1.48458333e+00] [-1.92203419e-03 2.00897389e-04 9.99998133e-01 -6.18842243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.074860624 meters 0.0964070165229175 Centerline is valid? [True, True] Translation: X:20.13, Y:-1.48, Z:-0.62 [[ 9.99999472e-01 6.95263661e-04 7.56893985e-04 2.01271969e+01] [-6.95204668e-04 9.99999755e-01 -7.82007603e-05 -1.48347448e+00] [-7.56948170e-04 7.76745228e-05 9.99999710e-01 -6.21149476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104860624000004 meters 0.0977988098624623 Centerline is valid? [True, True] Translation: X:20.16, Y:-1.49, Z:-0.62 [[ 9.99998888e-01 1.40901249e-03 4.88609986e-04 2.01571326e+01] [-1.40898792e-03 9.99999006e-01 -5.06254811e-05 -1.48810281e+00] [-4.88680832e-04 4.99369792e-05 9.99999879e-01 -6.23056643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.134860624 meters 0.0975990248866347 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.49, Z:-0.62 [[ 9.99996845e-01 2.47715809e-03 -4.15744448e-04 2.01877109e+01] [-2.47714024e-03 9.99996931e-01 4.34460892e-05 -1.48990783e+00] [ 4.15850794e-04 -4.24160949e-05 9.99999913e-01 -6.24689907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164860624 meters 0.09827862135261145 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.49, Z:-0.63 [[ 9.99991790e-01 3.92144309e-03 -1.02051733e-03 2.02167685e+01] [-3.92133719e-03 9.99992306e-01 1.05757115e-04 -1.49246402e+00] [ 1.02092420e-03 -1.01754454e-04 9.99999474e-01 -6.26687138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.194860624 meters 0.09452361332828667 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.48, Z:-0.63 [[ 9.99970316e-01 7.49535659e-03 -1.78532549e-03 2.02477974e+01] [-7.49503673e-03 9.99971895e-01 1.85782444e-04 -1.48492613e+00] [ 1.78666782e-03 -1.72395849e-04 9.99998389e-01 -6.27015573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.224860624 meters 0.09373058184862375 Centerline is valid? [True, True] Translation: X:20.28, Y:-1.48, Z:-0.63 [[ 9.99944027e-01 1.05026751e-02 -1.27913920e-03 2.02776870e+01] [-1.05025134e-02 9.99944838e-01 1.33074091e-04 -1.48452921e+00] [ 1.28046627e-03 -1.19632466e-04 9.99999173e-01 -6.27004804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.254860624 meters 0.09128516500821722 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.48, Z:-0.63 [[ 9.99920694e-01 1.24595237e-02 -1.83445495e-03 2.03078340e+01] [-1.24591947e-02 9.99922363e-01 1.90631755e-04 -1.47999385e+00] [ 1.83668771e-03 -1.67760805e-04 9.99998299e-01 -6.25718904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284860624000004 meters 0.09070587992199737 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.48, Z:-0.63 [[ 9.99883251e-01 1.51448243e-02 -2.02936652e-03 2.03388076e+01] [-1.51444255e-02 9.99885294e-01 2.11767891e-04 -1.47906268e+00] [ 2.03234093e-03 -1.81009577e-04 9.99997918e-01 -6.26435225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.314860624 meters 0.0856285021344177 Centerline is valid? [True, True] Translation: X:20.37, Y:-1.47, Z:-0.62 [[ 9.99788320e-01 2.05078483e-02 -1.65638356e-03 2.03708106e+01] [-2.05075901e-02 9.99789682e-01 1.72721887e-04 -1.46643803e+00] [ 1.65957735e-03 -1.38716890e-04 9.99998613e-01 -6.23993706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344860624 meters 0.0895757118190487 Centerline is valid? [True, True] Translation: X:20.40, Y:-1.48, Z:-0.63 [[ 9.99726452e-01 2.33599982e-02 -1.15376256e-03 2.03996974e+01] [-2.33598753e-02 9.99727114e-01 1.19870139e-04 -1.47554634e+00] [ 1.15624788e-03 -9.28855989e-05 9.99999327e-01 -6.27989079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.374860624 meters 0.0884302871922198 Centerline is valid? [True, True] Translation: X:20.43, Y:-1.47, Z:-0.63 [[ 9.99659190e-01 2.60889326e-02 -9.32980291e-04 2.04302097e+01] [-2.60888531e-02 9.99659623e-01 9.72748621e-05 -1.47363071e+00] [ 9.35200524e-04 -7.29013241e-05 9.99999560e-01 -6.28349913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.404860624 meters 0.08412823637735539 Centerline is valid? [True, True] Translation: X:20.46, Y:-1.46, Z:-0.63 [[ 9.99496504e-01 3.17238818e-02 -5.77998598e-04 2.04616410e+01] [-3.17238525e-02 9.99496670e-01 5.98539944e-05 -1.46119847e+00] [ 5.79606475e-04 -4.14875159e-05 9.99999831e-01 -6.26146199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.434860624 meters 0.0816666661187872 Centerline is valid? [True, True] Translation: X:20.49, Y:-1.46, Z:-0.63 [[ 9.99385704e-01 3.50166863e-02 -1.43036841e-03 2.04925349e+01] [-3.50165090e-02 9.99386723e-01 1.48801999e-04 -1.45505137e+00] [ 1.43470175e-03 -9.86240822e-05 9.99998966e-01 -6.25805869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464860624 meters 0.08068546776017206 Centerline is valid? [True, True] Translation: X:20.52, Y:-1.45, Z:-0.63 [[ 9.99292818e-01 3.74992743e-02 -2.76933225e-03 2.05223936e+01] [-3.74986197e-02 9.99296638e-01 2.87933895e-04 -1.45224617e+00] [ 2.77818172e-03 -1.83884137e-04 9.99996124e-01 -6.26714186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.494860624000005 meters 0.07971340994002557 Centerline is valid? [True, True] Translation: X:20.55, Y:-1.45, Z:-0.63 [[ 9.99034193e-01 4.37503987e-02 -4.07230507e-03 2.05523791e+01] [-4.37490329e-02 9.99042463e-01 4.23891882e-04 -1.44635169e+00] [ 4.08695113e-03 -2.45323076e-04 9.99991618e-01 -6.29037727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.524860624 meters 0.07932749229789007 Centerline is valid? [True, True] Translation: X:20.58, Y:-1.45, Z:-0.63 [[ 9.98920546e-01 4.62490798e-02 -4.33183507e-03 2.05822139e+01] [-4.62475589e-02 9.98929908e-01 4.50659699e-04 -1.44513887e+00] [ 4.34804220e-03 -2.49836435e-04 9.99990516e-01 -6.29639899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.554860624 meters 0.07905998557470281 Centerline is valid? [True, True] Translation: X:20.61, Y:-1.44, Z:-0.63 [[ 9.98814158e-01 4.85022074e-02 -4.22054989e-03 2.06110892e+01] [-4.85007865e-02 9.98823048e-01 4.38428350e-04 -1.44413220e+00] [ 4.23684725e-03 -2.33208455e-04 9.99990997e-01 -6.30592710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584860624 meters 0.07864170007938884 Centerline is valid? [True, True] Translation: X:20.64, Y:-1.44, Z:-0.63 [[ 9.98660732e-01 5.15916236e-02 -3.87909639e-03 2.06405474e+01] [-5.15904457e-02 9.98668245e-01 4.03171279e-04 -1.44146450e+00] [ 3.89473065e-03 -2.02507012e-04 9.99992395e-01 -6.31805119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.614860624 meters 0.0784593341651483 Centerline is valid? [True, True] Translation: X:20.67, Y:-1.44, Z:-0.63 [[ 9.98643388e-01 5.19802759e-02 -3.07171605e-03 2.06689927e+01] [-5.19795576e-02 9.98648100e-01 3.13270737e-04 -1.44197647e+00] [ 3.08384729e-03 -1.53179309e-04 9.99995233e-01 -6.31975321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644860624 meters 0.07828732373145843 Centerline is valid? [True, True] Translation: X:20.70, Y:-1.44, Z:-0.63 [[ 9.98549426e-01 5.37795431e-02 -2.60855427e-03 2.06983730e+01] [-5.37790203e-02 9.98552825e-01 2.70188285e-04 -1.43918838e+00] [ 2.61930984e-03 -1.29510864e-04 9.99996561e-01 -6.33477400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.674860624000004 meters 0.07819263064927377 Centerline is valid? [True, True] Translation: X:20.73, Y:-1.44, Z:-0.63 [[ 9.98496343e-01 5.47575545e-02 -2.58124016e-03 2.07265418e+01] [-5.47570496e-02 9.98499672e-01 2.65905727e-04 -1.43936436e+00] [ 2.59192780e-03 -1.24164801e-04 9.99996633e-01 -6.34756755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.704860624 meters 0.07682371684412484 Centerline is valid? [True, True] Translation: X:20.76, Y:-1.44, Z:-0.63 [[ 9.98426216e-01 5.60374039e-02 -2.21358968e-03 2.07562976e+01] [-5.60370387e-02 9.98428665e-01 2.26703909e-04 -1.43595897e+00] [ 2.22281528e-03 -1.02304116e-04 9.99997524e-01 -6.33320337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.734860624 meters 0.07657413594625699 Centerline is valid? [True, True] Translation: X:20.79, Y:-1.44, Z:-0.63 [[ 9.98401654e-01 5.64829313e-02 -1.95352277e-03 2.07854227e+01] [-5.64826554e-02 9.98403561e-01 1.96170764e-04 -1.43676980e+00] [ 1.96148439e-03 -8.55170618e-05 9.99998073e-01 -6.33679222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.764860624 meters 0.07621595365226827 Centerline is valid? [True, True] Translation: X:20.81, Y:-1.44, Z:-0.63 [[ 9.98344245e-01 5.75089747e-02 -1.21934180e-03 2.08145619e+01] [-5.75088656e-02 9.98344988e-01 1.24404611e-04 -1.43673788e+00] [ 1.22447816e-03 -5.40756641e-05 9.99999249e-01 -6.34528909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.794860624 meters 0.07557018169550085 Centerline is valid? [True, True] Translation: X:20.84, Y:-1.43, Z:-0.64 [[ 9.98238527e-01 5.93191224e-02 -1.04189626e-03 2.08442930e+01] [-5.93190482e-02 9.98239070e-01 1.01958982e-04 -1.43397044e+00] [ 1.04610967e-03 -3.99750893e-05 9.99999452e-01 -6.35334017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824860624 meters 0.07577119565116432 Centerline is valid? [True, True] Translation: X:20.87, Y:-1.44, Z:-0.64 [[ 9.98168369e-01 6.04905778e-02 -8.92804742e-04 2.08721111e+01] [-6.04905215e-02 9.98168768e-01 8.99559097e-05 -1.43619805e+00] [ 8.96611294e-04 -3.57849192e-05 9.99999597e-01 -6.36927142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.854860624000004 meters 0.07445406687876516 Centerline is valid? [True, True] Translation: X:20.90, Y:-1.43, Z:-0.64 [[ 9.98092568e-01 6.17348428e-02 -1.88490532e-04 2.09017651e+01] [-6.17348405e-02 9.98092585e-01 1.76881243e-05 -1.43100425e+00] [ 1.89222976e-04 -6.01795240e-06 9.99999982e-01 -6.35101059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.884860624 meters 0.07455469294582971 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.43, Z:-0.64 [[ 9.98060908e-01 6.22448763e-02 1.38942105e-05 2.09299676e+01] [-6.22448762e-02 9.98060908e-01 -7.48844787e-06 -1.43270005e+00] [-1.43333859e-05 6.60908366e-06 1.00000000e+00 -6.36246464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.914860624 meters 0.07446784130408934 Centerline is valid? [True, True] Translation: X:20.96, Y:-1.43, Z:-0.64 [[ 9.98048455e-01 6.24419756e-02 5.29767372e-04 2.09585699e+01] [-6.24419523e-02 9.98048595e-01 -6.03782960e-05 -1.43460575e+00] [-5.32503722e-04 2.71807561e-05 9.99999858e-01 -6.37660862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.944860624 meters 0.07453271744875793 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.44, Z:-0.64 [[ 9.98001438e-01 6.31904350e-02 -3.15577049e-04 2.09866932e+01] [-6.31904286e-02 9.98001487e-01 3.02358038e-05 -1.43599622e+00] [ 3.16856978e-04 -1.02339267e-05 9.99999950e-01 -6.39888519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.974860624 meters 0.07461148125862997 Centerline is valid? [True, True] Translation: X:21.01, Y:-1.44, Z:-0.64 [[ 9.98035320e-01 6.26536182e-02 -1.55403752e-04 2.10146075e+01] [-6.26536176e-02 9.98035332e-01 9.14470287e-06 -1.43740745e+00] [ 1.55671384e-04 6.09870774e-07 9.99999988e-01 -6.40539567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004860624 meters 0.07480051070821815 Centerline is valid? [True, True] Translation: X:21.04, Y:-1.44, Z:-0.64 [[ 9.98037778e-01 6.26118264e-02 -5.94710554e-04 2.10424183e+01] [-6.26118025e-02 9.98037955e-01 5.87042421e-05 -1.43999985e+00] [ 5.97219285e-04 -2.13531516e-05 9.99999821e-01 -6.41460425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.034860624000004 meters 0.0749209474800213 Centerline is valid? [True, True] Translation: X:21.07, Y:-1.44, Z:-0.64 [[ 9.98086478e-01 6.18255232e-02 -9.93084941e-04 2.10709261e+01] [-6.18254588e-02 9.98086972e-01 9.54506217e-05 -1.44138518e+00] [ 9.97086426e-04 -3.38700427e-05 9.99999502e-01 -6.43429295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.064860624 meters 0.07426560472122003 Centerline is valid? [True, True] Translation: X:21.10, Y:-1.44, Z:-0.64 [[ 9.98172582e-01 6.04128108e-02 -1.33765046e-03 2.10995811e+01] [-6.04126906e-02 9.98173477e-01 1.30119893e-04 -1.44153088e+00] [ 1.34306812e-03 -4.90710466e-05 9.99999097e-01 -6.41981104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.094860624 meters 0.07475075707823294 Centerline is valid? [True, True] Translation: X:21.13, Y:-1.45, Z:-0.64 [[ 9.98264654e-01 5.88840681e-02 -5.89944522e-04 2.11273561e+01] [-5.88840442e-02 9.98264828e-01 5.78639777e-05 -1.44560850e+00] [ 5.92328133e-04 -2.30252444e-05 9.99999824e-01 -6.42881926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124860624 meters 0.07544675192470095 Centerline is valid? [True, True] Translation: X:21.16, Y:-1.45, Z:-0.64 [[ 9.98453733e-01 5.55863430e-02 5.49848380e-04 2.11566371e+01] [-5.55863201e-02 9.98453884e-01 -5.67623507e-05 -1.45009041e+00] [-5.52153462e-04 2.61105328e-05 9.99999847e-01 -6.43416343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.154860624 meters 0.07593221984596128 Centerline is valid? [True, True] Translation: X:21.19, Y:-1.45, Z:-0.64 [[ 9.98592074e-01 5.30384707e-02 8.88784946e-04 2.11854979e+01] [-5.30384101e-02 9.98592469e-01 -9.16142749e-05 -1.45402697e+00] [-8.92393035e-04 4.43455483e-05 9.99999601e-01 -6.44437965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.184860624 meters 0.07593221984596128 Centerline is valid? [True, True] Translation: X:21.21, Y:-1.46, Z:-0.65 [[ 9.98605325e-01 5.27884080e-02 8.88249129e-04 2.12127676e+01] [-5.27883427e-02 9.98605719e-01 -9.68945460e-05 -1.45668299e+00] [-8.92125569e-04 4.98702102e-05 9.99999601e-01 -6.45183723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.214860624 meters 0.07648337004035563 Centerline is valid? [True, True] Translation: X:21.24, Y:-1.46, Z:-0.65 [[ 9.98737304e-01 5.02182971e-02 1.38585667e-03 2.12417336e+01] [-5.02181479e-02 9.98738263e-01 -1.42240380e-04 -1.46111046e+00] [-1.39125115e-03 7.24656182e-05 9.99999030e-01 -6.45840845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244860624000005 meters 0.07846938181396892 Centerline is valid? [True, True] Translation: X:21.27, Y:-1.47, Z:-0.65 [[ 9.98860734e-01 4.77037693e-02 1.25913737e-03 2.12691118e+01] [-4.77036442e-02 9.98861525e-01 -1.29190342e-04 -1.46983425e+00] [-1.26386673e-03 6.89777193e-05 9.99999199e-01 -6.48361348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.274860624 meters 0.07858441820386694 Centerline is valid? [True, True] Translation: X:21.30, Y:-1.47, Z:-0.65 [[ 9.99123644e-01 4.18423623e-02 1.07700475e-03 2.12998457e+01] [-4.18422690e-02 9.99124223e-01 -1.09015784e-04 -1.47250601e+00] [-1.08062301e-03 6.38559253e-05 9.99999414e-01 -6.48216131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304860624 meters 0.08123169577179125 Centerline is valid? [True, True] Translation: X:21.33, Y:-1.48, Z:-0.65 [[ 9.99245905e-01 3.88279770e-02 9.95570640e-05 2.13282153e+01] [-3.88279761e-02 9.99245910e-01 -1.05595250e-05 -1.48123572e+00] [-9.98919940e-05 6.68596277e-06 9.99999995e-01 -6.51168686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.334860624 meters 0.08127095694638384 Centerline is valid? [True, True] Translation: X:21.36, Y:-1.48, Z:-0.65 [[ 9.99406830e-01 3.44117977e-02 -1.34750587e-03 2.13580728e+01] [-3.44116449e-02 9.99407735e-01 1.36434470e-04 -1.48349424e+00] [ 1.35140274e-03 -8.99836481e-05 9.99999083e-01 -6.52070965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.364860624 meters 0.08201180513526582 Centerline is valid? [True, True] Translation: X:21.39, Y:-1.49, Z:-0.65 [[ 9.99487172e-01 3.19729223e-02 -1.76788907e-03 2.13883143e+01] [-3.19726556e-02 9.99488728e-01 1.78967327e-04 -1.48780491e+00] [ 1.77270731e-03 -1.22351439e-04 9.99998421e-01 -6.52971583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.394860624 meters 0.08441209433452565 Centerline is valid? [True, True] Translation: X:21.42, Y:-1.50, Z:-0.66 [[ 9.99541910e-01 3.02341884e-02 -1.36544955e-03 2.14155993e+01] [-3.02340301e-02 9.99542838e-01 1.36377505e-04 -1.49560120e+00] [ 1.36894858e-03 -9.50319893e-05 9.99999058e-01 -6.55760868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424860624000004 meters 0.08470770662851979 Centerline is valid? [True, True] Translation: X:21.45, Y:-1.50, Z:-0.65 [[ 9.99621120e-01 2.75246149e-02 -1.10972260e-04 2.14454788e+01] [-2.75246138e-02 9.99621126e-01 1.07850481e-05 -1.49828347e+00] [ 1.11227069e-04 -7.72649330e-06 9.99999994e-01 -6.54736008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.454860624 meters 0.0892070287488152 Centerline is valid? [True, True] Translation: X:21.47, Y:-1.51, Z:-0.66 [[ 9.99619642e-01 2.75523848e-02 1.19915733e-03 2.14718421e+01] [-2.75522565e-02 9.99620357e-01 -1.23384900e-04 -1.50970750e+00] [-1.20210163e-03 9.02984790e-05 9.99999273e-01 -6.58728238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484860624 meters 0.08512814612746505 Centerline is valid? [True, True] Translation: X:21.50, Y:-1.50, Z:-0.66 [[ 9.99601778e-01 2.81388942e-02 2.11835282e-03 2.15020415e+01] [-2.81385008e-02 9.99604011e-01 -2.15298515e-04 -1.50310709e+00] [-2.12357224e-03 1.55605506e-04 9.99997733e-01 -6.56026449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.514860624 meters 0.08325112260778397 Centerline is valid? [True, True] Translation: X:21.53, Y:-1.50, Z:-0.66 [[ 9.99488487e-01 3.19373112e-02 1.66483649e-03 2.15334308e+01] [-3.19370750e-02 9.99489867e-01 -1.68266911e-04 -1.49902063e+00] [-1.66936120e-03 1.15010833e-04 9.99998600e-01 -6.56350642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.544860624 meters 0.08203952255353958 Centerline is valid? [True, True] Translation: X:21.56, Y:-1.50, Z:-0.66 [[ 9.99402304e-01 3.45194728e-02 1.85506150e-03 2.15637962e+01] [-3.45191834e-02 9.99404018e-01 -1.87801930e-04 -1.49816253e+00] [-1.86043874e-03 1.23654473e-04 9.99998262e-01 -6.57095286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.574860624 meters 0.08125856533256784 Centerline is valid? [True, True] Translation: X:21.59, Y:-1.50, Z:-0.66 [[ 9.99323483e-01 3.67183423e-02 2.08329652e-03 2.15944102e+01] [-3.67179822e-02 9.99325645e-01 -2.10821137e-04 -1.49768163e+00] [-2.08963265e-03 1.34184068e-04 9.99997808e-01 -6.57306072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604860624000004 meters 0.0797866407075342 Centerline is valid? [True, True] Translation: X:21.62, Y:-1.49, Z:-0.66 [[ 9.99130138e-01 4.15016845e-02 4.07145461e-03 2.16242467e+01] [-4.15003500e-02 9.99138405e-01 -4.11751965e-04 -1.49361633e+00] [-4.08503507e-03 2.42427006e-04 9.99991627e-01 -6.56695469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.634860624 meters 0.07888850543732172 Centerline is valid? [True, True] Translation: X:21.65, Y:-1.49, Z:-0.66 [[ 9.99026502e-01 4.39410217e-02 3.90329831e-03 2.16544984e+01] [-4.39398149e-02 9.99034102e-01 -3.94448051e-04 -1.49249478e+00] [-3.91686057e-03 2.22553852e-04 9.99992304e-01 -6.57440243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664860624 meters 0.07809338415000819 Centerline is valid? [True, True] Translation: X:21.68, Y:-1.49, Z:-0.66 [[ 9.98932244e-01 4.60350412e-02 3.89193035e-03 2.16846897e+01] [-4.60338574e-02 9.98939803e-01 -3.93237155e-04 -1.49238375e+00] [-3.90590683e-03 2.13656707e-04 9.99992349e-01 -6.57484000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.694860624 meters 0.07737571582479665 Centerline is valid? [True, True] Translation: X:21.71, Y:-1.49, Z:-0.66 [[ 9.98784621e-01 4.90711831e-02 4.61524699e-03 2.17141603e+01] [-4.90695499e-02 9.98795255e-01 -4.66516920e-04 -1.49103300e+00] [-4.63257933e-03 2.39481833e-04 9.99989241e-01 -6.59274688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.724860624 meters 0.07596458546791666 Centerline is valid? [True, True] Translation: X:21.74, Y:-1.49, Z:-0.66 [[ 9.98761064e-01 4.95475713e-02 4.62326047e-03 2.17436348e+01] [-4.95459180e-02 9.98771736e-01 -4.71530445e-04 -1.48872702e+00] [-4.64094508e-03 2.41882565e-04 9.99989202e-01 -6.58796935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.754860624 meters 0.0761994525316078 Centerline is valid? [True, True] Translation: X:21.77, Y:-1.49, Z:-0.66 [[ 9.98746283e-01 4.98328025e-02 4.74901608e-03 2.17725180e+01] [-4.98310673e-02 9.98757544e-01 -4.83075347e-04 -1.49096783e+00] [-4.76718863e-03 2.45821167e-04 9.99988607e-01 -6.59853888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784860624000004 meters 0.07652174936007328 Centerline is valid? [True, True] Translation: X:21.80, Y:-1.49, Z:-0.66 [[ 9.98771352e-01 4.93853990e-02 4.10705384e-03 2.17999740e+01] [-4.93841115e-02 9.98779774e-01 -4.14372095e-04 -1.49208563e+00] [-4.12250624e-03 2.11039772e-04 9.99991480e-01 -6.61016453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.814860624 meters 0.07725623066888054 Centerline is valid? [True, True] Translation: X:21.83, Y:-1.50, Z:-0.66 [[ 9.98789078e-01 4.90999767e-02 3.09353200e-03 2.18274234e+01] [-4.90992440e-02 9.98793856e-01 -3.12384464e-04 -1.49574320e+00] [-3.10513882e-03 1.60116109e-04 9.99995166e-01 -6.63422351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844860624 meters 0.07761123954686641 Centerline is valid? [True, True] Translation: X:21.86, Y:-1.50, Z:-0.67 [[ 9.98830895e-01 4.82724052e-02 2.57247165e-03 2.18556840e+01] [-4.82718864e-02 9.98834198e-01 -2.63385566e-04 -1.49820806e+00] [-2.58218691e-03 1.38899581e-04 9.99996657e-01 -6.65570475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.874860624 meters 0.0785451214161453 Centerline is valid? [True, True] Translation: X:21.88, Y:-1.50, Z:-0.67 [[ 9.98905818e-01 4.67311605e-02 1.83437239e-03 2.18834785e+01] [-4.67308991e-02 9.98907498e-01 -1.85146880e-04 -1.50218538e+00] [-1.84102046e-03 9.92224244e-05 9.99998300e-01 -6.67949481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.904860624 meters 0.0782807109872538 Centerline is valid? [True, True] Translation: X:21.91, Y:-1.50, Z:-0.67 [[ 9.98969004e-01 4.53357580e-02 2.36615743e-03 2.19120009e+01] [-4.53353112e-02 9.98971797e-01 -2.42127555e-04 -1.50284335e+00] [-2.37470157e-03 1.34607439e-04 9.99997171e-01 -6.67839792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.934860624 meters 0.08023041208039056 Centerline is valid? [True, True] Translation: X:21.94, Y:-1.51, Z:-0.67 [[ 9.99019448e-01 4.41897803e-02 2.72126560e-03 2.19394989e+01] [-4.41891989e-02 9.99023143e-01 -2.73462715e-04 -1.50931618e+00] [-2.73069157e-03 1.52944024e-04 9.99996260e-01 -6.69864642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964860624 meters 0.07894485393180334 Centerline is valid? [True, True] Translation: X:21.97, Y:-1.51, Z:-0.67 [[ 9.99119306e-01 4.19005187e-02 2.22695945e-03 2.19697885e+01] [-4.19001257e-02 9.99121779e-01 -2.22836570e-04 -1.50688825e+00] [-2.23434065e-03 1.29330439e-04 9.99997495e-01 -6.68979392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.994860624000005 meters 0.07986083979443712 Centerline is valid? [True, True] Translation: X:22.00, Y:-1.51, Z:-0.67 [[ 9.99190819e-01 4.01035691e-02 3.06784564e-03 2.19979599e+01] [-4.01028021e-02 9.99195511e-01 -3.11148162e-04 -1.51101208e+00] [-3.07785575e-03 1.87867180e-04 9.99995246e-01 -6.69061950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.024860624 meters 0.08012789015356875 Centerline is valid? [True, True] Translation: X:22.03, Y:-1.51, Z:-0.67 [[ 9.99256994e-01 3.84196845e-02 3.06385973e-03 2.20275779e+01] [-3.84189278e-02 9.99261674e-01 -3.05472894e-04 -1.51415366e+00] [-3.07333377e-03 1.87535720e-04 9.99995260e-01 -6.69942706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.054860624 meters 0.08217507181925142 Centerline is valid? [True, True] Translation: X:22.06, Y:-1.52, Z:-0.67 [[ 9.99322889e-01 3.66362487e-02 3.39837105e-03 2.20553525e+01] [-3.66353056e-02 9.99328644e-01 -3.39375570e-04 -1.52100562e+00] [-3.40852299e-03 2.14645413e-04 9.99994168e-01 -6.72039011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084860624 meters 0.08406468345148865 Centerline is valid? [True, True] Translation: X:22.09, Y:-1.53, Z:-0.67 [[ 9.99457302e-01 3.26570452e-02 4.31486761e-03 2.20850705e+01] [-3.26554970e-02 9.99466575e-01 -4.28790532e-04 -1.52676313e+00] [-4.32656898e-03 2.87653682e-04 9.99990599e-01 -6.72006154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.114860624 meters 0.08556032998825819 Centerline is valid? [True, True] Translation: X:22.11, Y:-1.53, Z:-0.67 [[ 9.99528826e-01 3.02507908e-02 5.19757649e-03 2.21142692e+01] [-3.02485091e-02 9.99542275e-01 -5.17053871e-04 -1.53283068e+00] [-5.21083872e-03 3.59591309e-04 9.99986359e-01 -6.72332212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144860624 meters 0.09006993965957469 Centerline is valid? [True, True] Translation: X:22.14, Y:-1.55, Z:-0.67 [[ 9.99660034e-01 2.51676745e-02 6.81211705e-03 2.21422311e+01] [-2.51636432e-02 9.99683116e-01 -6.76861950e-04 -1.54502744e+00] [-6.82699344e-03 5.05214157e-04 9.99976568e-01 -6.73754884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.174860624000004 meters 0.09177193581510247 Centerline is valid? [True, True] Translation: X:22.17, Y:-1.55, Z:-0.67 [[ 9.99723059e-01 2.22596275e-02 7.63641326e-03 2.21719123e+01] [-2.22544773e-02 9.99752051e-01 -7.58746600e-04 -1.55137467e+00] [-7.65140923e-03 5.88592086e-04 9.99970554e-01 -6.74332867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.204860624 meters 0.08927190504363196 Centerline is valid? [True, True] Translation: X:22.20, Y:-1.55, Z:-0.67 [[ 9.99784973e-01 1.92967379e-02 7.59229293e-03 2.22025059e+01] [-1.92915655e-02 9.99813616e-01 -7.53913787e-04 -1.54948427e+00] [-7.60542593e-03 6.07284459e-04 9.99970894e-01 -6.73846939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.234860624 meters 0.09113351119854846 Centerline is valid? [True, True] Translation: X:22.23, Y:-1.56, Z:-0.67 [[ 9.99872194e-01 1.40746217e-02 7.58297762e-03 2.22322721e+01] [-1.40693121e-02 9.99900739e-01 -7.53086354e-04 -1.55659940e+00] [-7.59282433e-03 6.46302826e-04 9.99970965e-01 -6.74732073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.264860624 meters 0.09589663276764267 Centerline is valid? [True, True] Translation: X:22.26, Y:-1.57, Z:-0.68 [[ 9.99910223e-01 1.11759107e-02 7.39224880e-03 2.22610831e+01] [-1.11707894e-02 9.99937336e-01 -7.33720350e-04 -1.56833530e+00] [-7.39998556e-03 6.51077224e-04 9.99972408e-01 -6.77251053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.294860624 meters 0.09669657596506684 Centerline is valid? [True, True] Translation: X:22.29, Y:-1.57, Z:-0.68 [[ 9.99948880e-01 8.09311863e-03 6.06131682e-03 2.22907628e+01] [-8.08961701e-03 9.99967097e-01 -6.01995586e-04 -1.57267537e+00] [-6.06598941e-03 5.52931080e-04 9.99981449e-01 -6.78280134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324860624 meters 0.09847778909079893 Centerline is valid? [True, True] Translation: X:22.32, Y:-1.58, Z:-0.68 [[ 9.99976649e-01 3.62585241e-03 5.79265406e-03 2.23200116e+01] [-3.62258070e-03 9.99993273e-01 -5.75195285e-04 -1.57966263e+00] [-5.79470067e-03 5.54197497e-04 9.99983057e-01 -6.79667788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.354860624000004 meters 0.10217783694830775 Centerline is valid? [True, False] Translation: X:22.32, Y:-1.58, Z:-0.68 [[ 9.99975887e-01 3.76536523e-03 5.83498041e-03 2.23202913e+01] [-3.76381991e-03 9.99992879e-01 -2.75796045e-04 -1.58005870e+00] [-5.83597733e-03 2.53827579e-04 9.99982938e-01 -6.80229359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.384860624 meters 0.10593090142819085 Centerline is valid? [False, False] Translation: X:22.32, Y:-1.58, Z:-0.68 [[ 9.99976415e-01 3.60638149e-03 5.84488321e-03 2.23201395e+01] [-3.60372982e-03 9.99993399e-01 -4.64141335e-04 -1.57967536e+00] [-5.84651849e-03 4.43067008e-04 9.99982811e-01 -6.80061402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.414860624 meters 0.10130307226719254 Centerline is valid? [False, False] Translation: X:22.32, Y:-1.58, Z:-0.68 [[ 9.99976625e-01 3.40577640e-03 5.92876396e-03 2.23199316e+01] [-3.40164023e-03 9.99993964e-01 -7.07587699e-04 -1.57900293e+00] [-5.93113806e-03 6.87403637e-04 9.99982174e-01 -6.80037845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444860624 meters 0.10481048927072163 Centerline is valid? [False, False] Translation: X:22.32, Y:-1.58, Z:-0.68 [[ 9.99977433e-01 3.41351932e-03 5.78634576e-03 2.23203052e+01] [-3.40886497e-03 9.99993858e-01 -8.14038975e-04 -1.57841397e+00] [-5.78908896e-03 7.94295733e-04 9.99982928e-01 -6.80125588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.474860624 meters 0.10183373596170342 Centerline is valid? [False, False] Translation: X:22.32, Y:-1.58, Z:-0.68 [[ 9.99978593e-01 3.32905578e-03 5.63294706e-03 2.23206300e+01] [-3.32272775e-03 9.99993839e-01 -1.13238119e-03 -1.57723817e+00] [-5.63668212e-03 1.11364020e-03 9.99983494e-01 -6.80093176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504860624 meters 0.10239814704915359 Centerline is valid? [False, False] Translation: X:22.32, Y:-1.58, Z:-0.68 [[ 9.99979635e-01 3.26461190e-03 5.48375428e-03 2.23207849e+01] [-3.25682467e-03 9.99993676e-01 -1.42838444e-03 -1.57667470e+00] [-5.48838273e-03 1.41049572e-03 9.99983944e-01 -6.79801040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.534860624000004 meters 0.10188156095119637 Centerline is valid? [False, False] Translation: X:22.32, Y:-1.58, Z:-0.68 [[ 9.99980734e-01 3.44029815e-03 5.16672686e-03 2.23217297e+01] [-3.43213483e-03 9.99992849e-01 -1.58801492e-03 -1.57561285e+00] [-5.17215316e-03 1.57025142e-03 9.99985391e-01 -6.80115063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.564860624 meters 0.10726170429528764 Centerline is valid? [False, False] Translation: X:22.32, Y:-1.57, Z:-0.68 [[ 9.99982728e-01 3.08654317e-03 5.00160301e-03 2.23216635e+01] [-3.07476812e-03 9.99992488e-01 -2.36023821e-03 -1.57367099e+00] [-5.00885041e-03 2.34481867e-03 9.99984707e-01 -6.79440114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.594860624 meters 0.09954842145462596 Centerline is valid? [False, True] Translation: X:22.32, Y:-1.57, Z:-0.68 [[ 9.99985735e-01 3.10003796e-03 4.34972095e-03 2.23230347e+01] [-3.08638197e-03 9.99990299e-01 -3.14271572e-03 -1.57017891e+00] [-4.35942129e-03 3.12924599e-03 9.99985602e-01 -6.79378710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624860624 meters 0.09778984053695744 Centerline is valid? [True, True] Translation: X:22.35, Y:-1.57, Z:-0.68 [[ 9.99966024e-01 4.94984347e-03 6.59168264e-03 2.23537175e+01] [-4.94574572e-03 9.99987566e-01 -6.37810555e-04 -1.57044415e+00] [-6.59475774e-03 6.05188098e-04 9.99978071e-01 -6.80110740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.654860624 meters 0.09719482495896052 Centerline is valid? [True, True] Translation: X:22.39, Y:-1.57, Z:-0.68 [[ 9.99960291e-01 5.85942177e-03 6.71439573e-03 2.23853835e+01] [-5.85519149e-03 9.99982647e-01 -6.49516457e-04 -1.57153734e+00] [-6.71808501e-03 6.10176593e-04 9.99977247e-01 -6.81157410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684860624 meters 0.09693256217433334 Centerline is valid? [True, True] Translation: X:22.41, Y:-1.57, Z:-0.68 [[ 9.99942728e-01 7.39881952e-03 7.73293482e-03 2.24149127e+01] [-7.39324495e-03 9.99972389e-01 -7.49225108e-04 -1.57257010e+00] [-7.73826468e-03 6.92010717e-04 9.99969820e-01 -6.82000170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.714860624 meters 0.09973066000646015 Centerline is valid? [True, True] Translation: X:22.44, Y:-1.58, Z:-0.68 [[ 9.99950632e-01 7.41721991e-03 6.61202275e-03 2.24445848e+01] [-7.41314880e-03 9.99972317e-01 -6.40008947e-04 -1.57979278e+00] [-6.61658680e-03 5.90961443e-04 9.99977936e-01 -6.84153431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744860624000005 meters 0.09738261027271784 Centerline is valid? [True, True] Translation: X:22.48, Y:-1.58, Z:-0.68 [[ 9.99960204e-01 6.93102676e-03 5.61701274e-03 2.24751466e+01] [-6.92807931e-03 9.99975853e-01 -5.44024953e-04 -1.57784311e+00] [-5.62064775e-03 5.05088194e-04 9.99984076e-01 -6.84909754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.774860624 meters 0.10241369851907542 Centerline is valid? [True, False] Translation: X:22.47, Y:-1.58, Z:-0.68 [[ 9.99961080e-01 6.70627279e-03 5.73281730e-03 2.24748413e+01] [-6.70198990e-03 9.99977248e-01 -7.65967985e-04 -1.57732074e+00] [-5.73782365e-03 7.27516890e-04 9.99983274e-01 -6.84858397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804860624 meters 0.09943115165273644 Centerline is valid? [False, True] Translation: X:22.48, Y:-1.58, Z:-0.69 [[ 9.99982730e-01 2.76160982e-03 5.18771331e-03 2.24764571e+01] [-2.73581321e-03 9.99983891e-01 -4.97316714e-03 -1.57620303e+00] [-5.20136369e-03 4.95888864e-03 9.99974177e-01 -6.85546394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.834860624 meters 0.10463497581366801 Centerline is valid? [True, False] Translation: X:22.48, Y:-1.58, Z:-0.69 [[ 9.99981640e-01 2.99854660e-03 5.26586595e-03 2.24767041e+01] [-2.97520911e-03 9.99985743e-01 -4.43409946e-03 -1.57717898e+00] [-5.27908673e-03 4.41835100e-03 9.99976304e-01 -6.86258128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.864860624 meters 0.10421520759400446 Centerline is valid? [False, False] Translation: X:22.48, Y:-1.58, Z:-0.69 [[ 9.99980277e-01 3.08017047e-03 5.47344610e-03 2.24765410e+01] [-3.05807180e-03 9.99987158e-01 -4.04122421e-03 -1.57800690e+00] [-5.48582347e-03 4.02440631e-03 9.99976855e-01 -6.86773747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.894860624 meters 0.1077880196910086 Centerline is valid? [False, False] Translation: X:22.48, Y:-1.58, Z:-0.69 [[ 9.99978436e-01 3.00893903e-03 5.83726117e-03 2.24760075e+01] [-2.98759082e-03 9.99988830e-01 -3.66251054e-03 -1.57880894e+00] [-5.84821623e-03 3.64499222e-03 9.99976256e-01 -6.87232246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924860624000004 meters 0.10487957730526347 Centerline is valid? [False, False] Translation: X:22.48, Y:-1.58, Z:-0.69 [[ 9.99978908e-01 3.02075361e-03 5.74962788e-03 2.24761396e+01] [-2.99968268e-03 9.99988767e-01 -3.66984959e-03 -1.57881333e+00] [-5.76064900e-03 3.65252512e-03 9.99976737e-01 -6.87138139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.954860624 meters 0.10789846334606297 Centerline is valid? [False, False] Translation: X:22.48, Y:-1.58, Z:-0.69 [[ 9.99978735e-01 3.05804812e-03 5.76002521e-03 2.24762628e+01] [-3.03755761e-03 9.99989040e-01 -3.56275976e-03 -1.57880508e+00] [-5.77085717e-03 3.54518759e-03 9.99977064e-01 -6.87369675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984860624 meters 0.10845221086383462 Centerline is valid? [False, False] Translation: X:22.48, Y:-1.58, Z:-0.69 [[ 9.99978474e-01 3.01499534e-03 5.82762896e-03 2.24761150e+01] [-2.99435785e-03 9.99989227e-01 -3.54680630e-03 -1.57888236e+00] [-5.83825978e-03 3.52927995e-03 9.99976729e-01 -6.87383758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.014860624 meters 0.10761521061365904 Centerline is valid? [False, False] Translation: X:22.48, Y:-1.58, Z:-0.69 [[ 9.99978056e-01 3.12000539e-03 5.84406067e-03 2.24762081e+01] [-3.10036845e-03 9.99989528e-01 -3.36620463e-03 -1.57929492e+00] [-5.85450205e-03 3.34801202e-03 9.99977258e-01 -6.87566924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.044860624 meters 0.10945410712321565 Centerline is valid? [False, False] Translation: X:22.48, Y:-1.58, Z:-0.69 [[ 9.99978777e-01 3.08526794e-03 5.73824072e-03 2.24763346e+01] [-3.06535683e-03 9.99989262e-01 -3.47546239e-03 -1.57888573e+00] [-5.74890184e-03 3.45779888e-03 9.99977497e-01 -6.87434144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.074860624 meters 0.10788560488509323 Centerline is valid? [False, False] Translation: X:22.48, Y:-1.58, Z:-0.69 [[ 9.99979759e-01 3.17183185e-03 5.51551288e-03 2.24769451e+01] [-3.15226426e-03 9.99988720e-01 -3.55281798e-03 -1.57821952e+00] [-5.52671961e-03 3.53535972e-03 9.99978478e-01 -6.87582305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104860624000004 meters 0.10788560488509323 Centerline is valid? [False, False] Translation: X:22.48, Y:-1.58, Z:-0.69 [[ 9.99979759e-01 3.17183185e-03 5.51551288e-03 2.24769451e+01] [-3.15226426e-03 9.99988720e-01 -3.55281798e-03 -1.57821952e+00] [-5.52671961e-03 3.53535972e-03 9.99978478e-01 -6.87582305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.134860624 meters 0.11005715828430707 Centerline is valid? [False, False] Translation: X:22.48, Y:-1.58, Z:-0.69 [[ 9.99980829e-01 3.37383436e-03 5.19213906e-03 2.24779050e+01] [-3.35542223e-03 9.99988066e-01 -3.55078923e-03 -1.57766651e+00] [-5.20405687e-03 3.53329934e-03 9.99980217e-01 -6.87899074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164860624 meters 0.10372259780498692 Centerline is valid? [False, False] Translation: X:22.48, Y:-1.58, Z:-0.69 [[ 9.99982829e-01 3.76516383e-03 4.49067250e-03 2.24797550e+01] [-3.74816476e-03 9.99985802e-01 -3.78784335e-03 -1.57598464e+00] [-4.50487059e-03 3.77094653e-03 9.99982743e-01 -6.88307784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.194860624 meters 0.10600419932325039 Centerline is valid? [False, False] Translation: X:22.48, Y:-1.57, Z:-0.69 [[ 9.99983908e-01 3.73240228e-03 4.27244505e-03 2.24801969e+01] [-3.71491897e-03 9.99984724e-01 -4.09275793e-03 -1.57494793e+00] [-4.28765560e-03 4.07682028e-03 9.99982498e-01 -6.88211164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.224860624 meters 0.10308240560504382 Centerline is valid? [False, False] Translation: X:22.48, Y:-1.57, Z:-0.69 [[ 9.99984881e-01 3.87928484e-03 3.89725776e-03 2.24810861e+01] [-3.86273562e-03 9.99983530e-01 -4.24496546e-03 -1.57408825e+00] [-3.91366100e-03 4.22984721e-03 9.99983396e-01 -6.88270726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.254860624 meters 0.10215070267600519 Centerline is valid? [False, False] Translation: X:22.48, Y:-1.57, Z:-0.69 [[ 9.99985733e-01 4.33919729e-03 3.11525473e-03 2.24829426e+01] [-4.32500377e-03 9.99980303e-01 -4.54850513e-03 -1.57228874e+00] [-3.13493023e-03 4.53496675e-03 9.99984803e-01 -6.88428284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284860624000004 meters 0.09864605907377018 Centerline is valid? [False, True] Translation: X:22.48, Y:-1.57, Z:-0.69 [[ 9.99986491e-01 4.49801273e-03 2.60483710e-03 2.24841272e+01] [-4.48498206e-03 9.99977508e-01 -4.98690637e-03 -1.57053972e+00] [-2.62720968e-03 4.97515635e-03 9.99984173e-01 -6.88431298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.314860624 meters 0.09850493647793256 Centerline is valid? [True, True] Translation: X:22.51, Y:-1.57, Z:-0.69 [[ 9.99964765e-01 7.57050156e-03 3.62702085e-03 2.25136051e+01] [-7.56928767e-03 9.99971292e-01 -3.48290743e-04 -1.57411929e+00] [-3.62955346e-03 3.20824507e-04 9.99993362e-01 -6.91964479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344860624 meters 0.09278998226413955 Centerline is valid? [True, True] Translation: X:22.55, Y:-1.56, Z:-0.69 [[ 9.99904861e-01 1.33384760e-02 3.51479800e-03 2.25451165e+01] [-1.33373725e-02 9.99910996e-01 -3.37222078e-04 -1.56465112e+00] [-3.51898320e-03 2.90311825e-04 9.99993766e-01 -6.91339001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.374860624 meters 0.09115759861431945 Centerline is valid? [True, True] Translation: X:22.58, Y:-1.56, Z:-0.69 [[ 9.99862530e-01 1.61334683e-02 3.82514876e-03 2.25754964e+01] [-1.61321819e-02 9.99869801e-01 -3.66924183e-04 -1.56343994e+00] [-3.83057049e-03 3.05165747e-04 9.99992617e-01 -6.91297396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.404860624 meters 0.08994563719578608 Centerline is valid? [True, True] Translation: X:22.61, Y:-1.56, Z:-0.69 [[ 9.99826981e-01 1.82119845e-02 3.78580703e-03 2.26052670e+01] [-1.82107373e-02 9.99834105e-01 -3.63654823e-04 -1.56308000e+00] [-3.79180186e-03 2.94649567e-04 9.99992768e-01 -6.91868935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.434860624 meters 0.09005145894427526 Centerline is valid? [True, True] Translation: X:22.63, Y:-1.56, Z:-0.69 [[ 9.99758410e-01 2.15768883e-02 4.19048132e-03 2.26342532e+01] [-2.15753915e-02 9.99767143e-01 -4.02076361e-04 -1.56480941e+00] [-4.19818110e-03 3.11567948e-04 9.99991139e-01 -6.92066620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464860624 meters 0.08704248621542864 Centerline is valid? [True, True] Translation: X:22.66, Y:-1.56, Z:-0.69 [[ 9.99723519e-01 2.31243847e-02 4.26006498e-03 2.26644480e+01] [-2.31228512e-02 9.99732548e-01 -4.08887093e-04 -1.56116314e+00] [-4.26838088e-03 3.10269195e-04 9.99990842e-01 -6.91196375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.494860624000005 meters 0.08709441825474788 Centerline is valid? [True, True] Translation: X:22.69, Y:-1.56, Z:-0.69 [[ 9.99712186e-01 2.36448628e-02 4.05767545e-03 2.26930539e+01] [-2.36434739e-02 9.99720378e-01 -3.89929814e-04 -1.56342671e+00] [-4.06576067e-03 2.93880044e-04 9.99991692e-01 -6.92072885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.524860624 meters 0.08583934016637071 Centerline is valid? [True, True] Translation: X:22.72, Y:-1.56, Z:-0.69 [[ 9.99706966e-01 2.38984976e-02 3.85268567e-03 2.27216005e+01] [-2.38972479e-02 9.99714351e-01 -3.70071634e-04 -1.56354512e+00] [-3.86042932e-03 2.77894606e-04 9.99992510e-01 -6.92129616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.554860624 meters 0.08629560457801926 Centerline is valid? [True, True] Translation: X:22.75, Y:-1.57, Z:-0.69 [[ 9.99721086e-01 2.33891325e-02 3.27079974e-03 2.27498336e+01] [-2.33882291e-02 9.99726409e-01 -3.14172487e-04 -1.56768622e+00] [-3.27725310e-03 2.37586647e-04 9.99994602e-01 -6.94186323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.584860624 meters 0.0883467988842044 Centerline is valid? [True, True] Translation: X:22.78, Y:-1.57, Z:-0.70 [[ 9.99740673e-01 2.25620261e-02 3.08899687e-03 2.27766785e+01] [-2.25612159e-02 9.99745419e-01 -2.96876970e-04 -1.57484398e+00] [-3.09490861e-03 2.27108457e-04 9.99995185e-01 -6.95847226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.614860624 meters 0.08824380920536708 Centerline is valid? [True, True] Translation: X:22.81, Y:-1.58, Z:-0.70 [[ 9.99785281e-01 2.05529353e-02 2.63994846e-03 2.28065654e+01] [-2.05523398e-02 9.99788746e-01 -2.52513074e-04 -1.57825892e+00] [-2.64458065e-03 1.98201736e-04 9.99996483e-01 -6.96580906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.644860624 meters 0.08999969780776128 Centerline is valid? [True, True] Translation: X:22.84, Y:-1.59, Z:-0.70 [[ 9.99822618e-01 1.87502324e-02 1.77791522e-03 2.28364748e+01] [-1.87499599e-02 9.99824190e-01 -1.69818987e-04 -1.58505741e+00] [-1.78078679e-03 1.36453025e-04 9.99998405e-01 -6.97776849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.674860624000004 meters 0.09470513488581915 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.60, Z:-0.70 [[ 9.99889442e-01 1.47828204e-02 1.60349034e-03 2.28642451e+01] [-1.47825927e-02 9.99890720e-01 -1.53805272e-04 -1.59844034e+00] [-1.60558879e-03 1.30084523e-04 9.99998703e-01 -7.00341104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.704860624 meters 0.09666348564347164 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.61, Z:-0.70 [[ 9.99919818e-01 1.26487110e-02 6.05885155e-04 2.28932959e+01] [-1.26486780e-02 9.99920001e-01 -5.82982242e-05 -1.60583761e+00] [-6.06574082e-04 5.06299035e-05 9.99999815e-01 -7.01897017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.734860624 meters 0.09609400665370783 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.61, Z:-0.70 [[ 9.99937749e-01 1.11390321e-02 6.48310377e-04 2.29228287e+01] [-1.11389939e-02 9.99937958e-01 -6.25603279e-05 -1.60813709e+00] [-6.48967016e-04 5.53349082e-05 9.99999788e-01 -7.02022546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.764860624 meters 0.0972722288028872 Centerline is valid? [True, True] Translation: X:22.95, Y:-1.61, Z:-0.70 [[ 9.99955826e-01 9.39370909e-03 3.21791796e-04 2.29530989e+01] [-9.39369969e-03 9.99955878e-01 -3.07084984e-05 -1.61341144e+00] [-3.22066064e-04 2.76843264e-05 9.99999948e-01 -7.02564975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.794860624 meters 0.09845330413732581 Centerline is valid? [True, True] Translation: X:22.98, Y:-1.62, Z:-0.70 [[ 9.99973796e-01 7.12338421e-03 1.29010675e-03 2.29831973e+01] [-7.12323126e-03 9.99974622e-01 -1.23114516e-04 -1.61871114e+00] [-1.29095101e-03 1.13921561e-04 9.99999160e-01 -7.01735829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.824860624 meters 0.09803479573111865 Centerline is valid? [True, True] Translation: X:23.01, Y:-1.62, Z:-0.70 [[ 9.99977797e-01 6.64701386e-03 4.72486515e-04 2.30120664e+01] [-6.64699264e-03 9.99977907e-01 -4.64672767e-05 -1.62145618e+00] [-4.72784945e-04 4.33256306e-05 9.99999887e-01 -7.01763507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.854860624000004 meters 0.09714156370634305 Centerline is valid? [True, True] Translation: X:23.04, Y:-1.62, Z:-0.70 [[ 9.99976821e-01 6.68571199e-03 1.28757410e-03 2.30404038e+01] [-6.68555767e-03 9.99977644e-01 -1.24120905e-04 -1.62364408e+00] [-1.28837515e-03 1.15509877e-04 9.99999163e-01 -7.01882826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.884860624 meters 0.09774618898314452 Centerline is valid? [True, True] Translation: X:23.07, Y:-1.63, Z:-0.70 [[ 9.99976296e-01 6.76780021e-03 1.26637346e-03 2.30681148e+01] [-6.76765053e-03 9.99977092e-01 -1.22436996e-04 -1.62827914e+00] [-1.26717308e-03 1.13863720e-04 9.99999191e-01 -7.02463976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.914860624 meters 0.09846385504264026 Centerline is valid? [True, True] Translation: X:23.10, Y:-1.63, Z:-0.70 [[ 9.99974807e-01 6.96674091e-03 1.36010646e-03 2.30964338e+01] [-6.96656939e-03 9.99975725e-01 -1.30806883e-04 -1.63220748e+00] [-1.36098474e-03 1.21328311e-04 9.99999066e-01 -7.03628323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.944860624 meters 0.09881257009899562 Centerline is valid? [True, True] Translation: X:23.12, Y:-1.64, Z:-0.70 [[ 9.99969623e-01 7.55532090e-03 1.91563682e-03 2.31241462e+01] [-7.55498246e-03 9.99971444e-01 -1.83848924e-04 -1.63587191e+00] [-1.91697115e-03 1.69370736e-04 9.99998148e-01 -7.03955000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.974860624 meters 0.09772997579466691 Centerline is valid? [True, True] Translation: X:23.15, Y:-1.64, Z:-0.70 [[ 9.99969326e-01 7.57841139e-03 1.97857800e-03 2.31531630e+01] [-7.57805143e-03 9.99971268e-01 -1.89362612e-04 -1.63740844e+00] [-1.97995622e-03 1.74363038e-04 9.99998025e-01 -7.04314871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.004860624 meters 0.096651376485605 Centerline is valid? [True, True] Translation: X:23.18, Y:-1.64, Z:-0.70 [[ 9.99967459e-01 7.90744124e-03 1.59785786e-03 2.31817549e+01] [-7.90720663e-03 9.99968726e-01 -1.53093917e-04 -1.63971368e+00] [-1.59901847e-03 1.40454343e-04 9.99998712e-01 -7.04397626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.034860624000004 meters 0.09604715914501512 Centerline is valid? [True, True] Translation: X:23.21, Y:-1.64, Z:-0.70 [[ 9.99967731e-01 7.93997629e-03 1.22201385e-03 2.32103436e+01] [-7.93983877e-03 9.99968472e-01 -1.17346999e-04 -1.64218964e+00] [-1.22290705e-03 1.07640620e-04 9.99999246e-01 -7.04440636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.064860624 meters 0.09318940477329894 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.64, Z:-0.70 [[ 9.99965255e-01 8.09642232e-03 1.98396523e-03 2.32391793e+01] [-8.09606209e-03 9.99967208e-01 -1.89533150e-04 -1.64129620e+00] [-1.98543471e-03 1.73464259e-04 9.99998014e-01 -7.03624440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.094860624 meters 0.0946022872530216 Centerline is valid? [True, True] Translation: X:23.27, Y:-1.65, Z:-0.70 [[ 9.99972182e-01 7.30685154e-03 1.49823818e-03 2.32684821e+01] [-7.30664588e-03 9.99973296e-01 -1.42697866e-04 -1.64745893e+00] [-1.49924084e-03 1.31746801e-04 9.99998867e-01 -7.04536324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.124860624 meters 0.09977151384689308 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.66, Z:-0.71 [[ 9.99975627e-01 6.57411537e-03 2.35078022e-03 2.32953372e+01] [-6.57360596e-03 9.99978368e-01 -2.24358354e-04 -1.66095747e+00] [-2.35220433e-03 2.08899783e-04 9.99997212e-01 -7.07045859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.154860624 meters 0.10041254898158279 Centerline is valid? [True, False] Translation: X:23.30, Y:-1.66, Z:-0.71 [[ 9.99994074e-01 2.80643135e-03 1.99380364e-03 2.32958875e+01] [-2.79875762e-03 9.99988706e-01 -3.84120672e-03 -1.66313809e+00] [-2.00456120e-03 3.83560378e-03 9.99990635e-01 -7.06768661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.184860624 meters 0.09650394930096505 Centerline is valid? [False, True] Translation: X:23.30, Y:-1.66, Z:-0.71 [[ 9.99993332e-01 2.87970333e-03 2.24550798e-03 2.32953238e+01] [-2.87221693e-03 9.99990330e-01 -3.33007124e-03 -1.66487590e+00] [-2.25507588e-03 3.32359945e-03 9.99991934e-01 -7.06836014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.214860624 meters 0.09710086413624329 Centerline is valid? [True, True] Translation: X:23.33, Y:-1.67, Z:-0.71 [[ 9.99996228e-01 1.50836859e-03 2.29519272e-03 2.33254602e+01] [-1.50787676e-03 9.99998840e-01 -2.16000472e-04 -1.67135136e+00] [-2.29551586e-03 2.12538790e-04 9.99997343e-01 -7.08964829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.244860624 meters 0.0975342792972095 Centerline is valid? [True, True] Translation: X:23.36, Y:-1.68, Z:-0.71 [[ 9.99999576e-01 -1.95206596e-04 9.00434692e-04 2.33557794e+01] [ 1.95282647e-04 9.99999977e-01 -8.43731809e-05 -1.67769183e+00] [-9.00418201e-04 8.45489843e-05 9.99999591e-01 -7.09861048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.274860624 meters 0.09827839369259793 Centerline is valid? [True, True] Translation: X:23.39, Y:-1.68, Z:-0.71 [[ 9.99998765e-01 -8.15032857e-04 1.34354934e-03 2.33851141e+01] [ 8.15203497e-04 9.99999660e-01 -1.26463906e-04 -1.68389405e+00] [-1.34344581e-03 1.27559016e-04 9.99999089e-01 -7.10751826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.304860624 meters 0.10083107060523581 Centerline is valid? [True, False] Translation: X:23.39, Y:-1.69, Z:-0.71 [[ 9.99998812e-01 -4.69221170e-04 1.46817916e-03 2.33850331e+01] [ 4.68235374e-04 9.99999665e-01 6.71712765e-04 -1.68634130e+00] [-1.46849385e-03 -6.71024514e-04 9.99998697e-01 -7.11041767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.334860624 meters 0.10758270659742467 Centerline is valid? [False, False] Translation: X:23.38, Y:-1.69, Z:-0.71 [[ 9.99997412e-01 -5.89499703e-04 2.19760256e-03 2.33832743e+01] [ 5.86301702e-04 9.99998769e-01 1.45558280e-03 -1.69016641e+00] [-2.19845792e-03 -1.45429057e-03 9.99996526e-01 -7.10631571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.364860624 meters 0.10171567874443348 Centerline is valid? [False, False] Translation: X:23.38, Y:-1.69, Z:-0.71 [[ 9.99997438e-01 -2.42275189e-04 2.25045631e-03 2.33832903e+01] [ 2.37466209e-04 9.99997689e-01 2.13691250e-03 -1.69227271e+00] [-2.25096883e-03 -2.13637262e-03 9.99995185e-01 -7.10805494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.394860624 meters 0.10339370645142135 Centerline is valid? [False, False] Translation: X:23.38, Y:-1.69, Z:-0.71 [[ 9.99997176e-01 -1.42047913e-04 2.37223078e-03 2.33828857e+01] [ 1.36136127e-04 9.99996886e-01 2.49205436e-03 -1.69381697e+00] [-2.37257739e-03 -2.49172438e-03 9.99994081e-01 -7.10591298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424860624000004 meters 0.09961030046432352 Centerline is valid? [False, True] Translation: X:23.38, Y:-1.70, Z:-0.71 [[ 9.99996855e-01 -1.10756311e-04 2.50564563e-03 2.33824294e+01] [ 1.03823153e-04 9.99996167e-01 2.76697552e-03 -1.69506432e+00] [-2.50594248e-03 -2.76670667e-03 9.99993033e-01 -7.10334686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.454860624 meters 0.10383135093607346 Centerline is valid? [True, False] Translation: X:23.38, Y:-1.70, Z:-0.71 [[ 9.99996669e-01 -3.62480608e-05 2.58074355e-03 2.33821556e+01] [ 2.84418329e-05 9.99995425e-01 3.02477043e-03 -1.69614046e+00] [-2.58084138e-03 -3.02468695e-03 9.99992095e-01 -7.10165583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484860624 meters 0.10754762904082045 Centerline is valid? [False, False] Translation: X:23.38, Y:-1.70, Z:-0.71 [[ 9.99996475e-01 5.14476958e-04 2.60467251e-03 2.33823760e+01] [-5.24989794e-04 9.99991713e-01 4.03707135e-03 -1.69923908e+00] [-2.60257395e-03 -4.03842455e-03 9.99988459e-01 -7.10518249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.514860624 meters 0.1062949026099152 Centerline is valid? [False, False] Translation: X:23.38, Y:-1.70, Z:-0.71 [[ 9.99996297e-01 8.29527400e-04 2.59172966e-03 2.33825656e+01] [-8.41364413e-04 9.99989206e-01 4.56947809e-03 -1.70086301e+00] [-2.58791118e-03 -4.57164176e-03 9.99986201e-01 -7.10715136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.544860624 meters 0.10277203469681773 Centerline is valid? [False, False] Translation: X:23.38, Y:-1.70, Z:-0.71 [[ 9.99996011e-01 1.22092907e-03 2.54696320e-03 2.33825484e+01] [-1.23430895e-03 9.99985413e-01 5.25832480e-03 -1.70332794e+00] [-2.54050601e-03 -5.26144756e-03 9.99982931e-01 -7.10498987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.574860624 meters 0.10737396587370525 Centerline is valid? [False, False] Translation: X:23.38, Y:-1.70, Z:-0.71 [[ 9.99995953e-01 1.34390654e-03 2.50748528e-03 2.33824498e+01] [-1.35759570e-03 9.99984142e-01 5.46562678e-03 -1.70433868e+00] [-2.50010023e-03 -5.46900881e-03 9.99981920e-01 -7.10208471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604860624000004 meters 0.10468679745343033 Centerline is valid? [False, False] Translation: X:23.38, Y:-1.71, Z:-0.71 [[ 9.99995926e-01 1.47711354e-03 2.44237628e-03 2.33823576e+01] [-1.49084300e-03 9.99983045e-01 5.62911889e-03 -1.70533021e+00] [-2.43402002e-03 -5.63273716e-03 9.99981174e-01 -7.09815962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.634860624 meters 0.10270278667425904 Centerline is valid? [False, False] Translation: X:23.38, Y:-1.71, Z:-0.71 [[ 9.99995668e-01 1.86940337e-03 2.27357270e-03 2.33824157e+01] [-1.88331369e-03 9.99979428e-01 6.13158880e-03 -1.70741650e+00] [-2.26206351e-03 -6.13584409e-03 9.99978617e-01 -7.09294047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664860624 meters 0.10117764441288563 Centerline is valid? [False, False] Translation: X:23.38, Y:-1.71, Z:-0.71 [[ 9.99995462e-01 2.11581852e-03 2.14443919e-03 2.33827563e+01] [-2.12949902e-03 9.99977269e-01 6.39744213e-03 -1.70821045e+00] [-2.13085462e-03 -6.40197968e-03 9.99977237e-01 -7.09346483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.694860624 meters 0.09682860124401507 Centerline is valid? [False, True] Translation: X:23.38, Y:-1.71, Z:-0.71 [[ 9.99994334e-01 2.92443428e-03 1.66714010e-03 2.33841707e+01] [-2.93616149e-03 9.99970655e-01 7.07582336e-03 -1.70989663e+00] [-1.64639840e-03 -7.08067827e-03 9.99973576e-01 -7.09778138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.724860624 meters 0.09876994598364314 Centerline is valid? [True, True] Translation: X:23.41, Y:-1.71, Z:-0.71 [[ 9.99988909e-01 4.69515004e-03 3.72012299e-04 2.34132319e+01] [-4.69513648e-03 9.99988977e-01 -3.73136148e-05 -1.71328344e+00] [-3.72183392e-04 3.55665524e-05 9.99999930e-01 -7.09110882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.754860624 meters 0.0962561510173961 Centerline is valid? [True, True] Translation: X:23.44, Y:-1.71, Z:-0.71 [[ 9.99978084e-01 6.60495877e-03 -4.54896011e-04 2.34437410e+01] [-6.60493903e-03 9.99978186e-01 4.48773565e-05 -1.71229555e+00] [ 4.55182501e-04 -4.18718125e-05 9.99999896e-01 -7.09274775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784860624000004 meters 0.09610021964332356 Centerline is valid? [True, True] Translation: X:23.47, Y:-1.72, Z:-0.71 [[ 9.99967692e-01 7.98544925e-03 -9.21013455e-04 2.34735141e+01] [-7.98536861e-03 9.99968112e-01 9.11899916e-05 -1.71531199e+00] [ 9.21712279e-04 -8.38324135e-05 9.99999572e-01 -7.10375912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.814860624 meters 0.09436295299509127 Centerline is valid? [True, True] Translation: X:23.50, Y:-1.72, Z:-0.71 [[ 9.99938618e-01 1.10768151e-02 -2.52935114e-04 2.35040964e+01] [-1.10768091e-02 9.99938650e-01 2.50800447e-05 -1.71691676e+00] [ 2.53197404e-04 -2.22767913e-05 9.99999968e-01 -7.10036963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844860624 meters 0.09514634749003531 Centerline is valid? [True, True] Translation: X:23.53, Y:-1.72, Z:-0.71 [[ 9.99930126e-01 1.18174707e-02 -2.99610797e-04 2.35315432e+01] [-1.18174628e-02 9.99930171e-01 2.81126040e-05 -1.72151262e+00] [ 2.99922095e-04 -2.45700002e-05 9.99999955e-01 -7.11306905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.874860624 meters 0.09294898424541681 Centerline is valid? [True, True] Translation: X:23.56, Y:-1.72, Z:-0.71 [[ 9.99916816e-01 1.28828189e-02 6.28253149e-04 2.35612591e+01] [-1.28827818e-02 9.99917012e-01 -6.30144727e-05 -1.72196669e+00] [-6.29012815e-04 5.49155826e-05 9.99999801e-01 -7.10882597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.904860624 meters 0.09444422298736777 Centerline is valid? [True, True] Translation: X:23.59, Y:-1.73, Z:-0.71 [[ 9.99924655e-01 1.22488254e-02 8.06854858e-04 2.35881533e+01] [-1.22487634e-02 9.99924978e-01 -8.16516693e-05 -1.73001061e+00] [-8.07794463e-04 7.17625429e-05 9.99999671e-01 -7.12023949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.934860624 meters 0.09434044424596669 Centerline is valid? [True, True] Translation: X:23.62, Y:-1.73, Z:-0.71 [[ 9.99931766e-01 1.16760467e-02 -3.66226885e-04 2.36169892e+01] [-1.16760346e-02 9.99931832e-01 3.49936484e-05 -1.73392160e+00] [ 3.66610508e-04 -3.07151829e-05 9.99999932e-01 -7.12704248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964860624 meters 0.0966208296923132 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.74, Z:-0.71 [[ 9.99950288e-01 9.94359473e-03 -7.39121044e-04 2.36456784e+01] [-9.94354356e-03 9.99950559e-01 7.28692915e-05 -1.74400947e+00] [ 7.39809083e-04 -6.55161868e-05 9.99999724e-01 -7.14696063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.994860624 meters 0.0966208296923132 Centerline is valid? [True, True] Translation: X:23.67, Y:-1.75, Z:-0.72 [[ 9.99950916e-01 9.88024614e-03 -7.39216072e-04 2.36739631e+01] [-9.88019566e-03 9.99951187e-01 7.19098478e-05 -1.74673333e+00] [ 7.39890475e-04 -6.46027187e-05 9.99999724e-01 -7.15272577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.024860624 meters 0.09753493482900087 Centerline is valid? [True, True] Translation: X:23.70, Y:-1.75, Z:-0.72 [[ 9.99959821e-01 8.88350753e-03 -1.19945544e-03 2.37033798e+01] [-8.88337222e-03 9.99960535e-01 1.18094777e-04 -1.75286555e+00] [ 1.20045720e-03 -1.07434823e-04 9.99999274e-01 -7.16385668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.054860624 meters 0.09686796032613515 Centerline is valid? [True, True] Translation: X:23.73, Y:-1.76, Z:-0.72 [[ 9.99968399e-01 7.89021538e-03 -9.72201195e-04 2.37324917e+01] [-7.89012650e-03 9.99968868e-01 9.52227123e-05 -1.75634749e+00] [ 9.72922256e-04 -8.75489128e-05 9.99999523e-01 -7.17253754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.084860624 meters 0.09675639232333277 Centerline is valid? [True, True] Translation: X:23.76, Y:-1.76, Z:-0.72 [[ 9.99973774e-01 7.15289226e-03 -1.13458690e-03 2.37613874e+01] [-7.15277101e-03 9.99974412e-01 1.10890430e-04 -1.76025374e+00] [ 1.13535105e-03 -1.02772082e-04 9.99999350e-01 -7.17349318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.114860624 meters 0.0995073950618824 Centerline is valid? [True, True] Translation: X:23.79, Y:-1.77, Z:-0.72 [[ 9.99983408e-01 5.68520507e-03 -9.28741336e-04 2.37887422e+01] [-5.68512292e-03 9.99983835e-01 9.10744531e-05 -1.77011087e+00] [ 9.29244100e-04 -8.57929333e-05 9.99999565e-01 -7.17748157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.144860624 meters 0.09686218592928007 Centerline is valid? [True, True] Translation: X:23.82, Y:-1.77, Z:-0.72 [[ 9.99988493e-01 4.56931239e-03 -1.46137608e-03 2.38185937e+01] [-4.56910716e-03 9.99989551e-01 1.43740448e-04 -1.76884413e+00] [ 1.46201761e-03 -1.37061610e-04 9.99998922e-01 -7.16781364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.174860624000004 meters 0.10042027415860547 Centerline is valid? [True, False] Translation: X:23.82, Y:-1.77, Z:-0.72 [[ 9.99988246e-01 4.65773634e-03 -1.34659084e-03 2.38183368e+01] [-4.65716429e-03 9.99989064e-01 4.27639609e-04 -1.76987873e+00] [ 1.34856795e-03 -4.21363288e-04 9.99999002e-01 -7.16756025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.204860624 meters 0.09746678302211473 Centerline is valid? [False, True] Translation: X:23.82, Y:-1.77, Z:-0.72 [[ 9.99987627e-01 4.85001934e-03 -1.10582908e-03 2.38177658e+01] [-4.84882091e-03 9.99987657e-01 1.08385445e-03 -1.77243616e+00] [ 1.11107215e-03 -1.07847907e-03 9.99998801e-01 -7.16610858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.234860624 meters 0.09855781463455951 Centerline is valid? [True, True] Translation: X:23.85, Y:-1.78, Z:-0.72 [[ 9.99992246e-01 3.85758355e-03 -7.92337247e-04 2.38461243e+01] [-3.85752245e-03 9.99992557e-01 7.86240547e-05 -1.77795738e+00] [ 7.92634648e-04 -7.55669863e-05 9.99999683e-01 -7.16969726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.264860624 meters 0.10015430469124367 Centerline is valid? [True, False] Translation: X:23.85, Y:-1.78, Z:-0.72 [[ 9.99992052e-01 3.93531345e-03 -6.40255290e-04 2.38457316e+01] [-3.93505834e-03 9.99992178e-01 3.99229301e-04 -1.77926746e+00] [ 6.41821374e-04 -3.96706686e-04 9.99999715e-01 -7.16857625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.294860624 meters 0.10147337179417014 Centerline is valid? [False, False] Translation: X:23.85, Y:-1.78, Z:-0.72 [[ 9.99991606e-01 4.07182177e-03 -4.57251734e-04 2.38454087e+01] [-4.07143436e-03 9.99991355e-01 8.45012004e-04 -1.78074878e+00] [ 4.60688520e-04 -8.43143240e-04 9.99999538e-01 -7.16951169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324860624 meters 0.1044632279546465 Centerline is valid? [False, False] Translation: X:23.84, Y:-1.78, Z:-0.72 [[ 9.99991986e-01 4.00343465e-03 -1.39955372e-06 2.38441646e+01] [-4.00342939e-03 9.99991130e-01 1.30839245e-03 -1.78328584e+00] [ 6.63760498e-06 -1.30837636e-03 9.99999144e-01 -7.16426788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.354860624000004 meters 0.1040259121836268 Centerline is valid? [False, False] Translation: X:23.85, Y:-1.78, Z:-0.72 [[ 9.99999703e-01 3.32190012e-04 -6.95297849e-04 2.38458803e+01] [-3.33969227e-04 9.99996666e-01 -2.56037468e-03 -1.78327437e+00] [ 6.94445001e-04 2.56060613e-03 9.99996481e-01 -7.16841823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.384860624 meters 0.10746834408352739 Centerline is valid? [False, False] Translation: X:23.85, Y:-1.78, Z:-0.72 [[ 9.99999691e-01 5.12188938e-04 -5.96339613e-04 2.38457713e+01] [-5.13454149e-04 9.99997614e-01 -2.12341271e-03 -1.78462368e+00] [ 5.95250601e-04 2.12371824e-03 9.99997568e-01 -7.16969864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.414860624 meters 0.10159976673011371 Centerline is valid? [False, False] Translation: X:23.85, Y:-1.79, Z:-0.72 [[ 9.99999231e-01 1.10482343e-03 -5.62811433e-04 2.38462095e+01] [-1.10545539e-03 9.99998758e-01 -1.12379210e-03 -1.78709040e+00] [ 5.61569142e-04 1.12441340e-03 9.99999210e-01 -7.17650919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.444860624 meters 0.10482172025659926 Centerline is valid? [False, False] Translation: X:23.85, Y:-1.79, Z:-0.72 [[ 9.99998996e-01 1.28102793e-03 -6.06202650e-04 2.38464750e+01] [-1.28154952e-03 9.99998808e-01 -8.60814335e-04 -1.78763589e+00] [ 6.05099201e-04 8.61590349e-04 9.99999446e-01 -7.17877352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.474860624 meters 0.10247419796642554 Centerline is valid? [False, False] Translation: X:23.85, Y:-1.79, Z:-0.72 [[ 9.99999157e-01 1.13584678e-03 -6.29944635e-04 2.38462713e+01] [-1.13653700e-03 9.99998753e-01 -1.09640972e-03 -1.78728639e+00] [ 6.28698497e-04 1.09712475e-03 9.99999201e-01 -7.17507615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504860624 meters 0.1011973723721603 Centerline is valid? [False, False] Translation: X:23.85, Y:-1.79, Z:-0.72 [[ 9.99998441e-01 1.46931738e-03 -9.79203464e-04 2.38471209e+01] [-1.47020386e-03 9.99998510e-01 -9.05202844e-04 -1.78721703e+00] [ 9.77871974e-04 9.06641061e-04 9.99999111e-01 -7.17678435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.534860624000004 meters 0.09719377692542379 Centerline is valid? [False, True] Translation: X:23.85, Y:-1.79, Z:-0.72 [[ 9.99997621e-01 1.80747939e-03 -1.22081914e-03 2.38479700e+01] [-1.80822926e-03 9.99998177e-01 -6.13414706e-04 -1.78738973e+00] [ 1.21970818e-03 6.15620768e-04 9.99999067e-01 -7.18166375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.564860624 meters 0.09446599000139248 Centerline is valid? [True, True] Translation: X:23.88, Y:-1.79, Z:-0.72 [[ 9.99992404e-01 3.84550971e-03 -6.36050248e-04 2.38782561e+01] [-3.84547100e-03 9.99992604e-01 6.20618680e-05 -1.78605121e+00] [ 6.36284204e-04 -5.96154837e-05 9.99999796e-01 -7.19551960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.594860624 meters 0.09786354383835935 Centerline is valid? [True, True] Translation: X:23.91, Y:-1.80, Z:-0.72 [[ 9.99980429e-01 6.15022393e-03 -1.14741029e-03 2.39067413e+01] [-6.15009902e-03 9.99981082e-01 1.12364883e-04 -1.79596457e+00] [ 1.14807966e-03 -1.05305997e-04 9.99999335e-01 -7.21643387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.624860624 meters 0.09439287630436834 Centerline is valid? [True, True] Translation: X:23.94, Y:-1.79, Z:-0.72 [[ 9.99926885e-01 1.18989256e-02 -2.15399191e-03 2.39376755e+01] [-1.18984969e-02 9.99929188e-01 2.11726573e-04 -1.79173953e+00] [ 2.15635870e-03 -1.86081827e-04 9.99997658e-01 -7.23390853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.654860624 meters 0.09072312927905424 Centerline is valid? [True, True] Translation: X:23.97, Y:-1.79, Z:-0.72 [[ 9.99892768e-01 1.44041728e-02 -2.64060311e-03 2.39686980e+01] [-1.44035378e-02 9.99896230e-01 2.59367606e-04 -1.78621837e+00] [ 2.64406507e-03 -2.21305767e-04 9.99996480e-01 -7.22999343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.684860624 meters 0.0922554764951957 Centerline is valid? [True, True] Translation: X:24.00, Y:-1.79, Z:-0.73 [[ 9.99841578e-01 1.75631811e-02 -2.89031538e-03 2.39975609e+01] [-1.75624336e-02 9.99845728e-01 2.83806299e-04 -1.79229509e+00] [ 2.89485403e-03 -2.33000366e-04 9.99995783e-01 -7.25639391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.714860624 meters 0.08969971450219456 Centerline is valid? [True, True] Translation: X:24.03, Y:-1.79, Z:-0.73 [[ 9.99729974e-01 2.31530299e-02 -1.97886920e-03 2.40282621e+01] [-2.31526901e-02 9.99731922e-01 1.94469946e-04 -1.78912487e+00] [ 1.98284128e-03 -1.48601288e-04 9.99998023e-01 -7.25956920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.744860624 meters 0.08836220556414154 Centerline is valid? [True, True] Translation: X:24.06, Y:-1.79, Z:-0.73 [[ 9.99662883e-01 2.59140011e-02 -1.60802304e-03 2.40584704e+01] [-2.59137804e-02 9.99664169e-01 1.57972943e-04 -1.78906057e+00] [ 1.61157673e-03 -1.16249732e-04 9.99998695e-01 -7.25831308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.774860624 meters 0.08788486748575607 Centerline is valid? [True, True] Translation: X:24.09, Y:-1.79, Z:-0.73 [[ 9.99573419e-01 2.91827825e-02 -1.15983597e-03 2.40881312e+01] [-2.91826701e-02 9.99574089e-01 1.13699305e-04 -1.79109392e+00] [ 1.16266004e-03 -7.98036928e-05 9.99999321e-01 -7.26409270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.804860624 meters 0.08515935484269042 Centerline is valid? [True, True] Translation: X:24.12, Y:-1.79, Z:-0.73 [[ 9.99482512e-01 3.21664859e-02 -1.58068392e-04 2.41189143e+01] [-3.21664839e-02 9.99482525e-01 1.54718936e-05 -1.78757028e+00] [ 1.58484272e-04 -1.03793827e-05 9.99999987e-01 -7.26136095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.834860624 meters 0.08412176459753828 Centerline is valid? [True, True] Translation: X:24.15, Y:-1.79, Z:-0.73 [[ 9.99281232e-01 3.78857410e-02 -1.30022803e-03 2.41483864e+01] [-3.78856072e-02 9.99282075e-01 1.27362458e-04 -1.78652051e+00] [ 1.30411979e-03 -7.80109853e-05 9.99999147e-01 -7.27569885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.864860624 meters 0.08340307599978955 Centerline is valid? [True, True] Translation: X:24.18, Y:-1.79, Z:-0.73 [[ 9.99167143e-01 4.07878352e-02 -1.17145572e-03 2.41780896e+01] [-4.07877288e-02 9.99167828e-01 1.14599635e-04 -1.78750252e+00] [ 1.17515514e-03 -6.67231715e-05 9.99999307e-01 -7.28733172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.894860624 meters 0.08249639607497516 Centerline is valid? [True, True] Translation: X:24.21, Y:-1.79, Z:-0.73 [[ 9.99071201e-01 4.30517066e-02 -1.81256807e-03 2.42076475e+01] [-4.30514552e-02 9.99072841e-01 1.77501192e-04 -1.78746636e+00] [ 1.81852926e-03 -9.93026356e-05 9.99998342e-01 -7.29547021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924860624000004 meters 0.08032295839843036 Centerline is valid? [True, True] Translation: X:24.24, Y:-1.78, Z:-0.73 [[ 9.98860852e-01 4.75822586e-02 -3.59542681e-03 2.42380313e+01] [-4.75812970e-02 9.98867306e-01 3.52546701e-04 -1.78293083e+00] [ 3.60812926e-03 -1.81070027e-04 9.99993474e-01 -7.30480950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.954860624 meters 0.0800875242932077 Centerline is valid? [True, True] Translation: X:24.27, Y:-1.79, Z:-0.73 [[ 9.98740786e-01 4.99893914e-02 -4.23110491e-03 2.42668904e+01] [-4.99880822e-02 9.98749728e-01 4.14693610e-04 -1.78500428e+00] [ 4.24654516e-03 -2.02666602e-04 9.99990963e-01 -7.31579423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.984860624 meters 0.07961287757841765 Centerline is valid? [True, True] Translation: X:24.30, Y:-1.79, Z:-0.73 [[ 9.98616585e-01 5.24720920e-02 -3.40517740e-03 2.42965722e+01] [-5.24712590e-02 9.98622379e-01 3.33548822e-04 -1.78611956e+00] [ 3.41798836e-03 -1.54413440e-04 9.99994147e-01 -7.31828939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.014860624 meters 0.0791591144674457 Centerline is valid? [True, True] Translation: X:24.33, Y:-1.79, Z:-0.73 [[ 9.98465442e-01 5.52801187e-02 -3.29677906e-03 2.43250485e+01] [-5.52793545e-02 9.98470875e-01 3.22539648e-04 -1.78778753e+00] [ 3.30956790e-03 -1.39800874e-04 9.99994514e-01 -7.32932374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.044860624 meters 0.07857447301491839 Centerline is valid? [True, True] Translation: X:24.36, Y:-1.79, Z:-0.73 [[ 9.98309499e-01 5.80423503e-02 -3.03797793e-03 2.43550601e+01] [-5.80417131e-02 9.98314114e-01 2.97569257e-04 -1.78844456e+00] [ 3.05012786e-03 -1.20736773e-04 9.99995341e-01 -7.33404620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.074860624 meters 0.07759973506975458 Centerline is valid? [True, True] Translation: X:24.38, Y:-1.79, Z:-0.73 [[ 9.97955102e-01 6.38766849e-02 -2.32030697e-03 2.43849055e+01] [-6.38763294e-02 9.97957796e-01 2.27098764e-04 -1.78637072e+00] [ 2.33007475e-03 -7.84216781e-05 9.99997282e-01 -7.33413524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104860624000004 meters 0.07645945024127081 Centerline is valid? [True, True] Translation: X:24.41, Y:-1.78, Z:-0.73 [[ 9.97774319e-01 6.66382090e-02 -2.39930792e-03 2.44140737e+01] [-6.66378387e-02 9.97777201e-01 2.34043553e-04 -1.78278913e+00] [ 2.40957099e-03 -7.36379523e-05 9.99997094e-01 -7.31925015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.134860624 meters 0.07603147459444412 Centerline is valid? [True, True] Translation: X:24.44, Y:-1.78, Z:-0.73 [[ 9.97560729e-01 6.97669776e-02 -2.27170836e-03 2.44421368e+01] [-6.97666547e-02 9.97563314e-01 2.21138523e-04 -1.78346513e+00] [ 2.28160108e-03 -6.21096139e-05 9.99997395e-01 -7.33431646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164860624 meters 0.07569506605008836 Centerline is valid? [True, True] Translation: X:24.47, Y:-1.78, Z:-0.74 [[ 9.97126483e-01 7.56396944e-02 -4.17291847e-03 2.44710657e+01] [-7.56386513e-02 9.97135211e-01 4.07452271e-04 -1.78267946e+00] [ 4.19178350e-03 -9.06475248e-05 9.99991210e-01 -7.35764446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.194860624 meters 0.0754416463139332 Centerline is valid? [True, True] Translation: X:24.50, Y:-1.78, Z:-0.74 [[ 9.96885040e-01 7.87217722e-02 -4.80624709e-03 2.45003815e+01] [-7.87204395e-02 9.96896622e-01 4.66126587e-04 -1.78294297e+00] [ 4.82802580e-03 -8.63247374e-05 9.99988341e-01 -7.36308189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.224860624 meters 0.0752882181661171 Centerline is valid? [True, True] Translation: X:24.53, Y:-1.78, Z:-0.74 [[ 9.96648573e-01 8.16088334e-02 -5.62324909e-03 2.45287143e+01] [-8.16070604e-02 9.96664433e-01 5.44413636e-04 -1.78367809e+00] [ 5.64892132e-03 -8.36922451e-05 9.99984041e-01 -7.37813758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.254860624 meters 0.07498937237837158 Centerline is valid? [True, True] Translation: X:24.56, Y:-1.78, Z:-0.74 [[ 9.96189272e-01 8.70595291e-02 -5.25089650e-03 2.45573605e+01] [-8.70580496e-02 9.96203110e-01 5.10097385e-04 -1.78169269e+00] [ 5.27536826e-03 -5.10207348e-05 9.99986084e-01 -7.39451131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284860624000004 meters 0.07482846667515797 Centerline is valid? [True, True] Translation: X:24.59, Y:-1.78, Z:-0.74 [[ 9.96075073e-01 8.83362188e-02 -5.58230146e-03 2.45855895e+01] [-8.83345891e-02 9.96090714e-01 5.38297435e-04 -1.78274058e+00] [ 5.60802981e-03 -4.30743502e-05 9.99984274e-01 -7.39366741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.314860624 meters 0.07469740620850873 Centerline is valid? [True, True] Translation: X:24.61, Y:-1.78, Z:-0.74 [[ 9.95885209e-01 9.04968866e-02 -4.79207018e-03 2.46147978e+01] [-9.04957145e-02 9.95896738e-01 4.61302352e-04 -1.78366717e+00] [ 4.81415349e-03 -2.57423737e-05 9.99988412e-01 -7.39623935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344860624 meters 0.0747659967249638 Centerline is valid? [True, True] Translation: X:24.64, Y:-1.79, Z:-0.74 [[ 9.95763894e-01 9.18136666e-02 -4.95163962e-03 2.46421002e+01] [-9.18124269e-02 9.95776205e-01 4.77569128e-04 -1.78515284e+00] [ 4.97457228e-03 -2.09240436e-05 9.99987627e-01 -7.41040057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.374860624 meters 0.07485775423129143 Centerline is valid? [True, True] Translation: X:24.67, Y:-1.79, Z:-0.74 [[ 9.95634730e-01 9.31713830e-02 -5.52963294e-03 2.46697903e+01] [-9.31698760e-02 9.95650086e-01 5.30072505e-04 -1.78681572e+00] [ 5.55496710e-03 -1.25633797e-05 9.99984571e-01 -7.41372870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.404860624 meters 0.07489839889083487 Centerline is valid? [True, True] Translation: X:24.70, Y:-1.79, Z:-0.74 [[ 9.95612141e-01 9.33545167e-02 -6.43417916e-03 2.46981187e+01] [-9.33524834e-02 9.95632931e-01 6.16286010e-04 -1.78964819e+00] [ 6.46361374e-03 -1.29352314e-05 9.99979111e-01 -7.41441417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.434860624 meters 0.07496018942825353 Centerline is valid? [True, True] Translation: X:24.73, Y:-1.79, Z:-0.74 [[ 9.95713022e-01 9.22059099e-02 -7.32449126e-03 2.47258059e+01] [-9.22032359e-02 9.95739961e-01 7.02646132e-04 -1.79385501e+00] [ 7.35807677e-03 -2.42921087e-05 9.99972929e-01 -7.44320636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464860624 meters 0.07519268836355084 Centerline is valid? [True, True] Translation: X:24.75, Y:-1.80, Z:-0.75 [[ 9.95796387e-01 9.12306503e-02 -8.15618185e-03 2.47531913e+01] [-9.12273073e-02 9.95829788e-01 7.81762136e-04 -1.79736576e+00] [ 8.19348951e-03 -3.44094030e-05 9.99966432e-01 -7.45807144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.494860624 meters 0.07521446949668624 Centerline is valid? [True, True] Translation: X:24.78, Y:-1.80, Z:-0.75 [[ 9.96104712e-01 8.77636000e-02 -8.54126870e-03 2.47812548e+01] [-8.77598348e-02 9.96141329e-01 8.15351027e-04 -1.80342240e+00] [ 8.57986889e-03 -6.25946694e-05 9.99963190e-01 -7.45351280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.524860624 meters 0.0755384657602182 Centerline is valid? [True, True] Translation: X:24.81, Y:-1.81, Z:-0.75 [[ 9.96293754e-01 8.55456673e-02 -8.98304897e-03 2.48084979e+01] [-8.55413989e-02 9.96334247e-01 8.59017753e-04 -1.80927724e+00] [ 9.02360457e-03 -8.74114468e-05 9.99959283e-01 -7.46863944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.554860624 meters 0.07593209956044923 Centerline is valid? [True, True] Translation: X:24.84, Y:-1.82, Z:-0.75 [[ 9.96813034e-01 7.92458721e-02 -9.15789916e-03 2.48366740e+01] [-7.92411695e-02 9.96855090e-01 8.75789099e-04 -1.81949243e+00] [ 9.19850106e-03 -1.47315350e-04 9.99957682e-01 -7.47809347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584860624 meters 0.07636966202831634 Centerline is valid? [True, True] Translation: X:24.86, Y:-1.83, Z:-0.75 [[ 9.97069915e-01 7.59000945e-02 -9.52676637e-03 2.48647705e+01] [-7.58948953e-02 9.97115411e-01 9.06614812e-04 -1.82605402e+00] [ 9.56809772e-03 -1.80925418e-04 9.99954208e-01 -7.48248285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.614860624 meters 0.07674291446227985 Centerline is valid? [True, True] Translation: X:24.89, Y:-1.83, Z:-0.75 [[ 9.97282954e-01 7.29172942e-02 -1.04775182e-02 2.48942221e+01] [-7.29108132e-02 9.97337964e-01 9.99726832e-04 -1.83255368e+00] [ 1.05225240e-02 -2.33086156e-04 9.99944610e-01 -7.49161707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644860624 meters 0.07749369512407721 Centerline is valid? [True, True] Translation: X:24.92, Y:-1.84, Z:-0.75 [[ 9.97511616e-01 6.95528802e-02 -1.15314247e-02 2.49225972e+01] [-6.95448130e-02 9.97578222e-01 1.09958688e-03 -1.83965995e+00] [ 1.15799776e-02 -2.94899911e-04 9.99932906e-01 -7.51448820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.674860624000004 meters 0.07866098806143987 Centerline is valid? [True, True] Translation: X:24.95, Y:-1.85, Z:-0.75 [[ 9.97873499e-01 6.39265891e-02 -1.27228230e-02 2.49510922e+01] [-6.39163129e-02 9.97954525e-01 1.21309621e-03 -1.85068558e+00] [ 1.27743479e-02 -3.97320630e-04 9.99918326e-01 -7.52670649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.704860624 meters 0.07915481145902668 Centerline is valid? [True, True] Translation: X:24.98, Y:-1.86, Z:-0.75 [[ 9.97994970e-01 6.18744649e-02 -1.33263037e-02 2.49785922e+01] [-6.18630245e-02 9.98083842e-01 1.26939208e-03 -1.85691930e+00] [ 1.33793113e-02 -4.42441457e-04 9.99910395e-01 -7.54309085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.734860624 meters 0.0797665322060292 Centerline is valid? [True, True] Translation: X:25.01, Y:-1.86, Z:-0.75 [[ 9.98093659e-01 6.01394727e-02 -1.38669605e-02 2.50065592e+01] [-6.01269293e-02 9.98189867e-01 1.32007257e-03 -1.86222971e+00] [ 1.39212479e-02 -4.83778313e-04 9.99902978e-01 -7.54791469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.764860624 meters 0.08044225000105316 Centerline is valid? [True, True] Translation: X:25.03, Y:-1.87, Z:-0.76 [[ 9.98202292e-01 5.81196960e-02 -1.46384692e-02 2.50343221e+01] [-5.81055125e-02 9.98309476e-01 1.39273685e-03 -1.86801055e+00] [ 1.46946679e-02 -5.39657361e-04 9.99891882e-01 -7.55586243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.794860624 meters 0.07864236173271202 Centerline is valid? [True, True] Translation: X:25.06, Y:-1.86, Z:-0.75 [[ 9.98235303e-01 5.75472292e-02 -1.46491244e-02 2.50640026e+01] [-5.75330476e-02 9.98342637e-01 1.38802371e-03 -1.86342606e+00] [ 1.47047224e-02 -5.42765495e-04 9.99891732e-01 -7.49520181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.824860624 meters 0.07881062409295704 Centerline is valid? [True, True] Translation: X:25.09, Y:-1.87, Z:-0.75 [[ 9.98240202e-01 5.76833585e-02 -1.37524314e-02 2.50913157e+01] [-5.76708621e-02 9.98334799e-01 1.30385038e-03 -1.86695827e+00] [ 1.38047413e-02 -5.08441290e-04 9.99904581e-01 -7.50565876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.854860624000004 meters 0.07942684093635671 Centerline is valid? [True, True] Translation: X:25.12, Y:-1.87, Z:-0.75 [[ 9.98212418e-01 5.78334668e-02 -1.50750849e-02 2.51184391e+01] [-5.78184840e-02 9.98326091e-01 1.42818915e-03 -1.87148929e+00] [ 1.51324477e-02 -5.54017588e-04 9.99885344e-01 -7.52403888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.884860624 meters 0.07942684093635671 Centerline is valid? [True, True] Translation: X:25.15, Y:-1.87, Z:-0.75 [[ 9.98226558e-01 5.75887445e-02 -1.50756606e-02 2.51457337e+01] [-5.75738255e-02 9.98340239e-01 1.42210761e-03 -1.87395708e+00] [ 1.51325360e-02 -5.51622136e-04 9.99885344e-01 -7.52798262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.914860624 meters 0.07816406172957448 Centerline is valid? [True, True] Translation: X:25.17, Y:-1.87, Z:-0.75 [[ 9.98185251e-01 5.86999340e-02 -1.34358312e-02 2.51747544e+01] [-5.86881667e-02 9.98275558e-01 1.26876623e-03 -1.87158724e+00] [ 1.34871384e-02 -4.77939440e-04 9.99908930e-01 -7.49719321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.944860624 meters 0.07789084600105012 Centerline is valid? [True, True] Translation: X:25.20, Y:-1.87, Z:-0.75 [[ 9.98130366e-01 5.95402982e-02 -1.38103545e-02 2.52039780e+01] [-5.95280157e-02 9.98225790e-01 1.29910815e-03 -1.87283602e+00] [ 1.38632013e-02 -4.74576298e-04 9.99903789e-01 -7.49876906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.974860624 meters 0.07788014556071547 Centerline is valid? [True, True] Translation: X:25.23, Y:-1.87, Z:-0.75 [[ 9.98064463e-01 6.06012826e-02 -1.39574873e-02 2.52314501e+01] [-6.05888297e-02 9.98161945e-01 1.31372944e-03 -1.87443817e+00] [ 1.40114464e-02 -4.65518849e-04 9.99901727e-01 -7.50696383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.004860624 meters 0.0778375898852903 Centerline is valid? [True, True] Translation: X:25.26, Y:-1.88, Z:-0.75 [[ 9.98049650e-01 6.06966720e-02 -1.45879995e-02 2.52596687e+01] [-6.06831709e-02 9.98156142e-01 1.36677123e-03 -1.87526390e+00] [ 1.46440597e-02 -4.78859485e-04 9.99892655e-01 -7.51044192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.034860624000004 meters 0.07790755304032497 Centerline is valid? [True, True] Translation: X:25.29, Y:-1.88, Z:-0.75 [[ 9.98027381e-01 6.12175994e-02 -1.39194993e-02 2.52875202e+01] [-6.12053402e-02 9.98124342e-01 1.30541749e-03 -1.87749107e+00] [ 1.39733056e-02 -4.50894708e-04 9.99902267e-01 -7.52334122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.064860624 meters 0.07807896606978561 Centerline is valid? [True, True] Translation: X:25.32, Y:-1.88, Z:-0.75 [[ 9.98062413e-01 6.06448677e-02 -1.39147086e-02 2.53155831e+01] [-6.06326333e-02 9.98159303e-01 1.29981678e-03 -1.88078379e+00] [ 1.39679231e-02 -4.53612845e-04 9.99902341e-01 -7.53349619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.094860624 meters 0.07867032665531476 Centerline is valid? [True, True] Translation: X:25.34, Y:-1.89, Z:-0.76 [[ 9.98209248e-01 5.78683299e-02 -1.51510320e-02 2.53433106e+01] [-5.78534859e-02 9.98324079e-01 1.41657041e-03 -1.88612085e+00] [ 1.52076146e-02 -5.37493666e-04 9.99884213e-01 -7.55614664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.124860624 meters 0.07903409971110781 Centerline is valid? [True, True] Translation: X:25.37, Y:-1.89, Z:-0.76 [[ 9.98337058e-01 5.58161502e-02 -1.44109386e-02 2.53704866e+01] [-5.58025253e-02 9.98440918e-01 1.34614773e-03 -1.89016627e+00] [ 1.44636075e-02 -5.39742397e-04 9.99895251e-01 -7.56291949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.154860624 meters 0.07955195551695214 Centerline is valid? [True, True] Translation: X:25.40, Y:-1.89, Z:-0.76 [[ 9.98466769e-01 5.35749139e-02 -1.39226494e-02 2.53987491e+01] [-5.35620500e-02 9.98563683e-01 1.29546887e-03 -1.89404482e+00] [ 1.39720567e-02 -5.47756972e-04 9.99902236e-01 -7.56487915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.184860624 meters 0.08014239589665949 Centerline is valid? [True, True] Translation: X:25.43, Y:-1.90, Z:-0.76 [[ 9.98598195e-01 5.11282861e-02 -1.36946590e-02 2.54276629e+01] [-5.11155935e-02 9.98691929e-01 1.27547749e-03 -1.89853340e+00] [ 1.37419584e-02 -5.73678900e-04 9.99905410e-01 -7.56289139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.214860624 meters 0.08079199620605658 Centerline is valid? [True, True] Translation: X:25.46, Y:-1.90, Z:-0.76 [[ 9.98751322e-01 4.84646640e-02 -1.21232786e-02 2.54559434e+01] [-4.84545808e-02 9.98824754e-01 1.12424166e-03 -1.90290311e+00] [ 1.21635168e-02 -5.35409461e-04 9.99925878e-01 -7.56406100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.244860624 meters 0.08056841395795597 Centerline is valid? [True, True] Translation: X:25.49, Y:-1.90, Z:-0.75 [[ 9.98954209e-01 4.38604140e-02 -1.29132317e-02 2.54861539e+01] [-4.38485508e-02 9.99037468e-01 1.20051998e-03 -1.90390206e+00] [ 1.29534576e-02 -6.33037987e-04 9.99915900e-01 -7.54245459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.274860624 meters 0.0808918205350607 Centerline is valid? [True, True] Translation: X:25.52, Y:-1.91, Z:-0.76 [[ 9.99058930e-01 4.15079683e-02 -1.25834358e-02 2.55150617e+01] [-4.14965390e-02 9.99137965e-01 1.16813134e-03 -1.90804537e+00] [ 1.26210751e-02 -6.44863010e-04 9.99920143e-01 -7.55469699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.304860624 meters 0.08270529114366597 Centerline is valid? [True, True] Translation: X:25.54, Y:-1.92, Z:-0.76 [[ 9.99157425e-01 3.91837204e-02 -1.22097083e-02 2.55428606e+01] [-3.91727909e-02 9.99231809e-01 1.13311655e-03 -1.91618451e+00] [ 1.22447286e-02 -6.53873463e-04 9.99924817e-01 -7.58275305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.334860624 meters 0.08649238252818368 Centerline is valid? [True, True] Translation: X:25.57, Y:-1.93, Z:-0.76 [[ 9.99336493e-01 3.42617608e-02 -1.23574329e-02 2.55716566e+01] [-3.42501866e-02 9.99412632e-01 1.14710322e-03 -1.92775143e+00] [ 1.23894763e-02 -7.23097729e-04 9.99922986e-01 -7.61170263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.364860624 meters 0.0877253568036787 Centerline is valid? [True, True] Translation: X:25.60, Y:-1.93, Z:-0.76 [[ 9.99431592e-01 3.17418404e-02 -1.13555326e-02 2.56011411e+01] [-3.17319111e-02 9.99495861e-01 1.05354684e-03 -1.93166028e+00] [ 1.13832493e-02 -6.92615246e-04 9.99934969e-01 -7.61415526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.394860624 meters 0.08433950753090254 Centerline is valid? [True, True] Translation: X:25.63, Y:-1.92, Z:-0.76 [[ 9.99520119e-01 2.82552380e-02 -1.26953929e-02 2.56329809e+01] [-2.82425417e-02 9.99600405e-01 1.17827962e-03 -1.92412299e+00] [ 1.27236125e-02 -8.19164019e-04 9.99918716e-01 -7.56684348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424860624000004 meters 0.08561620225839485 Centerline is valid? [True, True] Translation: X:25.66, Y:-1.93, Z:-0.76 [[ 9.99570528e-01 2.65103654e-02 -1.24883766e-02 2.56611614e+01] [-2.64979669e-02 9.99648197e-01 1.15725669e-03 -1.92888971e+00] [ 1.25146625e-02 -8.25843091e-04 9.99921348e-01 -7.57993536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.454860624 meters 0.08599732810464544 Centerline is valid? [True, True] Translation: X:25.69, Y:-1.93, Z:-0.76 [[ 9.99624928e-01 2.45199141e-02 -1.21974063e-02 2.56906759e+01] [-2.45079378e-02 9.99698996e-01 1.13040102e-03 -1.93129152e+00] [ 1.22214522e-02 -8.31043763e-04 9.99924970e-01 -7.58483768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.484860624 meters 0.08846837039274899 Centerline is valid? [True, True] Translation: X:25.72, Y:-1.94, Z:-0.76 [[ 9.99660741e-01 2.31279385e-02 -1.19792123e-02 2.57188419e+01] [-2.31162970e-02 9.99732167e-01 1.10937419e-03 -1.93845924e+00] [ 1.20016614e-02 -8.32082800e-04 9.99927631e-01 -7.60905428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.514860624 meters 0.08870370697736202 Centerline is valid? [True, True] Translation: X:25.75, Y:-1.94, Z:-0.76 [[ 9.99705241e-01 2.15687748e-02 -1.11453736e-02 2.57482961e+01] [-2.15586075e-02 9.99767054e-01 1.03159090e-03 -1.93803807e+00] [ 1.11650275e-02 -7.91008098e-04 9.99937356e-01 -7.61332415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.544860624 meters 0.0890443832868066 Centerline is valid? [True, True] Translation: X:25.78, Y:-1.94, Z:-0.76 [[ 9.99721727e-01 2.14348861e-02 -9.84956536e-03 2.57772043e+01] [-2.14269483e-02 9.99770002e-01 9.10736253e-04 -1.93930421e+00] [ 9.86682150e-03 -6.99436692e-04 9.99951077e-01 -7.61187072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.574860624 meters 0.08844092759866207 Centerline is valid? [True, True] Translation: X:25.81, Y:-1.94, Z:-0.76 [[ 9.99731248e-01 2.08818925e-02 -1.00686615e-02 2.58061344e+01] [-2.08736114e-02 9.99781693e-01 9.26858289e-04 -1.93839568e+00] [ 1.00858180e-02 -7.16439867e-04 9.99948880e-01 -7.61461266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604860624000004 meters 0.08859957033884862 Centerline is valid? [True, True] Translation: X:25.84, Y:-1.94, Z:-0.76 [[ 9.99743798e-01 2.06332119e-02 -9.30640397e-03 2.58350462e+01] [-2.06261151e-02 9.99786891e-01 8.57919396e-04 -1.93912063e+00] [ 9.32212232e-03 -6.65744636e-04 9.99956326e-01 -7.62298423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.634860624 meters 0.09007812450193653 Centerline is valid? [True, True] Translation: X:25.86, Y:-1.94, Z:-0.76 [[ 9.99765911e-01 1.92774553e-02 -9.82359140e-03 2.58632816e+01] [-1.92694906e-02 9.99813917e-01 9.04786470e-04 -1.94061759e+00] [ 9.83920538e-03 -7.15279067e-04 9.99951338e-01 -7.64045802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.664860624 meters 0.09167255443124846 Centerline is valid? [True, True] Translation: X:25.89, Y:-1.94, Z:-0.77 [[ 9.99781178e-01 1.83576145e-02 -1.00297070e-02 2.58904356e+01] [-1.83492890e-02 9.99831213e-01 9.21487602e-04 -1.94370111e+00] [ 1.00449304e-02 -7.37247967e-04 9.99949277e-01 -7.65413394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.694860624 meters 0.09173805000780987 Centerline is valid? [True, True] Translation: X:25.92, Y:-1.94, Z:-0.77 [[ 9.99795009e-01 1.80231663e-02 -9.22526177e-03 2.59181976e+01] [-1.80161122e-02 9.99837338e-01 8.47187897e-04 -1.94344931e+00] [ 9.23903018e-03 -6.80810880e-04 9.99957087e-01 -7.65033789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.724860624 meters 0.09036921864707251 Centerline is valid? [True, True] Translation: X:25.95, Y:-1.94, Z:-0.76 [[ 9.99830063e-01 1.65018761e-02 -8.21789523e-03 2.59486388e+01] [-1.64962236e-02 9.99863643e-01 7.55150133e-04 -1.93762392e+00] [ 8.22923606e-03 -6.19457568e-04 9.99965947e-01 -7.63761768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.754860624 meters 0.0890428951211724 Centerline is valid? [True, True] Translation: X:25.98, Y:-1.94, Z:-0.76 [[ 9.99838194e-01 1.65072694e-02 -7.14807283e-03 2.59777042e+01] [-1.65029977e-02 9.99863601e-01 6.56182791e-04 -1.93536168e+00] [ 7.15792962e-03 -5.38111988e-04 9.99974237e-01 -7.63583498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784860624000004 meters 0.09009290768870017 Centerline is valid? [True, True] Translation: X:26.01, Y:-1.94, Z:-0.76 [[ 9.99863248e-01 1.48804144e-02 -7.21521748e-03 2.60068475e+01] [-1.48760224e-02 9.99889127e-01 6.61994540e-04 -1.93740050e+00] [ 7.22426826e-03 -5.54570274e-04 9.99973751e-01 -7.64036104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.814860624 meters 0.09270615503036236 Centerline is valid? [True, True] Translation: X:26.03, Y:-1.94, Z:-0.77 [[ 9.99867772e-01 1.40230661e-02 -8.23363137e-03 2.60347474e+01] [-1.40173204e-02 9.99901467e-01 7.55134422e-04 -1.94328383e+00] [ 8.24340939e-03 -6.39621123e-04 9.99965818e-01 -7.65795353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844860624 meters 0.09247733062971798 Centerline is valid? [True, True] Translation: X:26.07, Y:-1.94, Z:-0.77 [[ 9.99890501e-01 1.21421452e-02 -8.45903132e-03 2.60653926e+01] [-1.21360106e-02 9.99926055e-01 7.76158893e-04 -1.94100355e+00] [ 8.46783005e-03 -6.73415009e-04 9.99963921e-01 -7.66695849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.874860624 meters 0.09222216752279021 Centerline is valid? [True, True] Translation: X:26.09, Y:-1.94, Z:-0.77 [[ 9.99895376e-01 1.14787180e-02 -8.80207811e-03 2.60939295e+01] [-1.14720648e-02 9.99933869e-01 8.05986296e-04 -1.94048157e+00] [ 8.81074771e-03 -7.04923960e-04 9.99960936e-01 -7.67012931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.904860624 meters 0.09365496497868392 Centerline is valid? [True, True] Translation: X:26.12, Y:-1.94, Z:-0.77 [[ 9.99898669e-01 1.09125107e-02 -9.14159048e-03 2.61210483e+01] [-1.09053206e-02 9.99940186e-01 8.36005088e-04 -1.94261295e+00] [ 9.15016660e-03 -7.36228400e-04 9.99957865e-01 -7.68810754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.934860624 meters 0.09419960703879984 Centerline is valid? [True, True] Translation: X:26.15, Y:-1.94, Z:-0.77 [[ 9.99911486e-01 9.93260795e-03 -8.85228640e-03 2.61496711e+01] [-9.92583229e-03 9.99950410e-01 8.09021330e-04 -1.94086577e+00] [ 8.85988311e-03 -7.21083410e-04 9.99960490e-01 -7.69579477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964860624 meters 0.09374236822794163 Centerline is valid? [True, True] Translation: X:26.18, Y:-1.94, Z:-0.77 [[ 9.99910953e-01 1.03735782e-02 -8.39496898e-03 2.61792026e+01] [-1.03675001e-02 9.99945962e-01 7.67220970e-04 -1.94025721e+00] [ 8.40247416e-03 -6.80117809e-04 9.99964467e-01 -7.70278463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.994860624 meters 0.09369776185681987 Centerline is valid? [True, True] Translation: X:26.21, Y:-1.94, Z:-0.77 [[ 9.99927923e-01 9.61986567e-03 -7.18385926e-03 2.62081382e+01] [-9.61540129e-03 9.99953556e-01 6.55726942e-04 -1.93726377e+00] [ 7.18983362e-03 -5.86603989e-04 9.99973981e-01 -7.69210831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.024860624 meters 0.09471775338136289 Centerline is valid? [True, True] Translation: X:26.24, Y:-1.94, Z:-0.77 [[ 9.99930194e-01 9.91006062e-03 -6.43412120e-03 2.62357355e+01] [-9.90649095e-03 9.99950758e-01 5.86438043e-04 -1.93917605e+00] [ 6.43961601e-03 -5.22657543e-04 9.99979129e-01 -7.69821881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.054860624 meters 0.09555257088503939 Centerline is valid? [True, True] Translation: X:26.26, Y:-1.94, Z:-0.77 [[ 9.99925663e-01 1.03479250e-02 -6.44892171e-03 2.62635025e+01] [-1.03443512e-02 9.99946323e-01 5.87284125e-04 -1.93734109e+00] [ 6.45465273e-03 -5.20530557e-04 9.99979033e-01 -7.71889521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084860624 meters 0.09409807789369111 Centerline is valid? [True, True] Translation: X:26.29, Y:-1.93, Z:-0.77 [[ 9.99915029e-01 1.11842472e-02 -6.69676031e-03 2.62926234e+01] [-1.11804133e-02 9.99937311e-01 6.09677802e-04 -1.93114170e+00] [ 6.70315929e-03 -5.34753449e-04 9.99977391e-01 -7.71867704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.114860624 meters 0.0966866711934674 Centerline is valid? [True, True] Translation: X:26.32, Y:-1.93, Z:-0.77 [[ 9.99907992e-01 1.17043876e-02 -6.85670735e-03 2.63209487e+01] [-1.17003833e-02 9.99931354e-01 6.23816109e-04 -1.93238584e+00] [ 6.86353805e-03 -5.43532609e-04 9.99976298e-01 -7.73539676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144860624 meters 0.0971748952652667 Centerline is valid? [True, True] Translation: X:26.35, Y:-1.93, Z:-0.77 [[ 9.99931624e-01 9.12554261e-03 -7.31240311e-03 2.63510173e+01] [-9.12091253e-03 9.99958182e-01 6.66281174e-04 -1.93128051e+00] [ 7.31817750e-03 -5.99539828e-04 9.99973042e-01 -7.74424297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.174860624000004 meters 0.09903207921121947 Centerline is valid? [True, True] Translation: X:26.38, Y:-1.94, Z:-0.78 [[ 9.99944640e-01 7.53555711e-03 -7.34381461e-03 2.63795790e+01] [-7.53085244e-03 9.99971420e-01 6.68072923e-04 -1.93560936e+00] [ 7.34863902e-03 -6.12730754e-04 9.99972811e-01 -7.75323104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.204860624 meters 0.09903207921121947 Centerline is valid? [True, True] Translation: X:26.41, Y:-1.94, Z:-0.78 [[ 9.99945368e-01 7.43825537e-03 -7.34394291e-03 2.64070247e+01] [-7.43355838e-03 9.99972148e-01 6.66662910e-04 -1.93797780e+00] [ 7.34869718e-03 -6.12034861e-04 9.99972811e-01 -7.75719366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.234860624 meters 0.10354735248258085 Centerline is valid? [True, False] Translation: X:26.41, Y:-1.94, Z:-0.78 [[ 9.99950435e-01 6.95779885e-03 -7.12155536e-03 2.64064142e+01] [-6.95708590e-03 9.99975791e-01 1.24879733e-04 -1.93641915e+00] [ 7.12225185e-03 -7.53282714e-05 9.99974634e-01 -7.75609570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.264860624 meters 0.10354735248258085 Centerline is valid? [False, False] Translation: X:26.41, Y:-1.94, Z:-0.78 [[ 9.99950435e-01 6.95779885e-03 -7.12155536e-03 2.64064142e+01] [-6.95708590e-03 9.99975791e-01 1.24879733e-04 -1.93641915e+00] [ 7.12225185e-03 -7.53282714e-05 9.99974634e-01 -7.75609570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.294860624 meters 0.10360513624722027 Centerline is valid? [False, False] Translation: X:26.41, Y:-1.93, Z:-0.78 [[ 9.99959922e-01 6.05097952e-03 -6.59855114e-03 2.64050446e+01] [-6.05628834e-03 9.99981353e-01 -7.84858276e-04 -1.93404245e+00] [ 6.59367894e-03 8.24789548e-04 9.99977921e-01 -7.75419909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324860624 meters 0.10651705466909873 Centerline is valid? [False, False] Translation: X:26.40, Y:-1.93, Z:-0.78 [[ 9.99963960e-01 5.64500826e-03 -6.34135429e-03 2.64042684e+01] [-5.65244519e-03 9.99983357e-01 -1.15545701e-03 -1.93326745e+00] [ 6.33472619e-03 1.19125952e-03 9.99979226e-01 -7.75183161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.354860624000004 meters 0.1077232514618699 Centerline is valid? [False, False] Translation: X:26.40, Y:-1.93, Z:-0.77 [[ 9.99968677e-01 5.14588745e-03 -6.01372701e-03 2.64033026e+01] [-5.15565403e-03 9.99985414e-01 -1.60967482e-03 -1.93234753e+00] [ 6.00535609e-03 1.64062910e-03 9.99980622e-01 -7.74892596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.384860624 meters 0.11053629034083179 Centerline is valid? [False, False] Translation: X:26.40, Y:-1.93, Z:-0.77 [[ 9.99972873e-01 4.67084883e-03 -5.69523549e-03 2.64024514e+01] [-4.68232922e-03 9.99987030e-01 -2.00412486e-03 -1.93125388e+00] [ 5.68580065e-03 2.03073746e-03 9.99981774e-01 -7.74752755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.414860624 meters 0.11265125641047195 Centerline is valid? [False, False] Translation: X:26.40, Y:-1.93, Z:-0.77 [[ 9.99974830e-01 4.40882596e-03 -5.55899047e-03 2.64020094e+01] [-4.42141075e-03 9.99987686e-01 -2.25360793e-03 -1.93060761e+00] [ 5.54898625e-03 2.27812979e-03 9.99982009e-01 -7.74613520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.444860624 meters 0.11355159516671691 Centerline is valid? [False, False] Translation: X:26.40, Y:-1.93, Z:-0.77 [[ 9.99976452e-01 4.18191743e-03 -5.44131949e-03 2.64016929e+01] [-4.19548420e-03 9.99988113e-01 -2.48426442e-03 -1.92993670e+00] [ 5.43086582e-03 2.50703489e-03 9.99982110e-01 -7.74558446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.474860624 meters 0.10603194456537071 Centerline is valid? [False, False] Translation: X:26.40, Y:-1.93, Z:-0.77 [[ 9.99978075e-01 3.87886438e-03 -5.36700110e-03 2.64014928e+01] [-3.89427503e-03 9.99988316e-01 -2.86390507e-03 -1.92867627e+00] [ 5.35582969e-03 2.88474286e-03 9.99981497e-01 -7.74545986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.504860624 meters 0.10954836600975203 Centerline is valid? [False, False] Translation: X:26.40, Y:-1.93, Z:-0.77 [[ 9.99977222e-01 3.86471708e-03 -5.53339790e-03 2.64020471e+01] [-3.88173736e-03 9.99987758e-01 -3.06848875e-03 -1.92753232e+00] [ 5.52147132e-03 3.08989805e-03 9.99979983e-01 -7.74766404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.534860624000004 meters 0.10692819003064376 Centerline is valid? [False, False] Translation: X:26.40, Y:-1.93, Z:-0.77 [[ 9.99976796e-01 3.71230808e-03 -5.71201154e-03 2.64023654e+01] [-3.73239699e-03 9.99986873e-01 -3.51032813e-03 -1.92615425e+00] [ 5.69890514e-03 3.53156617e-03 9.99977525e-01 -7.74611088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.564860624 meters 0.10841207404335623 Centerline is valid? [False, False] Translation: X:26.40, Y:-1.93, Z:-0.78 [[ 9.99974135e-01 3.91803685e-03 -6.03150224e-03 2.64034488e+01] [-3.93945023e-03 9.99985966e-01 -3.54247944e-03 -1.92520935e+00] [ 6.01753802e-03 3.56614861e-03 9.99975536e-01 -7.75092344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.594860624 meters 0.10527164803499693 Centerline is valid? [False, False] Translation: X:26.40, Y:-1.92, Z:-0.77 [[ 9.99970328e-01 3.92887258e-03 -6.62627954e-03 2.64047075e+01] [-3.95826108e-03 9.99982363e-01 -4.42787544e-03 -1.92205083e+00] [ 6.60876611e-03 4.45397260e-03 9.99968243e-01 -7.74956868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.624860624 meters 0.10333626108355438 Centerline is valid? [False, False] Translation: X:26.41, Y:-1.92, Z:-0.77 [[ 9.99967286e-01 4.00311206e-03 -7.02863734e-03 2.64056597e+01] [-4.03759271e-03 9.99979851e-01 -4.89841961e-03 -1.92022295e+00] [ 7.00888680e-03 4.92663814e-03 9.99963301e-01 -7.74970309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.654860624 meters 0.10033108339546186 Centerline is valid? [False, False] Translation: X:26.41, Y:-1.92, Z:-0.78 [[ 9.99959996e-01 4.50743610e-03 -7.72595599e-03 2.64076912e+01] [-4.54638841e-03 9.99977006e-01 -5.03161960e-03 -1.91869369e+00] [ 7.70309864e-03 5.06654351e-03 9.99957495e-01 -7.75514109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.684860624 meters 0.09814002447980785 Centerline is valid? [False, True] Translation: X:26.41, Y:-1.92, Z:-0.78 [[ 9.99933473e-01 8.47749556e-03 -7.82185624e-03 2.64079319e+01] [-8.49145407e-03 9.99962410e-01 -1.75307140e-03 -1.91554126e+00] [ 7.80670056e-03 1.81937371e-03 9.99967872e-01 -7.75380452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.714860624 meters 0.09614659362742757 Centerline is valid? [True, True] Translation: X:26.44, Y:-1.91, Z:-0.78 [[ 9.99909112e-01 1.08422315e-02 -8.01337569e-03 2.64381824e+01] [-1.08368854e-02 9.99941027e-01 7.10264446e-04 -1.91297277e+00] [ 8.02060397e-03 -6.23359857e-04 9.99967640e-01 -7.76228354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.744860624 meters 0.0976374902115991 Centerline is valid? [True, True] Translation: X:26.47, Y:-1.92, Z:-0.78 [[ 9.99890264e-01 1.26334485e-02 -7.73665274e-03 2.64671771e+01] [-1.26285227e-02 9.99920022e-01 6.85206438e-04 -1.91631946e+00] [ 7.74469050e-03 -5.87428751e-04 9.99969837e-01 -7.77516835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.774860624 meters 0.0976374902115991 Centerline is valid? [True, True] Translation: X:26.49, Y:-1.92, Z:-0.78 [[ 9.99891464e-01 1.25380029e-02 -7.73680979e-03 2.64946109e+01] [-1.25330879e-02 9.99921224e-01 6.83433305e-04 -1.91861376e+00] [ 7.74476921e-03 -5.86393011e-04 9.99969837e-01 -7.77971778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.804860624 meters 0.09246565797487397 Centerline is valid? [True, True] Translation: X:26.52, Y:-1.91, Z:-0.77 [[ 9.99886558e-01 1.32152075e-02 -7.22697011e-03 2.65248353e+01] [-1.32109345e-02 9.99912528e-01 6.38670427e-04 -1.91022110e+00] [ 7.23477812e-03 -5.43122946e-04 9.99973681e-01 -7.74516477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.834860624 meters 0.09819166611186382 Centerline is valid? [True, True] Translation: X:26.55, Y:-1.92, Z:-0.78 [[ 9.99917580e-01 1.13634918e-02 -5.97535796e-03 2.65522477e+01] [-1.13605405e-02 9.99935328e-01 5.27624074e-04 -1.92272168e+00] [ 5.98096718e-03 -4.59697290e-04 9.99982008e-01 -7.76068044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.864860624 meters 0.09986240366017354 Centerline is valid? [True, True] Translation: X:26.58, Y:-1.93, Z:-0.78 [[ 9.99935740e-01 8.71302652e-03 -7.25258016e-03 2.65818572e+01] [-8.70860317e-03 9.99961874e-01 6.41256847e-04 -1.92724529e+00] [ 7.25789093e-03 -5.78055797e-04 9.99973494e-01 -7.77413313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.894860624 meters 0.09875495818159678 Centerline is valid? [True, True] Translation: X:26.61, Y:-1.93, Z:-0.78 [[ 9.99958261e-01 3.32521164e-03 -8.50993339e-03 2.66118088e+01] [-3.31892906e-03 9.99994209e-01 7.52279636e-04 -1.92831729e+00] [ 8.51238560e-03 -7.24004371e-04 9.99963507e-01 -7.76664316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924860624000004 meters 0.10601973411560513 Centerline is valid? [True, False] Translation: X:26.61, Y:-1.93, Z:-0.78 [[ 9.99961111e-01 -8.00546512e-04 -8.78267512e-03 2.66125295e+01] [ 7.70681906e-04 9.99993912e-01 -3.40325731e-03 -1.92834048e+00] [ 8.78534611e-03 3.39635631e-03 9.99955640e-01 -7.76805466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.954860624 meters 0.10890845117554002 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.93, Z:-0.78 [[ 9.99967494e-01 -1.14474511e-03 -7.98131094e-03 2.66108350e+01] [ 1.12153555e-03 9.99995132e-01 -2.91185794e-03 -1.93031685e+00] [ 7.98460542e-03 2.90281197e-03 9.99963909e-01 -7.77070893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.984860624 meters 0.10619778884582806 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.93, Z:-0.78 [[ 9.99971943e-01 -1.11047811e-03 -7.40815184e-03 2.66099746e+01] [ 1.09584313e-03 9.99997441e-01 -1.97928999e-03 -1.93276760e+00] [ 7.41033084e-03 1.97111628e-03 9.99970600e-01 -7.77852536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.014860624 meters 0.109274870633686 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.94, Z:-0.78 [[ 9.99978050e-01 -1.61756158e-03 -6.42521903e-03 2.66078533e+01] [ 1.60886991e-03 9.99997784e-01 -1.35768043e-03 -1.93519054e+00] [ 6.42740092e-03 1.34731329e-03 9.99978436e-01 -7.77986399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.044860624 meters 0.11430866299651712 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.94, Z:-0.78 [[ 9.99980079e-01 -1.65985440e-03 -6.08994723e-03 2.66072196e+01] [ 1.65428620e-03 9.99998209e-01 -9.19249806e-04 -1.93637534e+00] [ 6.09146214e-03 9.09156977e-04 9.99981034e-01 -7.78245347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.074860624 meters 0.11397411146166858 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.94, Z:-0.78 [[ 9.99982779e-01 -1.75333158e-03 -5.60073861e-03 2.66062896e+01] [ 1.75131516e-03 9.99998400e-01 -3.64911253e-04 -1.93802751e+00] [ 5.60136946e-03 3.55096310e-04 9.99984249e-01 -7.78575347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104860624000004 meters 0.11753345895811639 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.94, Z:-0.78 [[ 9.99985820e-01 -1.51916462e-03 -5.10418903e-03 2.66057318e+01] [ 1.52289785e-03 9.99998576e-01 7.27596616e-04 -1.94081609e+00] [ 5.10307642e-03 -7.35359457e-04 9.99986709e-01 -7.79511632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.134860624 meters 0.11754801705539106 Centerline is valid? [False, False] Translation: X:26.60, Y:-1.95, Z:-0.78 [[ 9.99989036e-01 -2.34457535e-03 -4.05350221e-03 2.66030847e+01] [ 2.34979630e-03 9.99996415e-01 1.28372552e-03 -1.94559587e+00] [ 4.05047789e-03 -1.29323635e-03 9.99990961e-01 -7.79125309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.164860624 meters 0.12207491871528844 Centerline is valid? [False, False] Translation: X:26.60, Y:-1.95, Z:-0.78 [[ 9.99990690e-01 -2.20288470e-03 -3.71042064e-03 2.66024823e+01] [ 2.21016574e-03 9.99995638e-01 1.95936503e-03 -1.94768440e+00] [ 3.70608820e-03 -1.96754743e-03 9.99991197e-01 -7.79373155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.194860624 meters 0.12361217257930154 Centerline is valid? [False, False] Translation: X:26.60, Y:-1.95, Z:-0.78 [[ 9.99991206e-01 -2.56972378e-03 -3.31433524e-03 2.66010616e+01] [ 2.57603282e-03 9.99994876e-01 1.90070140e-03 -1.94862673e+00] [ 3.30943398e-03 -1.90922252e-03 9.99992701e-01 -7.78618355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.224860624 meters 0.12210185812256218 Centerline is valid? [False, False] Translation: X:26.60, Y:-1.95, Z:-0.78 [[ 9.99992774e-01 -2.58884432e-03 -2.78375030e-03 2.65999039e+01] [ 2.59624152e-03 9.99993100e-01 2.65695717e-03 -1.95130433e+00] [ 2.77685264e-03 -2.66416526e-03 9.99992596e-01 -7.78659438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.254860624 meters 0.12323465740650709 Centerline is valid? [False, False] Translation: X:26.60, Y:-1.95, Z:-0.78 [[ 9.99993467e-01 -2.42869712e-03 -2.67724615e-03 2.65996904e+01] [ 2.43693944e-03 9.99992288e-01 3.07970564e-03 -1.95283988e+00] [ 2.66974583e-03 -3.08620981e-03 9.99991674e-01 -7.78695384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284860624000004 meters 0.1271223419373056 Centerline is valid? [False, False] Translation: X:26.60, Y:-1.95, Z:-0.78 [[ 9.99994634e-01 -1.96212381e-03 -2.62327439e-03 2.66000525e+01] [ 1.97224723e-03 9.99990597e-01 3.86207618e-03 -1.95488486e+00] [ 2.61567185e-03 -3.86722920e-03 9.99989101e-01 -7.79346208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.314860624 meters 0.12331396066584033 Centerline is valid? [False, False] Translation: X:26.60, Y:-1.96, Z:-0.78 [[ 9.99995847e-01 -1.65401711e-03 -2.36009090e-03 2.65994489e+01] [ 1.66505692e-03 9.99987646e-01 4.68343002e-03 -1.95803701e+00] [ 2.35231527e-03 -4.68734025e-03 9.99986248e-01 -7.79325848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344860624 meters 0.13298671040724633 Centerline is valid? [False, False] Translation: X:26.60, Y:-1.96, Z:-0.78 [[ 9.99995980e-01 -1.46036532e-03 -2.43044193e-03 2.65994944e+01] [ 1.47225010e-03 9.99986934e-01 4.89538169e-03 -1.95913790e+00] [ 2.42326113e-03 -4.89894023e-03 9.99985064e-01 -7.79066901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.374860624 meters 0.12431092927080081 Centerline is valid? [False, False] Translation: X:26.60, Y:-1.96, Z:-0.78 [[ 9.99995963e-01 -1.25738094e-03 -2.54813772e-03 2.65997056e+01] [ 1.27035862e-03 9.99986199e-01 5.09780338e-03 -1.95991496e+00] [ 2.54169267e-03 -5.10101985e-03 9.99983760e-01 -7.78928051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.404860624 meters 0.1243791425506836 Centerline is valid? [False, False] Translation: X:26.60, Y:-1.96, Z:-0.78 [[ 9.99995741e-01 -1.12945866e-03 -2.69133136e-03 2.65998583e+01] [ 1.14333910e-03 9.99986026e-01 5.16151781e-03 -1.96044837e+00] [ 2.68546403e-03 -5.16457293e-03 9.99983058e-01 -7.78613982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.434860624 meters 0.12305601563152904 Centerline is valid? [False, False] Translation: X:26.60, Y:-1.96, Z:-0.78 [[ 9.99995513e-01 -5.57056511e-04 -2.94326319e-03 2.66005894e+01] [ 5.74262605e-04 9.99982734e-01 5.84831704e-03 -1.96241975e+00] [ 2.93995453e-03 -5.84998100e-03 9.99978567e-01 -7.78799195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464860624 meters 0.12953858733214635 Centerline is valid? [False, False] Translation: X:26.60, Y:-1.96, Z:-0.78 [[ 9.99995265e-01 -1.36949705e-04 -3.07418525e-03 2.66010148e+01] [ 1.56495054e-04 9.99979772e-01 6.35855548e-03 -1.96411279e+00] [ 3.07325226e-03 -6.35900647e-03 9.99975059e-01 -7.78907892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.494860624 meters 0.12704001125457418 Centerline is valid? [False, False] Translation: X:26.60, Y:-1.97, Z:-0.78 [[ 9.99994846e-01 1.50474976e-04 -3.20721013e-03 2.66012423e+01] [-1.29079800e-04 9.99977746e-01 6.67012497e-03 -1.96544747e+00] [ 3.20814244e-03 -6.66967661e-03 9.99972611e-01 -7.78728734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.524860624 meters 0.1238022038743638 Centerline is valid? [False, False] Translation: X:26.60, Y:-1.97, Z:-0.78 [[ 9.99993182e-01 7.27951909e-04 -3.62011337e-03 2.66020402e+01] [-7.01952064e-04 9.99973990e-01 7.17814457e-03 -1.96735495e+00] [ 3.62524456e-03 -7.17555449e-03 9.99967684e-01 -7.78435905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.554860624 meters 0.12594993715955866 Centerline is valid? [False, False] Translation: X:26.60, Y:-1.97, Z:-0.78 [[ 9.99992336e-01 8.26285212e-04 -3.82677610e-03 2.66022810e+01] [-7.98866929e-04 9.99974042e-01 7.16084650e-03 -1.96758214e+00] [ 3.83259366e-03 -7.15773454e-03 9.99967038e-01 -7.78073512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584860624 meters 0.11828096423533604 Centerline is valid? [False, False] Translation: X:26.60, Y:-1.97, Z:-0.78 [[ 9.99990222e-01 1.17655316e-03 -4.26280947e-03 2.66027697e+01] [-1.14522721e-03 9.99972379e-01 7.34366591e-03 -1.96870091e+00] [ 4.27133194e-03 -7.33871222e-03 9.99963949e-01 -7.77303630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.614860624 meters 0.11864858863204035 Centerline is valid? [False, False] Translation: X:26.60, Y:-1.97, Z:-0.78 [[ 9.99989388e-01 1.42220720e-03 -4.38183835e-03 2.66028476e+01] [-1.38883272e-03 9.99970078e-01 7.61019717e-03 -1.97000140e+00] [ 4.39253051e-03 -7.60403077e-03 9.99961441e-01 -7.76968929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.644860624 meters 0.11184825613335557 Centerline is valid? [False, False] Translation: X:26.60, Y:-1.97, Z:-0.78 [[ 9.99982838e-01 -2.37723247e-03 -5.35469695e-03 2.66045062e+01] [ 2.39417338e-03 9.99992143e-01 3.15956287e-03 -1.96970692e+00] [ 5.34714386e-03 -3.17232871e-03 9.99980672e-01 -7.76207116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.674860624000004 meters 0.12358278526747918 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.97, Z:-0.78 [[ 9.99983242e-01 -1.43871386e-03 -5.60769003e-03 2.66053574e+01] [ 1.46348428e-03 9.99989180e-01 4.41562579e-03 -1.97348425e+00] [ 5.60127653e-03 -4.42375856e-03 9.99974528e-01 -7.76524697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.704860624 meters 0.11357316106820729 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.97, Z:-0.78 [[ 9.99982991e-01 -1.09676955e-03 -5.72837433e-03 2.66058338e+01] [ 1.12463908e-03 9.99987537e-01 4.86421997e-03 -1.97465252e+00] [ 5.72296801e-03 -4.87057958e-03 9.99971762e-01 -7.76773308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.734860624 meters 0.10836309656534937 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.98, Z:-0.78 [[ 9.99981820e-01 -4.33255250e-04 -6.01426816e-03 2.66068255e+01] [ 4.67262893e-04 9.99983905e-01 5.65424086e-03 -1.97675045e+00] [ 6.01172163e-03 -5.65694831e-03 9.99965928e-01 -7.77187150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.764860624 meters 0.11035305824895451 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.98, Z:-0.78 [[ 9.99980955e-01 -1.45798575e-04 -6.16999092e-03 2.66071829e+01] [ 1.82661470e-04 9.99982136e-01 5.97440441e-03 -1.97783950e+00] [ 6.16900964e-03 -5.97541765e-03 9.99963118e-01 -7.77149916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.794860624 meters 0.1069237629459765 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.98, Z:-0.78 [[ 9.99979719e-01 3.06640161e-04 -6.36147492e-03 2.66077319e+01] [-2.65121041e-04 9.99978667e-01 6.52646703e-03 -1.97949495e+00] [ 6.36334049e-03 -6.52464810e-03 9.99958468e-01 -7.77277696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824860624 meters 0.11100186814507965 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.98, Z:-0.78 [[ 9.99979143e-01 6.26946383e-04 -6.42812004e-03 2.66079088e+01] [-5.82096951e-04 9.99975494e-01 6.97656677e-03 -1.98103492e+00] [ 6.43233645e-03 -6.97267947e-03 9.99955002e-01 -7.77266511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.854860624000004 meters 0.11093829963850496 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.98, Z:-0.78 [[ 9.99978342e-01 9.67292141e-04 -6.51001358e-03 2.66081881e+01] [-9.18834217e-04 9.99971882e-01 7.44247693e-03 -1.98249172e+00] [ 6.51702958e-03 -7.43633412e-03 9.99951113e-01 -7.77346745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.884860624 meters 0.10622486751083983 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.98, Z:-0.78 [[ 9.99968993e-01 -2.59246495e-03 -7.43590673e-03 2.66098899e+01] [ 2.61837369e-03 9.99990528e-01 3.47665826e-03 -1.98322408e+00] [ 7.42682319e-03 -3.49602044e-03 9.99966310e-01 -7.76834146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.914860624 meters 0.11032584894219703 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.98, Z:-0.78 [[ 9.99969060e-01 -2.39638468e-03 -7.49244641e-03 2.66100391e+01] [ 2.42465901e-03 9.99989966e-01 3.76690802e-03 -1.98413793e+00] [ 7.48334427e-03 -3.78495810e-03 9.99964836e-01 -7.76852495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.944860624 meters 0.10401191327975849 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.98, Z:-0.78 [[ 9.99969272e-01 -2.26290684e-03 -7.50564235e-03 2.66100751e+01] [ 2.29282086e-03 9.99989454e-01 3.97932981e-03 -1.98498791e+00] [ 7.49655834e-03 -3.99641663e-03 9.99963914e-01 -7.76817007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.974860624 meters 0.11218847784520784 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.99, Z:-0.78 [[ 9.99969447e-01 -1.77696929e-03 -7.61227190e-03 2.66105346e+01] [ 1.81237761e-03 9.99987560e-01 4.64710822e-03 -1.98694858e+00] [ 7.60391943e-03 -4.66076254e-03 9.99960228e-01 -7.77056381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.004860624 meters 0.1065810363189521 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.99, Z:-0.78 [[ 9.99969708e-01 -1.61252807e-03 -7.61462222e-03 2.66106227e+01] [ 1.64973693e-03 9.99986718e-01 4.88275004e-03 -1.98774447e+00] [ 7.60664751e-03 -4.89516425e-03 9.99959087e-01 -7.77135691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.034860624000004 meters 0.10732119820483416 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.99, Z:-0.78 [[ 9.99949820e-01 -4.94038437e-03 -8.71493760e-03 2.66134412e+01] [ 4.94918314e-03 9.99987264e-01 9.88342056e-04 -1.98714327e+00] [ 8.70994382e-03 -1.03142428e-03 9.99961536e-01 -7.77761477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.064860624 meters 0.10101459016629744 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.99, Z:-0.78 [[ 9.99950068e-01 -4.82215674e-03 -8.75263386e-03 2.66135059e+01] [ 4.83238496e-03 9.99987665e-01 1.14781542e-03 -1.98777664e+00] [ 8.74699095e-03 -1.19005420e-03 9.99961036e-01 -7.77714121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.094860624 meters 0.10002695265779843 Centerline is valid? [False, False] Translation: X:26.61, Y:-1.99, Z:-0.78 [[ 9.99950858e-01 -4.38880594e-03 -8.88928850e-03 2.66140725e+01] [ 4.40349053e-03 9.99988971e-01 1.63304402e-03 -1.98890691e+00] [ 8.88202335e-03 -1.67210767e-03 9.99959156e-01 -7.78013246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.124860624 meters 0.0998575646041802 Centerline is valid? [False, True] Translation: X:26.61, Y:-1.99, Z:-0.78 [[ 9.99951091e-01 -4.43419943e-03 -8.84040086e-03 2.66138881e+01] [ 4.44850837e-03 9.99988826e-01 1.59957854e-03 -1.98892618e+00] [ 8.83320923e-03 -1.63882690e-03 9.99959644e-01 -7.77901944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.154860624 meters 0.0994166240232136 Centerline is valid? [True, True] Translation: X:26.64, Y:-1.99, Z:-0.78 [[ 9.99962636e-01 -2.41823874e-03 -8.29934256e-03 2.66432925e+01] [ 2.42463342e-03 9.99996771e-01 7.60529382e-04 -1.99150202e+00] [ 8.29747663e-03 -7.80623829e-04 9.99965271e-01 -7.77979617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.184860624 meters 0.09849479874546338 Centerline is valid? [True, True] Translation: X:26.67, Y:-1.99, Z:-0.78 [[ 9.99971644e-01 -1.18065355e-03 -7.43758380e-03 2.66733132e+01] [ 1.18575158e-03 9.99999065e-01 6.81068620e-04 -1.99359750e+00] [ 7.43677274e-03 -6.89868434e-04 9.99972109e-01 -7.78123479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.214860624 meters 0.09893603273183185 Centerline is valid? [True, True] Translation: X:26.70, Y:-2.00, Z:-0.78 [[ 9.99979451e-01 2.14017620e-04 -6.40709351e-03 2.67015902e+01] [-2.10265966e-04 9.99999806e-01 5.86214954e-04 -1.99825754e+00] [ 6.40721773e-03 -5.84855714e-04 9.99979303e-01 -7.79073070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.244860624 meters 0.09833506977870436 Centerline is valid? [True, True] Translation: X:26.73, Y:-2.00, Z:-0.78 [[ 9.99982064e-01 1.48691015e-03 -5.80187169e-03 2.67316783e+01] [-1.48385330e-03 9.99998758e-01 5.31142257e-04 -2.00113487e+00] [ 5.80265425e-03 -5.22523604e-04 9.99983028e-01 -7.78757185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.274860624 meters 0.09887625189816034 Centerline is valid? [True, True] Translation: X:26.76, Y:-2.01, Z:-0.78 [[ 9.99985358e-01 1.73556401e-03 -5.12553353e-03 2.67588456e+01] [-1.73318837e-03 9.99998389e-01 4.67895977e-04 -2.00509816e+00] [ 5.12633734e-03 -4.59005611e-04 9.99986755e-01 -7.79907640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.304860624 meters 0.09978897341266497 Centerline is valid? [True, True] Translation: X:26.79, Y:-2.01, Z:-0.78 [[ 9.99987399e-01 1.76789348e-03 -4.69850057e-03 2.67871963e+01] [-1.76589829e-03 9.99998349e-01 4.28759492e-04 -2.00990502e+00] [ 4.69925082e-03 -4.20457016e-04 9.99988870e-01 -7.80344939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.334860624 meters 0.09473780462279391 Centerline is valid? [True, True] Translation: X:26.82, Y:-2.00, Z:-0.78 [[ 9.99986335e-01 1.14210569e-03 -5.10153725e-03 2.68169029e+01] [-1.13974705e-03 9.99999242e-01 4.65221991e-04 -2.00450571e+00] [ 5.10206471e-03 -4.59401171e-04 9.99986879e-01 -7.79174540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.364860624 meters 0.09738200516488636 Centerline is valid? [True, True] Translation: X:26.84, Y:-2.01, Z:-0.78 [[ 9.99986610e-01 -3.34347947e-04 -5.16406802e-03 2.68445916e+01] [ 3.36784267e-04 9.99999832e-01 4.70920587e-04 -2.01431162e+00] [ 5.16390970e-03 -4.72653458e-04 9.99986555e-01 -7.81419627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.394860624 meters 0.09767794918419832 Centerline is valid? [True, True] Translation: X:26.87, Y:-2.02, Z:-0.78 [[ 9.99984219e-01 -1.43112743e-03 -5.43260362e-03 2.68734212e+01] [ 1.43383859e-03 9.99998849e-01 4.95191578e-04 -2.01845652e+00] [ 5.43188869e-03 -5.02973240e-04 9.99985121e-01 -7.82158109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424860624000004 meters 0.09728482350411541 Centerline is valid? [True, True] Translation: X:26.90, Y:-2.02, Z:-0.78 [[ 9.99984931e-01 -2.24324227e-03 -5.01055259e-03 2.69024307e+01] [ 2.24555709e-03 9.99997375e-01 4.56410544e-04 -2.02137516e+00] [ 5.00951559e-03 -4.67655149e-04 9.99987343e-01 -7.82831420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.454860624 meters 0.09931192601548608 Centerline is valid? [True, True] Translation: X:26.93, Y:-2.03, Z:-0.78 [[ 9.99974253e-01 -5.27194328e-03 -4.86819696e-03 2.69318056e+01] [ 5.27416575e-03 9.99985993e-01 4.43802327e-04 -2.02932089e+00] [ 4.86578907e-03 -4.69466578e-04 9.99988052e-01 -7.83132729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.484860624 meters 0.10191327154171427 Centerline is valid? [True, False] Translation: X:26.93, Y:-2.03, Z:-0.78 [[ 9.99975878e-01 -5.18250100e-03 -4.62440301e-03 2.69313731e+01] [ 5.18673137e-03 9.99986141e-01 9.03271240e-04 -2.03084637e+00] [ 4.61965771e-03 -9.27234988e-04 9.99988899e-01 -7.83257744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.514860624 meters 0.10206297118562607 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.03, Z:-0.78 [[ 9.99977795e-01 -5.05912837e-03 -4.33748679e-03 2.69308219e+01] [ 5.06557978e-03 9.99986078e-01 1.47766578e-03 -2.03279309e+00] [ 4.32995070e-03 -1.49960486e-03 9.99989501e-01 -7.83344250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.544860624 meters 0.102080568004121 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.04, Z:-0.78 [[ 9.99980183e-01 -4.78262212e-03 -4.09392949e-03 2.69305768e+01] [ 4.79172369e-03 9.99986064e-01 2.21627187e-03 -2.03506693e+00] [ 4.08327284e-03 -2.23584492e-03 9.99989164e-01 -7.83681784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.574860624 meters 0.10823676928475015 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.04, Z:-0.78 [[ 9.99954116e-01 -8.69478032e-03 -4.02074629e-03 2.69306884e+01] [ 8.68985969e-03 9.99961474e-01 -1.23966562e-03 -2.03727582e+00] [ 4.03137001e-03 1.20466902e-03 9.99991148e-01 -7.83968019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604860624000004 meters 0.10737797448879505 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.04, Z:-0.78 [[ 9.99954899e-01 -8.73710126e-03 -3.72334415e-03 2.69299679e+01] [ 8.73392729e-03 9.99961482e-01 -8.67859006e-04 -2.03872327e+00] [ 3.73078331e-03 8.35300447e-04 9.99992692e-01 -7.83865841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.634860624 meters 0.11213287540605002 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.04, Z:-0.78 [[ 9.99957780e-01 -8.44737767e-03 -3.61663528e-03 2.69300144e+01] [ 8.44674284e-03 9.99964307e-01 -1.90769086e-04 -2.04045331e+00] [ 3.61811769e-03 1.60212244e-04 9.99993442e-01 -7.84260297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.664860624 meters 0.12045553878042792 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.04, Z:-0.78 [[ 9.99962048e-01 -8.10028547e-03 -3.20749925e-03 2.69296323e+01] [ 8.10329705e-03 9.99966738e-01 9.27039375e-04 -2.04364451e+00] [ 3.19988328e-03 -9.52995511e-04 9.99994426e-01 -7.84964851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.694860624 meters 0.12045553878042792 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.04, Z:-0.78 [[ 9.99962048e-01 -8.10028547e-03 -3.20749925e-03 2.69296323e+01] [ 8.10329705e-03 9.99966738e-01 9.27039375e-04 -2.04364451e+00] [ 3.19988328e-03 -9.52995511e-04 9.99994426e-01 -7.84964851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.724860624 meters 0.10834222184718151 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.05, Z:-0.79 [[ 9.99965764e-01 -7.67646440e-03 -3.08921439e-03 2.69298423e+01] [ 7.68182657e-03 9.99969002e-01 1.72766530e-03 -2.04565891e+00] [ 3.07585627e-03 -1.75133696e-03 9.99993736e-01 -7.85625802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.754860624 meters 0.11103940084449639 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.05, Z:-0.79 [[ 9.99969625e-01 -7.15343115e-03 -3.09479557e-03 2.69303392e+01] [ 7.16141401e-03 9.99971039e-01 2.57610029e-03 -2.04771107e+00] [ 3.07627798e-03 -2.59818515e-03 9.99991893e-01 -7.86286126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.784860624000004 meters 0.11254296614706658 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.05, Z:-0.79 [[ 9.99972571e-01 -6.81670162e-03 -2.89662036e-03 2.69300209e+01] [ 6.82641815e-03 9.99971062e-01 3.35789419e-03 -2.05034398e+00] [ 2.87364678e-03 -3.37757563e-03 9.99990167e-01 -7.86361240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.814860624 meters 0.1114020848659428 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.05, Z:-0.79 [[ 9.99973454e-01 -6.67357301e-03 -2.92477834e-03 2.69299802e+01] [ 6.68398900e-03 9.99971303e-01 3.56610610e-03 -2.05128441e+00] [ 2.90089574e-03 -3.58556062e-03 9.99989364e-01 -7.86147012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.844860624 meters 0.11301395432124893 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.05, Z:-0.79 [[ 9.99975683e-01 -6.33491333e-03 -2.91592166e-03 2.69301276e+01] [ 6.34683797e-03 9.99971459e-01 4.09856618e-03 -2.05288611e+00] [ 2.88987437e-03 -4.11697339e-03 9.99987349e-01 -7.86317215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.874860624 meters 0.11084823708394603 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.06, Z:-0.79 [[ 9.99978960e-01 -5.76922073e-03 -2.96565964e-03 2.69302284e+01] [ 5.78399635e-03 9.99970782e-01 4.99804076e-03 -2.05602471e+00] [ 2.93673819e-03 -5.01508897e-03 9.99983112e-01 -7.86197727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.904860624 meters 0.11274117006080425 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.06, Z:-0.79 [[ 9.99980254e-01 -5.54223983e-03 -2.96229891e-03 2.69302631e+01] [ 5.55816278e-03 9.99970004e-01 5.39427199e-03 -2.05735365e+00] [ 2.93231370e-03 -5.41063041e-03 9.99981063e-01 -7.86219272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.934860624 meters 0.11151299570691675 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.06, Z:-0.79 [[ 9.99982051e-01 -5.16958169e-03 -3.02879276e-03 2.69304922e+01] [ 5.18753190e-03 9.99968849e-01 5.94894901e-03 -2.05909240e+00] [ 2.99794483e-03 -5.96455419e-03 9.99977718e-01 -7.86276885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964860624 meters 0.1153059788275207 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.06, Z:-0.79 [[ 9.99985119e-01 -4.62981696e-03 -2.88553243e-03 2.69301486e+01] [ 4.64985375e-03 9.99964854e-01 6.97629040e-03 -2.06300410e+00] [ 2.85313207e-03 -6.98960389e-03 9.99971502e-01 -7.86078881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.994860624 meters 0.11290513412392374 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.07, Z:-0.79 [[ 9.99987011e-01 -4.19800634e-03 -2.89027436e-03 2.69302863e+01] [ 4.22011148e-03 9.99961565e-01 7.68497198e-03 -2.06518059e+00] [ 2.85790171e-03 -7.69706945e-03 9.99966293e-01 -7.86207717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.024860624 meters 0.10594022889629029 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.07, Z:-0.79 [[ 9.99965618e-01 -7.36296185e-03 -3.81444891e-03 2.69323219e+01] [ 7.37983479e-03 9.99962963e-01 4.42840048e-03 -2.06720981e+00] [ 3.78170149e-03 -4.45639822e-03 9.99982919e-01 -7.86269078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.054860624 meters 0.10701128300434187 Centerline is valid? [False, False] Translation: X:26.92, Y:-2.07, Z:-0.79 [[ 9.99990995e-01 -2.06585716e-03 3.70705540e-03 2.69224868e+01] [ 2.05914560e-03 9.99996236e-01 1.81338798e-03 -2.06991204e+00] [-3.71078765e-03 -1.80573828e-03 9.99991485e-01 -7.90655556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.084860624 meters 0.10567810558613021 Centerline is valid? [False, False] Translation: X:26.92, Y:-2.07, Z:-0.79 [[ 9.99992519e-01 -1.59532425e-03 3.52369550e-03 2.69230056e+01] [ 1.58671910e-03 9.99995756e-01 2.44352632e-03 -2.07165557e+00] [-3.52757876e-03 -2.43791692e-03 9.99990806e-01 -7.90808735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.114860624 meters 0.10364462096080321 Centerline is valid? [False, False] Translation: X:26.92, Y:-2.07, Z:-0.79 [[ 9.99993165e-01 -1.35433716e-03 3.44030565e-03 2.69231320e+01] [ 1.34470095e-03 9.99995171e-01 2.80174385e-03 -2.07294160e+00] [-3.44408355e-03 -2.79709852e-03 9.99990157e-01 -7.90729007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144860624 meters 0.1073863684847409 Centerline is valid? [False, False] Translation: X:26.92, Y:-2.08, Z:-0.79 [[ 9.99994958e-01 -6.18706629e-04 3.11482003e-03 2.69241799e+01] [ 6.07229968e-04 9.99993029e-01 3.68413270e-03 -2.07524262e+00] [-3.11707772e-03 -3.68222271e-03 9.99988362e-01 -7.91187513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.174860624000004 meters 0.10324364722778459 Centerline is valid? [False, False] Translation: X:26.92, Y:-2.08, Z:-0.79 [[ 9.99995584e-01 -4.71905615e-04 2.93414445e-03 2.69244519e+01] [ 4.60803107e-04 9.99992737e-01 3.78342479e-03 -2.07576886e+00] [-2.93590856e-03 -3.78205602e-03 9.99988538e-01 -7.90996360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.204860624 meters 0.1014558548286734 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.08, Z:-0.79 [[ 9.99996434e-01 -1.75600076e-04 2.66462140e-03 2.69251112e+01] [ 1.64932817e-04 9.99991974e-01 4.00298429e-03 -2.07637954e+00] [-2.66530294e-03 -4.00253054e-03 9.99988438e-01 -7.91078211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.234860624 meters 0.10574496352805562 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.08, Z:-0.79 [[ 9.99997087e-01 1.83936686e-04 2.40683873e-03 2.69255585e+01] [-1.94362655e-04 9.99990597e-01 4.33229390e-03 -2.07760379e+00] [-2.40601923e-03 -4.33274908e-03 9.99987719e-01 -7.90891839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.264860624 meters 0.10440681297748748 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.08, Z:-0.79 [[ 9.99997339e-01 2.80925574e-04 2.28978209e-03 2.69257055e+01] [-2.90986361e-04 9.99990301e-01 4.39462659e-03 -2.07803305e+00] [-2.28852532e-03 -4.39528119e-03 9.99987722e-01 -7.90712740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.294860624 meters 0.10146872200044887 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.08, Z:-0.79 [[ 9.99997653e-01 4.74048350e-04 2.11399625e-03 2.69258229e+01] [-4.83598736e-04 9.99989670e-01 4.51947236e-03 -2.07888325e+00] [-2.11183197e-03 -4.52048408e-03 9.99987553e-01 -7.90290949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.324860624 meters 0.10233133192557213 Centerline is valid? [False, False] Translation: X:26.93, Y:-2.08, Z:-0.79 [[ 9.99997892e-01 6.00102172e-04 1.96351654e-03 2.69260338e+01] [-6.09138596e-04 9.99989212e-01 4.60480670e-03 -2.07925633e+00] [-1.96073200e-03 -4.60599305e-03 9.99987470e-01 -7.90100915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.354860624000004 meters 0.09859781632329373 Centerline is valid? [False, True] Translation: X:26.93, Y:-2.08, Z:-0.79 [[ 9.99998020e-01 6.05052725e-04 1.89582697e-03 2.69260796e+01] [-6.13696899e-04 9.99989404e-01 4.56232052e-03 -2.07934163e+00] [-1.89304643e-03 -4.56347495e-03 9.99987795e-01 -7.89946821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.384860624 meters 0.09910701017388551 Centerline is valid? [True, True] Translation: X:26.96, Y:-2.08, Z:-0.79 [[ 9.99998918e-01 1.29264571e-03 7.02538399e-04 2.69570418e+01] [-1.29259364e-03 9.99999162e-01 -7.45598267e-05 -2.08155277e+00] [-7.02634190e-04 7.36516493e-05 9.99999750e-01 -7.89163311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.414860624 meters 0.10005557434487199 Centerline is valid? [True, False] Translation: X:26.96, Y:-2.08, Z:-0.79 [[ 9.99998510e-01 1.61247141e-03 6.16863227e-04 2.69575818e+01] [-1.61269250e-03 9.99998635e-01 3.58085240e-04 -2.08228261e+00] [-6.16284983e-04 -3.59079517e-04 9.99999746e-01 -7.89674145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.444860624 meters 0.0998698108961438 Centerline is valid? [False, True] Translation: X:26.96, Y:-2.08, Z:-0.79 [[ 9.99998199e-01 1.79799752e-03 6.07701055e-04 2.69575687e+01] [-1.79837738e-03 9.99998188e-01 6.25110765e-04 -2.08341268e+00] [-6.06576006e-04 -6.26202515e-04 9.99999620e-01 -7.89589328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.474860624 meters 0.10072209269782244 Centerline is valid? [True, False] Translation: X:26.96, Y:-2.08, Z:-0.79 [[ 9.99998271e-01 1.74690989e-03 6.37981776e-04 2.69574896e+01] [-1.74727044e-03 9.99998314e-01 5.65020988e-04 -2.08343911e+00] [-6.36993660e-04 -5.66134737e-04 9.99999637e-01 -7.89546808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.504860624 meters 0.09992839867157244 Centerline is valid? [False, True] Translation: X:26.96, Y:-2.08, Z:-0.79 [[ 9.99998189e-01 1.83970516e-03 4.86674906e-04 2.69577210e+01] [-1.83998821e-03 9.99998138e-01 5.81788838e-04 -2.08365428e+00] [-4.85603680e-04 -5.82683260e-04 9.99999712e-01 -7.89376034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.534860624000004 meters 0.09641036782696497 Centerline is valid? [True, True] Translation: X:26.99, Y:-2.08, Z:-0.79 [[ 9.99994530e-01 2.94638134e-03 1.50310268e-03 2.69881884e+01] [-2.94614612e-03 9.99995648e-01 -1.58682296e-04 -2.08042257e+00] [-1.50356368e-03 1.54253067e-04 9.99998858e-01 -7.88389753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.564860624 meters 0.10028762272295447 Centerline is valid? [True, False] Translation: X:26.99, Y:-2.08, Z:-0.79 [[ 9.99994929e-01 2.83766617e-03 1.44537358e-03 2.69881339e+01] [-2.83710287e-03 9.99995899e-01 -3.91624608e-04 -2.08003151e+00] [-1.44647896e-03 3.87521949e-04 9.99998879e-01 -7.88116020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.594860624 meters 0.09836891914831787 Centerline is valid? [False, True] Translation: X:26.99, Y:-2.08, Z:-0.79 [[ 9.99994662e-01 2.99468059e-03 1.30654804e-03 2.69883830e+01] [-2.99434903e-03 9.99995484e-01 -2.55650019e-04 -2.08055564e+00] [-1.30730773e-03 2.51736393e-04 9.99999114e-01 -7.88006384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.624860624 meters 0.09679707360367111 Centerline is valid? [True, True] Translation: X:27.02, Y:-2.08, Z:-0.79 [[ 9.99994773e-01 3.16379894e-03 6.66649120e-04 2.70177548e+01] [-3.16375305e-03 9.99994993e-01 -6.98781533e-05 -2.08104366e+00] [-6.66866862e-04 6.77686749e-05 9.99999775e-01 -7.88662942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.654860624 meters 0.09879103897669024 Centerline is valid? [True, True] Translation: X:27.05, Y:-2.09, Z:-0.79 [[ 9.99993222e-01 3.60148776e-03 7.64975439e-04 2.70467371e+01] [-3.60142845e-03 9.99993512e-01 -7.88931523e-05 -2.08853191e+00] [-7.65254608e-04 7.61376132e-05 9.99999704e-01 -7.90915866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.684860624 meters 0.09743216859005022 Centerline is valid? [True, True] Translation: X:27.08, Y:-2.09, Z:-0.79 [[ 9.99996336e-01 2.70629399e-03 6.86805110e-05 2.70762851e+01] [-2.70629346e-03 9.99996338e-01 -7.78792200e-06 -2.08919308e+00] [-6.87013359e-05 7.60202385e-06 9.99999998e-01 -7.91796791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.714860624 meters 0.09771804192901974 Centerline is valid? [True, True] Translation: X:27.11, Y:-2.09, Z:-0.79 [[ 9.99995031e-01 3.12294737e-03 4.30393346e-04 2.71054378e+01] [-3.12292829e-03 9.99995123e-01 -4.50060157e-05 -2.09287425e+00] [-4.30531798e-04 4.36617045e-05 9.99999906e-01 -7.91897905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.744860624 meters 0.09362847749359539 Centerline is valid? [True, True] Translation: X:27.14, Y:-2.09, Z:-0.79 [[ 9.99994529e-01 3.30783876e-03 -1.00435007e-05 2.71358132e+01] [-3.30783876e-03 9.99994529e-01 3.70515382e-07 -2.08857439e+00] [ 1.00446714e-05 -3.37291074e-07 1.00000000e+00 -7.91755386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.774860624 meters 0.0953292148959097 Centerline is valid? [True, True] Translation: X:27.17, Y:-2.10, Z:-0.79 [[ 9.99996226e-01 2.47093628e-03 1.20097056e-03 2.71651956e+01] [-2.47078798e-03 9.99996940e-01 -1.24946735e-04 -2.09573430e+00] [-1.20127562e-03 1.21978920e-04 9.99999271e-01 -7.92756172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.804860624 meters 0.09607460622432085 Centerline is valid? [True, True] Translation: X:27.20, Y:-2.10, Z:-0.79 [[ 9.99996925e-01 2.12327006e-03 1.28135997e-03 2.71955543e+01] [-2.12310142e-03 9.99997737e-01 -1.32953956e-04 -2.10093951e+00] [-1.28163937e-03 1.30233090e-04 9.99999170e-01 -7.93444756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.834860624 meters 0.09973312995482768 Centerline is valid? [True, True] Translation: X:27.22, Y:-2.11, Z:-0.80 [[ 9.99998198e-01 1.74154503e-03 7.55771259e-04 2.72242156e+01] [-1.74148633e-03 9.99998481e-01 -7.83297696e-05 -2.11066555e+00] [-7.55906525e-04 7.70134631e-05 9.99999711e-01 -7.95469412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.864860624 meters 0.097141929203503 Centerline is valid? [True, True] Translation: X:27.25, Y:-2.11, Z:-0.80 [[ 9.99998749e-01 1.58150256e-03 3.67402765e-05 2.72547365e+01] [-1.58150242e-03 9.99998749e-01 -3.81234181e-06 -2.10953351e+00] [-3.67462598e-05 3.75423221e-06 9.99999999e-01 -7.95983136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.894860624 meters 0.09840101049534522 Centerline is valid? [True, True] Translation: X:27.28, Y:-2.12, Z:-0.80 [[ 9.99998819e-01 -1.00211885e-07 -1.53709260e-03 2.72829370e+01] [ 3.45148403e-07 9.99999987e-01 1.59350264e-04 -2.11538814e+00] [ 1.53709257e-03 -1.59350606e-04 9.99998806e-01 -7.97324841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924860624000004 meters 0.0973520565245631 Centerline is valid? [True, True] Translation: X:27.31, Y:-2.12, Z:-0.80 [[ 9.99997705e-01 -1.08518721e-03 -1.84718290e-03 2.73124693e+01] [ 1.08554173e-03 9.99999393e-01 1.90933276e-04 -2.11657064e+00] [ 1.84697458e-03 -1.92938032e-04 9.99998276e-01 -7.98435540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.954860624 meters 0.10424211100734775 Centerline is valid? [True, False] Translation: X:27.31, Y:-2.12, Z:-0.80 [[ 9.99998274e-01 -6.91861026e-04 -1.72418386e-03 2.73125313e+01] [ 6.93565166e-04 9.99999271e-01 9.87973222e-04 -2.11861562e+00] [ 1.72349906e-03 -9.89167351e-04 9.99998026e-01 -7.98855890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.984860624 meters 0.10469528430367243 Centerline is valid? [False, False] Translation: X:27.31, Y:-2.12, Z:-0.80 [[ 9.99998285e-01 -7.83837039e-04 -1.67781643e-03 2.73121395e+01] [ 7.85425918e-04 9.99999244e-01 9.46543217e-04 -2.11900720e+00] [ 1.67707323e-03 -9.47859394e-04 9.99998144e-01 -7.98416447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.014860624 meters 0.09830105095662986 Centerline is valid? [False, True] Translation: X:27.31, Y:-2.12, Z:-0.80 [[ 9.99998381e-01 -6.13703143e-04 -1.69156446e-03 2.73123228e+01] [ 6.15803604e-04 9.99999040e-01 1.24148603e-03 -2.11952870e+00] [ 1.69080094e-03 -1.24252569e-03 9.99997799e-01 -7.98635340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.044860624 meters 0.09802505145969038 Centerline is valid? [True, True] Translation: X:27.34, Y:-2.12, Z:-0.80 [[ 9.99995390e-01 -1.84152642e-03 -2.41445045e-03 2.73422670e+01] [ 1.84215848e-03 9.99998270e-01 2.59585717e-04 -2.12270625e+00] [ 2.41396823e-03 -2.64032321e-04 9.99997052e-01 -7.98301442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.074860624 meters 0.10164400074544051 Centerline is valid? [True, False] Translation: X:27.34, Y:-2.12, Z:-0.80 [[ 9.99995870e-01 -1.64602066e-03 -2.35583521e-03 2.73422998e+01] [ 1.64755029e-03 9.99998433e-01 6.47501773e-04 -2.12379015e+00] [ 2.35476572e-03 -6.51380456e-04 9.99997015e-01 -7.98529248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104860624000004 meters 0.10260552149285501 Centerline is valid? [False, False] Translation: X:27.34, Y:-2.12, Z:-0.80 [[ 9.99996363e-01 -1.47681526e-03 -2.25668545e-03 2.73423496e+01] [ 1.47910035e-03 9.99998395e-01 1.01124974e-03 -2.12465454e+00] [ 2.25518840e-03 -1.01458392e-03 9.99996942e-01 -7.98883442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.134860624 meters 0.10216521864902278 Centerline is valid? [False, False] Translation: X:27.34, Y:-2.13, Z:-0.80 [[ 9.99996695e-01 -1.34947218e-03 -2.18821789e-03 2.73422966e+01] [ 1.35237359e-03 9.99998208e-01 1.32498441e-03 -2.12565963e+00] [ 2.18642594e-03 -1.32793931e-03 9.99996728e-01 -7.98993338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.164860624 meters 0.1053661826628075 Centerline is valid? [False, False] Translation: X:27.34, Y:-2.13, Z:-0.80 [[ 9.99997108e-01 -1.00200382e-03 -2.18636927e-03 2.73426591e+01] [ 1.00612483e-03 9.99997718e-01 1.88457886e-03 -2.12685046e+00] [ 2.18447593e-03 -1.88677317e-03 9.99995834e-01 -7.99500780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.194860624 meters 0.10612706649462608 Centerline is valid? [False, False] Translation: X:27.34, Y:-2.13, Z:-0.80 [[ 9.99997322e-01 -9.31329894e-04 -2.11860634e-03 2.73425638e+01] [ 9.35723737e-04 9.99997412e-01 2.07388614e-03 -2.12752491e+00] [ 2.11666938e-03 -2.07586301e-03 9.99995605e-01 -7.99585228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.224860624 meters 0.09923051834707709 Centerline is valid? [False, True] Translation: X:27.34, Y:-2.13, Z:-0.80 [[ 9.99997405e-01 -8.26289335e-04 -2.12291166e-03 2.73426067e+01] [ 8.30972450e-04 9.99997221e-01 2.20605295e-03 -2.12804437e+00] [ 2.12108292e-03 -2.20781131e-03 9.99995313e-01 -7.99600164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.254860624 meters 0.09903010134644258 Centerline is valid? [True, True] Translation: X:27.37, Y:-2.13, Z:-0.80 [[ 9.99995487e-01 6.62251336e-04 -2.93041577e-03 2.73728767e+01] [-6.61295495e-04 9.99999728e-01 3.27136143e-04 -2.12997760e+00] [ 2.93063162e-03 -3.25196796e-04 9.99995653e-01 -7.99078971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284860624000004 meters 0.09680559977711686 Centerline is valid? [True, True] Translation: X:27.40, Y:-2.13, Z:-0.80 [[ 9.99992531e-01 2.19716889e-03 -3.17970441e-03 2.74026294e+01] [-2.19605046e-03 9.99997526e-01 3.55189738e-04 -2.12894424e+00] [ 3.18047695e-03 -3.48204294e-04 9.99994882e-01 -7.98716589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.314860624 meters 0.10192341176654121 Centerline is valid? [True, False] Translation: X:27.40, Y:-2.13, Z:-0.80 [[ 9.99990812e-01 2.23997283e-03 -3.65493408e-03 2.74036262e+01] [-2.24022454e-03 9.99997489e-01 -6.47780692e-05 -2.12716193e+00] [ 3.65477980e-03 7.29653471e-05 9.99993319e-01 -7.98785580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.344860624 meters 0.09475920055937365 Centerline is valid? [False, True] Translation: X:27.40, Y:-2.13, Z:-0.80 [[ 9.99990955e-01 2.05819605e-03 -3.72210737e-03 2.74036381e+01] [-2.05985738e-03 9.99997781e-01 -4.42561729e-04 -2.12627504e+00] [ 3.72118823e-03 4.50224736e-04 9.99992975e-01 -7.98595427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.374860624 meters 0.09618316696271202 Centerline is valid? [True, True] Translation: X:27.43, Y:-2.13, Z:-0.80 [[ 9.99982547e-01 4.47526390e-03 -3.85714454e-03 2.74322401e+01] [-4.47370426e-03 9.99989908e-01 4.12883560e-04 -2.13288773e+00] [ 3.85895338e-03 -3.95620630e-04 9.99992476e-01 -8.00705636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.404860624 meters 0.09463601598490218 Centerline is valid? [True, True] Translation: X:27.46, Y:-2.13, Z:-0.80 [[ 9.99979402e-01 4.94445927e-03 -4.09241328e-03 2.74610390e+01] [-4.94271255e-03 9.99987689e-01 4.36824978e-04 -2.13272340e+00] [ 4.09452276e-03 -4.16588357e-04 9.99991531e-01 -8.00430511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.434860624 meters 0.09513475004182465 Centerline is valid? [True, True] Translation: X:27.49, Y:-2.14, Z:-0.80 [[ 9.99972363e-01 5.88415097e-03 -4.54419636e-03 2.74899074e+01] [-5.88200549e-03 9.99982583e-01 4.85357966e-04 -2.13644520e+00] [ 4.54697314e-03 -4.58615564e-04 9.99989557e-01 -8.01292510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464860624 meters 0.09556694551012554 Centerline is valid? [True, True] Translation: X:27.52, Y:-2.14, Z:-0.80 [[ 9.99960932e-01 6.96733165e-03 -5.43975125e-03 2.75176026e+01] [-6.96427812e-03 9.99975581e-01 5.80077932e-04 -2.13854570e+00] [ 5.44366001e-03 -5.42171329e-04 9.99985036e-01 -8.01945277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.494860624 meters 0.0931916967908408 Centerline is valid? [True, True] Translation: X:27.55, Y:-2.14, Z:-0.80 [[ 9.99953091e-01 7.53158366e-03 -6.09023999e-03 2.75469410e+01] [-7.52776559e-03 9.99971455e-01 6.49596018e-04 -2.13654010e+00] [ 6.09495863e-03 -6.03719647e-04 9.99981243e-01 -8.02127217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.524860624 meters 0.09654751503181072 Centerline is valid? [True, True] Translation: X:27.57, Y:-2.15, Z:-0.80 [[ 9.99951004e-01 7.81168553e-03 -6.08008101e-03 2.75738346e+01] [-7.80789045e-03 9.99969308e-01 6.47669507e-04 -2.14504614e+00] [ 6.08495379e-03 -6.00165167e-04 9.99981306e-01 -8.04456802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.554860624 meters 0.09217148123421942 Centerline is valid? [True, True] Translation: X:27.60, Y:-2.14, Z:-0.80 [[ 9.99949926e-01 7.59866189e-03 -6.51203651e-03 2.76031224e+01] [-7.59430380e-03 9.99970922e-01 6.93703048e-04 -2.13934179e+00] [ 6.51711837e-03 -6.44213928e-04 9.99978556e-01 -8.02609379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.584860624 meters 0.09309755774726183 Centerline is valid? [True, True] Translation: X:27.63, Y:-2.14, Z:-0.80 [[ 9.99951509e-01 7.47153509e-03 -6.41527375e-03 2.76305620e+01] [-7.46731169e-03 9.99971887e-01 6.82036079e-04 -2.14328290e+00] [ 6.42018925e-03 -6.34098158e-04 9.99979189e-01 -8.03147021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.614860624 meters 0.09309755774726183 Centerline is valid? [True, True] Translation: X:27.66, Y:-2.15, Z:-0.80 [[ 9.99952236e-01 7.37351901e-03 -6.41534152e-03 2.76580148e+01] [-7.36929766e-03 9.99972614e-01 6.81399324e-04 -2.14610341e+00] [ 6.42019014e-03 -6.34090217e-04 9.99979189e-01 -8.03751326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644860624 meters 0.10049758655334522 Centerline is valid? [True, False] Translation: X:27.66, Y:-2.15, Z:-0.80 [[ 9.99955511e-01 6.98084683e-03 -6.34387862e-03 2.76574233e+01] [-6.98001653e-03 9.99975628e-01 1.53014101e-04 -2.14521003e+00] [ 6.34479217e-03 -1.08726916e-04 9.99979866e-01 -8.03134033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.674860624 meters 0.0955462242519683 Centerline is valid? [False, True] Translation: X:27.66, Y:-2.14, Z:-0.80 [[ 9.99957239e-01 6.71583901e-03 -6.35751406e-03 2.76570820e+01] [-6.71749297e-03 9.99977409e-01 -2.38839516e-04 -2.14458482e+00] [ 6.35576643e-03 2.81535859e-04 9.99979762e-01 -8.02618320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.704860624 meters 0.09767481623569345 Centerline is valid? [True, True] Translation: X:27.68, Y:-2.15, Z:-0.80 [[ 9.99954554e-01 6.68036573e-03 -6.80162757e-03 2.76837870e+01] [-6.67559247e-03 9.99977456e-01 7.24242012e-04 -2.15159071e+00] [ 6.80631244e-03 -6.78804204e-04 9.99976606e-01 -8.04514328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.734860624 meters 0.09750881401002945 Centerline is valid? [True, True] Translation: X:27.71, Y:-2.15, Z:-0.80 [[ 9.99966372e-01 5.86476788e-03 -5.73234999e-03 2.77122877e+01] [-5.86136587e-03 9.99982636e-01 6.10095875e-04 -2.15451206e+00] [ 5.73582853e-03 -5.76475958e-04 9.99983384e-01 -8.04345559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.764860624 meters 0.09806963032590088 Centerline is valid? [True, True] Translation: X:27.74, Y:-2.16, Z:-0.81 [[ 9.99950163e-01 5.83344390e-03 -8.10195357e-03 2.77404806e+01] [-5.82665007e-03 9.99982653e-01 8.61893320e-04 -2.15741498e+00] [ 8.10684084e-03 -8.14643117e-04 9.99966807e-01 -8.05164476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.794860624 meters 0.09872325052726034 Centerline is valid? [True, True] Translation: X:27.77, Y:-2.16, Z:-0.81 [[ 9.99946313e-01 5.87608574e-03 -8.53474809e-03 2.77677827e+01] [-5.86855723e-03 9.99982369e-01 9.06877430e-04 -2.16073940e+00] [ 8.53992650e-03 -8.56742085e-04 9.99963167e-01 -8.06459407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.824860624 meters 0.09905239598345919 Centerline is valid? [True, True] Translation: X:27.80, Y:-2.16, Z:-0.81 [[ 9.99938825e-01 6.40986389e-03 -9.01439242e-03 2.77960095e+01] [-6.40148451e-03 9.99979051e-01 9.58101945e-04 -2.16424158e+00] [ 9.02034488e-03 -9.00337840e-04 9.99958911e-01 -8.07869206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.854860624000004 meters 0.09126678340539342 Centerline is valid? [True, True] Translation: X:27.83, Y:-2.15, Z:-0.80 [[ 9.99935402e-01 7.26156849e-03 -8.74422585e-03 2.78266364e+01] [-7.25371784e-03 9.99973260e-01 9.29190308e-04 -2.15369284e+00] [ 8.75073941e-03 -8.65702137e-04 9.99961337e-01 -8.04294377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.884860624 meters 0.09429513558911798 Centerline is valid? [True, True] Translation: X:27.85, Y:-2.16, Z:-0.81 [[ 9.99922947e-01 8.87727578e-03 -8.67726763e-03 2.78545034e+01] [-8.86960301e-03 9.99960239e-01 9.22322155e-04 -2.16188653e+00] [ 8.68511032e-03 -8.45287167e-04 9.99961926e-01 -8.06466702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.914860624 meters 0.09189341276484832 Centerline is valid? [True, True] Translation: X:27.89, Y:-2.16, Z:-0.81 [[ 9.99922090e-01 9.89445430e-03 -7.61007527e-03 2.78851336e+01] [-9.88858161e-03 9.99950780e-01 8.08940441e-04 -2.16051103e+00] [ 7.61770472e-03 -7.33624566e-04 9.99970716e-01 -8.05039030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.944860624 meters 0.09016528775035805 Centerline is valid? [True, True] Translation: X:27.91, Y:-2.16, Z:-0.80 [[ 9.99910232e-01 1.07259637e-02 -8.03009319e-03 2.79145468e+01] [-1.07194644e-02 9.99942182e-01 8.51972099e-04 -2.15887843e+00] [ 8.03876713e-03 -7.65817320e-04 9.99967395e-01 -8.03781741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.974860624 meters 0.09199984694394998 Centerline is valid? [True, True] Translation: X:27.94, Y:-2.17, Z:-0.81 [[ 9.99904627e-01 1.07620206e-02 -8.65540823e-03 2.79413348e+01] [-1.07544869e-02 9.99941749e-01 9.16468833e-04 -2.16503527e+00] [ 8.66476710e-03 -8.23296952e-04 9.99962121e-01 -8.05807311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.004860624 meters 0.0917073336263235 Centerline is valid? [True, True] Translation: X:27.97, Y:-2.17, Z:-0.81 [[ 9.99911648e-01 1.02862372e-02 -8.41963074e-03 2.79700369e+01] [-1.02790883e-02 9.99946771e-01 8.91910062e-04 -2.16813579e+00] [ 8.42835697e-03 -8.05285132e-04 9.99964157e-01 -8.06035633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.034860624000004 meters 0.09246530996452179 Centerline is valid? [True, True] Translation: X:28.00, Y:-2.17, Z:-0.81 [[ 9.99919183e-01 8.74464998e-03 -9.22810352e-03 2.80002156e+01] [-8.73598254e-03 9.99961361e-01 9.79135664e-04 -2.17365720e+00] [ 9.23630916e-03 -8.98439982e-04 9.99956941e-01 -8.07296579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.064860624 meters 0.09523093451112002 Centerline is valid? [True, True] Translation: X:28.03, Y:-2.18, Z:-0.81 [[ 9.99926939e-01 7.58153059e-03 -9.41474902e-03 2.80280625e+01] [-7.57247239e-03 9.99970831e-01 9.97405010e-04 -2.18174493e+00] [ 9.42203626e-03 -9.26039211e-04 9.99955183e-01 -8.09630855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.094860624 meters 0.09427905066260511 Centerline is valid? [True, True] Translation: X:28.06, Y:-2.18, Z:-0.81 [[ 9.99931981e-01 5.97417972e-03 -1.00171222e-02 2.80580307e+01] [-5.96383911e-03 9.99981652e-01 1.06184777e-03 -2.18338812e+00] [ 1.00232820e-02 -1.00203503e-03 9.99949264e-01 -8.09184598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.124860624 meters 0.09542806957162168 Centerline is valid? [True, True] Translation: X:28.09, Y:-2.19, Z:-0.81 [[ 9.99945956e-01 2.84143030e-03 -1.00005871e-02 2.80875090e+01] [-2.83096495e-03 9.99995431e-01 1.06047326e-03 -2.18915143e+00] [ 1.00035547e-02 -1.03210464e-03 9.99949431e-01 -8.10133002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.154860624 meters 0.09489778341905851 Centerline is valid? [True, True] Translation: X:28.12, Y:-2.19, Z:-0.81 [[ 9.99932136e-01 1.32320219e-03 -1.15746535e-02 2.81172837e+01] [-1.30908895e-03 9.99998391e-01 1.22681384e-03 -2.19197490e+00] [ 1.15762582e-02 -1.21157833e-03 9.99932259e-01 -8.10674459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.184860624 meters 0.09786878062731852 Centerline is valid? [True, True] Translation: X:28.14, Y:-2.20, Z:-0.81 [[ 9.99934340e-01 -1.87253782e-04 -1.14577941e-02 2.81446136e+01] [ 2.01160755e-04 9.99999245e-01 1.21261619e-03 -2.20017889e+00] [ 1.14575584e-02 -1.21484143e-03 9.99933622e-01 -8.12597044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.214860624 meters 0.09420135624378058 Centerline is valid? [True, True] Translation: X:28.17, Y:-2.20, Z:-0.81 [[ 9.99929502e-01 -1.49914748e-03 -1.17789468e-02 2.81746556e+01] [ 1.51393211e-03 9.99998077e-01 1.24635763e-03 -2.19658239e+00] [ 1.17770557e-02 -1.26410229e-03 9.99929849e-01 -8.11348977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.244860624 meters 0.09753746220696305 Centerline is valid? [True, True] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99923279e-01 -2.86366663e-03 -1.20513710e-02 2.82034594e+01] [ 2.87924795e-03 9.99995041e-01 1.27575632e-03 -2.20577642e+00] [ 1.20476579e-02 -1.31035733e-03 9.99926566e-01 -8.13547372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.274860624 meters 0.10259207877012057 Centerline is valid? [True, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99924355e-01 -3.10114162e-03 -1.19024304e-02 2.82028079e+01] [ 3.11392894e-03 9.99994594e-01 1.05596299e-03 -2.20573892e+00] [ 1.18990913e-02 -1.09294643e-03 9.99928606e-01 -8.13054259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.304860624 meters 0.10461156271885641 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99924043e-01 -2.88958206e-03 -1.19815834e-02 2.82030788e+01] [ 2.90620845e-03 9.99994838e-01 1.37048365e-03 -2.20642325e+00] [ 1.19775614e-02 -1.40520053e-03 9.99927279e-01 -8.13203281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.334860624 meters 0.09795271629101122 Centerline is valid? [False, True] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99926094e-01 -2.92663268e-03 -1.18000749e-02 2.82028080e+01] [ 2.94442888e-03 9.99994554e-01 1.49105203e-03 -2.20671516e+00] [ 1.17956469e-02 -1.52568631e-03 9.99929265e-01 -8.13368583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.364860624 meters 0.10091036709754889 Centerline is valid? [True, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99926526e-01 -2.92706276e-03 -1.17632641e-02 2.82027305e+01] [ 2.94545303e-03 9.99994467e-01 1.54634445e-03 -2.20694826e+00] [ 1.17586728e-02 -1.58087898e-03 9.99929615e-01 -8.13372630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.394860624 meters 0.10410123851241872 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99928138e-01 -2.96014194e-03 -1.16170587e-02 2.82023215e+01] [ 2.97957776e-03 9.99994190e-01 1.65609072e-03 -2.20749888e+00] [ 1.16120889e-02 -1.69058564e-03 9.99931148e-01 -8.13215865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.424860624 meters 0.10335153209743853 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99931697e-01 -2.90058996e-03 -1.13219912e-02 2.82015920e+01] [ 2.92550021e-03 9.99993335e-01 2.18422351e-03 -2.20941507e+00] [ 1.13155803e-02 -2.21719681e-03 9.99933519e-01 -8.13026371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.454860624 meters 0.10485192397413426 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99933401e-01 -2.80032471e-03 -1.11960660e-02 2.82014288e+01] [ 2.82833857e-03 9.99992907e-01 2.48706582e-03 -2.21027677e+00] [ 1.11890220e-02 -2.51856644e-03 9.99934229e-01 -8.13168141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.484860624 meters 0.10577208380574273 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99935384e-01 -2.89647866e-03 -1.09926479e-02 2.82008788e+01] [ 2.92454987e-03 9.99992502e-01 2.53841988e-03 -2.21075859e+00] [ 1.09852130e-02 -2.57040440e-03 9.99936357e-01 -8.12979779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.514860624 meters 0.10665905725975533 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99938913e-01 -2.83346461e-03 -1.06837270e-02 2.82002590e+01] [ 2.86624492e-03 9.99991228e-01 3.05418505e-03 -2.21243248e+00] [ 1.06749794e-02 -3.08462066e-03 9.99938263e-01 -8.12990570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.544860624 meters 0.10718309114109797 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99940315e-01 -2.48598322e-03 -1.06389322e-02 2.82006399e+01] [ 2.52512194e-03 9.99990088e-01 3.66697051e-03 -2.21362896e+00] [ 1.06297107e-02 -3.69361624e-03 9.99936681e-01 -8.13683035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.574860624 meters 0.10615190069492358 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99941840e-01 -2.35503853e-03 -1.05247301e-02 2.82005953e+01] [ 2.39714590e-03 9.99989167e-01 3.98998041e-03 -2.21444941e+00] [ 1.05152195e-02 -4.01497767e-03 9.99936653e-01 -8.13991078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604860624000004 meters 0.10592271418544862 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.22, Z:-0.81 [[ 9.99942594e-01 -2.16177198e-03 -1.04945303e-02 2.82007122e+01] [ 2.20749713e-03 9.99988113e-01 4.34741874e-03 -2.21536249e+00] [ 1.04850075e-02 -4.37033582e-03 9.99935480e-01 -8.14239361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.634860624 meters 0.10517890626517512 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.22, Z:-0.81 [[ 9.99942373e-01 -2.18677458e-03 -1.05103640e-02 2.82007325e+01] [ 2.23223013e-03 9.99988199e-01 4.31504820e-03 -2.21537627e+00] [ 1.05008039e-02 -4.33826109e-03 9.99935454e-01 -8.14226031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.664860624 meters 0.10400439584974833 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99942322e-01 -2.33302462e-03 -1.04837394e-02 2.82007094e+01] [ 2.37615889e-03 9.99988756e-01 4.10382666e-03 -2.21479110e+00] [ 1.04740472e-02 -4.12850099e-03 9.99936623e-01 -8.14273201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.694860624 meters 0.10513651455842556 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99941526e-01 -2.40141570e-03 -1.05441104e-02 2.82009072e+01] [ 2.44294239e-03 9.99989304e-01 3.92726569e-03 -2.21410518e+00] [ 1.05345666e-02 -3.95279470e-03 9.99936697e-01 -8.14355415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.724860624 meters 0.10314725992204016 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99940591e-01 -2.61483305e-03 -1.05818987e-02 2.82007952e+01] [ 2.65267140e-03 9.99990133e-01 3.56330768e-03 -2.21326442e+00] [ 1.05724768e-02 -3.59116629e-03 9.99937661e-01 -8.14090580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.754860624 meters 0.1013551829012254 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99940095e-01 -2.67772435e-03 -1.06130521e-02 2.82007517e+01] [ 2.71452678e-03 9.99990348e-01 3.45477042e-03 -2.21308338e+00] [ 1.06036987e-02 -3.48337287e-03 9.99937712e-01 -8.13942646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784860624000004 meters 0.102174501366561 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99939771e-01 -2.66938335e-03 -1.06455580e-02 2.82007894e+01] [ 2.70556594e-03 9.99990608e-01 3.38589222e-03 -2.21278931e+00] [ 1.06364198e-02 -3.41449056e-03 9.99937602e-01 -8.13898254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.814860624 meters 0.10433105451052917 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99938746e-01 -2.91109520e-03 -1.06784464e-02 2.82006310e+01] [ 2.94290672e-03 9.99991275e-01 2.96453747e-03 -2.21187732e+00] [ 1.06697232e-02 -2.99578156e-03 9.99938589e-01 -8.13567805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.844860624 meters 0.10548814829504062 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99938339e-01 -2.96026199e-03 -1.07030392e-02 2.82008783e+01] [ 2.99073906e-03 9.99991516e-01 2.83263267e-03 -2.21114401e+00] [ 1.06945631e-02 -2.86446800e-03 9.99938709e-01 -8.13852350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.874860624 meters 0.103901006822645 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99937864e-01 -3.17592843e-03 -1.06855362e-02 2.82007927e+01] [ 3.20272164e-03 9.99991768e-01 2.49125058e-03 -2.21025728e+00] [ 1.06775362e-02 -2.52531858e-03 9.99939805e-01 -8.13788669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.904860624 meters 0.1053222950914594 Centerline is valid? [False, False] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99935841e-01 -3.32239347e-03 -1.08293474e-02 2.82012920e+01] [ 3.34456645e-03 9.99992346e-01 2.03002356e-03 -2.20847694e+00] [ 1.08225200e-02 -2.06611279e-03 9.99939300e-01 -8.14119889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.934860624 meters 0.09889194239914603 Centerline is valid? [False, True] Translation: X:28.20, Y:-2.21, Z:-0.81 [[ 9.99935293e-01 -3.32298233e-03 -1.08797153e-02 2.82017050e+01] [ 3.34424256e-03 9.99992533e-01 1.93650660e-03 -2.20774458e+00] [ 1.08731991e-02 -1.97276570e-03 9.99938939e-01 -8.14561514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964860624 meters 0.0972735213630009 Centerline is valid? [True, True] Translation: X:28.23, Y:-2.21, Z:-0.81 [[ 9.99944328e-01 -3.18947084e-03 -1.00582599e-02 2.82307429e+01] [ 3.20033812e-03 9.99994312e-01 1.06452357e-03 -2.20684057e+00] [ 1.00548074e-02 -1.09665414e-03 9.99948848e-01 -8.14728479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.994860624 meters 0.09951843037819989 Centerline is valid? [True, True] Translation: X:28.26, Y:-2.21, Z:-0.82 [[ 9.99957601e-01 -2.34605497e-03 -8.90465376e-03 2.82590022e+01] [ 2.35455287e-03 9.99996783e-01 9.43958161e-04 -2.21303943e+00] [ 8.90241054e-03 -9.64884616e-04 9.99959907e-01 -8.16342921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.024860624 meters 0.09920348098878529 Centerline is valid? [True, True] Translation: X:28.29, Y:-2.21, Z:-0.82 [[ 9.99957456e-01 -2.35775473e-03 -8.91781668e-03 2.82878083e+01] [ 2.36623957e-03 9.99996758e-01 9.41016952e-04 -2.21483094e+00] [ 8.91556908e-03 -9.62078608e-04 9.99959793e-01 -8.16471929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.054860624 meters 0.09865666176387436 Centerline is valid? [True, True] Translation: X:28.32, Y:-2.22, Z:-0.82 [[ 9.99967955e-01 -1.74493895e-03 -7.81312585e-03 2.83171442e+01] [ 1.75141913e-03 9.99998128e-01 8.22631649e-04 -2.21607430e+00] [ 7.81167578e-03 -8.36289346e-04 9.99969139e-01 -8.16893134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.084860624 meters 0.10179932031541104 Centerline is valid? [True, False] Translation: X:28.32, Y:-2.22, Z:-0.82 [[ 9.99967795e-01 -1.70391849e-03 -7.84252864e-03 2.83172556e+01] [ 1.71049311e-03 9.99998191e-01 8.31697817e-04 -2.21593013e+00] [ 7.84109731e-03 -8.45085624e-04 9.99968901e-01 -8.16955222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.114860624 meters 0.09601961948513481 Centerline is valid? [False, True] Translation: X:28.32, Y:-2.22, Z:-0.82 [[ 9.99968203e-01 -1.84725430e-03 -7.75765876e-03 2.83170388e+01] [ 1.85230401e-03 9.99998077e-01 6.43797488e-04 -2.21554221e+00] [ 7.75645459e-03 -6.58146560e-04 9.99969702e-01 -8.16869203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144860624 meters 0.09783612383097097 Centerline is valid? [True, True] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99976513e-01 -2.62106098e-03 -6.33270113e-03 2.83441403e+01] [ 2.62530716e-03 9.99996335e-01 6.62296560e-04 -2.22030706e+00] [ 6.33094200e-03 -6.78906291e-04 9.99979729e-01 -8.17316040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.174860624 meters 0.10415966728375424 Centerline is valid? [True, False] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99975920e-01 -2.80849204e-03 -6.34598997e-03 2.83438918e+01] [ 2.81102452e-03 9.99995973e-01 3.90182496e-04 -2.21992976e+00] [ 6.34486859e-03 -4.08011834e-04 9.99979788e-01 -8.16926142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.204860624 meters 0.09901124746079347 Centerline is valid? [False, True] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99976116e-01 -2.60405533e-03 -6.40208601e-03 2.83444081e+01] [ 2.60846475e-03 9.99996366e-01 6.80494766e-04 -2.22018728e+00] [ 6.40029070e-03 -6.97178128e-04 9.99979275e-01 -8.17493741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.234860624 meters 0.10107298026871832 Centerline is valid? [True, False] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99976407e-01 -2.39715911e-03 -6.43734046e-03 2.83449731e+01] [ 2.40347622e-03 9.99996638e-01 9.73766439e-04 -2.22039771e+00] [ 6.43498454e-03 -9.89215459e-04 9.99978806e-01 -8.18198478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.264860624 meters 0.10391591448971735 Centerline is valid? [False, False] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99978149e-01 -2.57355139e-03 -6.08923777e-03 2.83444183e+01] [ 2.57968829e-03 9.99996172e-01 1.00018748e-03 -2.22074818e+00] [ 6.08664043e-03 -1.01587396e-03 9.99980960e-01 -8.18427696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.294860624 meters 0.10480898101537091 Centerline is valid? [False, False] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99978879e-01 -2.40730237e-03 -6.03700965e-03 2.83446293e+01] [ 2.41514035e-03 9.99996250e-01 1.29136701e-03 -2.22120579e+00] [ 6.03387830e-03 -1.30591996e-03 9.99980943e-01 -8.18876264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.324860624 meters 0.10508242782294643 Centerline is valid? [False, False] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99979479e-01 -2.68603577e-03 -5.81604590e-03 2.83438790e+01] [ 2.69227338e-03 9.99995809e-01 1.06491910e-03 -2.22115190e+00] [ 5.81316112e-03 -1.08055563e-03 9.99982520e-01 -8.18473523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.354860624000004 meters 0.10794065250023091 Centerline is valid? [False, False] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99980126e-01 -2.63440442e-03 -5.72781428e-03 2.83438404e+01] [ 2.64166354e-03 9.99995717e-01 1.26014900e-03 -2.22151414e+00] [ 5.72447001e-03 -1.27525492e-03 9.99982802e-01 -8.18684102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.384860624 meters 0.10512077650668623 Centerline is valid? [False, False] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99981053e-01 -3.05085413e-03 -5.34664036e-03 2.83427588e+01] [ 3.05632103e-03 9.99994815e-01 1.01461920e-03 -2.22146200e+00] [ 5.34351718e-03 -1.03094102e-03 9.99985192e-01 -8.18257008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.414860624 meters 0.11205591579591855 Centerline is valid? [False, False] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99981541e-01 -2.89704383e-03 -5.34083152e-03 2.83431258e+01] [ 2.90380822e-03 9.99994991e-01 1.25922446e-03 -2.22169997e+00] [ 5.33715674e-03 -1.27470997e-03 9.99984945e-01 -8.18777252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.444860624 meters 0.1137992613822543 Centerline is valid? [False, False] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99981800e-01 -2.93317261e-03 -5.27226413e-03 2.83432336e+01] [ 2.93980654e-03 9.99994896e-01 1.25095908e-03 -2.22131520e+00] [ 5.26856795e-03 -1.26643574e-03 9.99985319e-01 -8.19122926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.474860624 meters 0.10823539061952155 Centerline is valid? [False, False] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99981274e-01 -3.13728267e-03 -5.25446959e-03 2.83429479e+01] [ 3.14238445e-03 9.99994599e-01 9.62966695e-04 -2.22077992e+00] [ 5.25142012e-03 -9.79460226e-04 9.99985732e-01 -8.18804223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.504860624 meters 0.11077620916327896 Centerline is valid? [False, False] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99981220e-01 -3.04512052e-03 -5.31846408e-03 2.83433225e+01] [ 3.05071730e-03 9.99994801e-01 1.04453406e-03 -2.22056071e+00] [ 5.31525569e-03 -1.06073958e-03 9.99985311e-01 -8.19152034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.534860624000004 meters 0.11077620916327896 Centerline is valid? [False, False] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99981220e-01 -3.04512052e-03 -5.31846408e-03 2.83433225e+01] [ 3.05071730e-03 9.99994801e-01 1.04453406e-03 -2.22056071e+00] [ 5.31525569e-03 -1.06073958e-03 9.99985311e-01 -8.19152034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.564860624 meters 0.11142418336392093 Centerline is valid? [False, False] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99980814e-01 -3.23666803e-03 -5.28159732e-03 2.83432243e+01] [ 3.24084887e-03 9.99994442e-01 7.83219144e-04 -2.21973863e+00] [ 5.27903294e-03 -8.00320976e-04 9.99985746e-01 -8.19131988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.594860624 meters 0.11059340342591095 Centerline is valid? [False, False] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99980073e-01 -3.12935869e-03 -5.48279406e-03 2.83438586e+01] [ 3.13360519e-03 9.99994797e-01 7.66094285e-04 -2.21901056e+00] [ 5.48036815e-03 -7.83259931e-04 9.99984676e-01 -8.19436282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.624860624 meters 0.11019614727876226 Centerline is valid? [False, False] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99980112e-01 -3.10209975e-03 -5.49116230e-03 2.83440157e+01] [ 3.10655582e-03 9.99994852e-01 8.03154471e-04 -2.21890369e+00] [ 5.48864257e-03 -8.20197100e-04 9.99984601e-01 -8.19628521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.654860624 meters 0.1128762377115349 Centerline is valid? [False, False] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99980172e-01 -2.89230531e-03 -5.59374452e-03 2.83445124e+01] [ 2.89803247e-03 9.99995285e-01 1.01601724e-03 -2.21910842e+00] [ 5.59077951e-03 -1.03220795e-03 9.99983839e-01 -8.20019442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.684860624 meters 0.10458134411837317 Centerline is valid? [False, False] Translation: X:28.34, Y:-2.22, Z:-0.82 [[ 9.99980037e-01 -2.77597241e-03 -5.67625385e-03 2.83448636e+01] [ 2.78230562e-03 9.99995515e-01 1.10814486e-03 -2.21917991e+00] [ 5.67315221e-03 -1.12391581e-03 9.99983276e-01 -8.20256013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.714860624 meters 0.10641606451945984 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.82 [[ 9.99979809e-01 -2.52340673e-03 -5.83211458e-03 2.83455817e+01] [ 2.53136260e-03 9.99995875e-01 1.35716983e-03 -2.21921777e+00] [ 5.82866583e-03 -1.37190563e-03 9.99982072e-01 -8.20793147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.744860624 meters 0.10677817973911415 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.82 [[ 9.99979258e-01 -2.45082905e-03 -5.95627584e-03 2.83459289e+01] [ 2.45902957e-03 9.99996038e-01 1.36985281e-03 -2.21905164e+00] [ 5.95289497e-03 -1.38447106e-03 9.99981323e-01 -8.20911752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.774860624 meters 0.10346724270993762 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.82 [[ 9.99979435e-01 -2.40723622e-03 -5.94437488e-03 2.83460196e+01] [ 2.41589270e-03 9.99996031e-01 1.44949681e-03 -2.21915718e+00] [ 5.94086201e-03 -1.46382797e-03 9.99981282e-01 -8.21067246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.804860624 meters 0.10625887375564032 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.82 [[ 9.99979635e-01 -2.24443026e-03 -5.97433294e-03 2.83463439e+01] [ 2.25438142e-03 9.99996082e-01 1.65943938e-03 -2.21945359e+00] [ 5.97058504e-03 -1.67287401e-03 9.99980777e-01 -8.21402720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.834860624 meters 0.10567820302866537 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.82 [[ 9.99980047e-01 -2.15277980e-03 -5.93899780e-03 2.83461945e+01] [ 2.16391760e-03 9.99995911e-01 1.86957981e-03 -2.22012495e+00] [ 5.93494872e-03 -1.88239401e-03 9.99980616e-01 -8.21287002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.864860624 meters 0.104742195095442 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.82 [[ 9.99980628e-01 -1.97303880e-03 -5.90342054e-03 2.83464556e+01] [ 1.98584288e-03 9.99995687e-01 2.16385050e-03 -2.22057744e+00] [ 5.89912571e-03 -2.17553184e-03 9.99980233e-01 -8.21736164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.894860624 meters 0.11014593838542809 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.82 [[ 9.99981104e-01 -1.84553549e-03 -5.86390211e-03 2.83466646e+01] [ 1.85939743e-03 9.99995488e-01 2.35937263e-03 -2.22080561e+00] [ 5.85952134e-03 -2.37023137e-03 9.99980024e-01 -8.22113277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.924860624 meters 0.10601045169374665 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.82 [[ 9.99981334e-01 -2.00975814e-03 -5.77005130e-03 2.83463256e+01] [ 2.02245968e-03 9.99995543e-01 2.19629704e-03 -2.22066581e+00] [ 5.76561156e-03 -2.20792574e-03 9.99980941e-01 -8.21926298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.954860624 meters 0.10957886119650578 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.82 [[ 9.99981383e-01 -1.93496005e-03 -5.78704220e-03 2.83466795e+01] [ 1.94819692e-03 9.99995497e-01 2.28256600e-03 -2.22045787e+00] [ 5.78259947e-03 -2.29379780e-03 9.99980650e-01 -8.22353097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.984860624 meters 0.1124182825377782 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.82 [[ 9.99980823e-01 -2.21585819e-03 -5.78297630e-03 2.83464317e+01] [ 2.22655964e-03 9.99995820e-01 1.84472872e-03 -2.21955731e+00] [ 5.77886447e-03 -1.85756949e-03 9.99981577e-01 -8.22016589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.014860624 meters 0.10929622751645539 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.82 [[ 9.99980295e-01 -2.33431401e-03 -5.82762686e-03 2.83467759e+01] [ 2.34335669e-03 9.99996060e-01 1.54534720e-03 -2.21828871e+00] [ 5.82399657e-03 -1.55897296e-03 9.99981825e-01 -8.22365925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.044860624 meters 0.10936873449249913 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.82 [[ 9.99979803e-01 -2.34860680e-03 -5.90581078e-03 2.83471970e+01] [ 2.35684120e-03 9.99996260e-01 1.38771430e-03 -2.21749660e+00] [ 5.90252949e-03 -1.40160533e-03 9.99981598e-01 -8.22712087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.074860624 meters 0.10430631197210351 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.82 [[ 9.99979640e-01 -2.25967051e-03 -5.96766044e-03 2.83477669e+01] [ 2.26813871e-03 9.99996430e-01 1.41262964e-03 -2.21691979e+00] [ 5.96444705e-03 -1.42613636e-03 9.99981196e-01 -8.23321684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.104860624000004 meters 0.10557518494321572 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.82 [[ 9.99978092e-01 -2.30945696e-03 -6.20342627e-03 2.83485545e+01] [ 2.31592495e-03 9.99996782e-01 1.03566626e-03 -2.21506360e+00] [ 6.20101448e-03 -1.05001024e-03 9.99980222e-01 -8.23732368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.134860624 meters 0.10625370201957685 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.82 [[ 9.99977464e-01 -2.63807558e-03 -6.17343983e-03 2.83483165e+01] [ 2.64123578e-03 9.99996385e-01 5.03804573e-04 -2.21366512e+00] [ 6.17208844e-03 -5.20098730e-04 9.99980817e-01 -8.23466958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.164860624 meters 0.10837790623201261 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.82 [[ 9.99976817e-01 -2.88245033e-03 -6.16897174e-03 2.83481701e+01] [ 2.88320634e-03 9.99995837e-01 1.13660544e-04 -2.21251446e+00] [ 6.16861844e-03 -1.31444327e-04 9.99980965e-01 -8.23276366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.194860624 meters 0.10500085935617655 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.82 [[ 9.99976574e-01 -2.88076133e-03 -6.20909705e-03 2.83483690e+01] [ 2.88099929e-03 9.99995849e-01 2.93816744e-05 -2.21197315e+00] [ 6.20898664e-03 -4.72693903e-05 9.99980723e-01 -8.23421400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.224860624 meters 0.10535813126103476 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.82 [[ 9.99975984e-01 -2.84729269e-03 -6.31863524e-03 2.83487230e+01] [ 2.84680538e-03 9.99995944e-01 -8.61155404e-05 -2.21126889e+00] [ 6.31885481e-03 6.81255475e-05 9.99980034e-01 -8.23601720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.254860624 meters 0.10374745844687154 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.82 [[ 9.99975969e-01 -2.94616441e-03 -6.27554082e-03 2.83486680e+01] [ 2.94485305e-03 9.99995640e-01 -2.18194004e-04 -2.21087570e+00] [ 6.27615629e-03 1.99708215e-04 9.99980285e-01 -8.23661753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284860624000004 meters 0.10459002005759561 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.82 [[ 9.99976494e-01 -2.86696282e-03 -6.22833156e-03 2.83488659e+01] [ 2.86660337e-03 9.99995889e-01 -6.66377252e-05 -2.21089310e+00] [ 6.22849700e-03 4.87820025e-05 9.99980602e-01 -8.24089591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.314860624 meters 0.10449092263554813 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.82 [[ 9.99977049e-01 -2.69536635e-03 -6.21588854e-03 2.83493532e+01] [ 2.69646626e-03 9.99996350e-01 1.68577818e-04 -2.21089757e+00] [ 6.21541148e-03 -1.85334883e-04 9.99980667e-01 -8.24819300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.344860624 meters 0.10774901190821495 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.83 [[ 9.99976705e-01 -2.44010526e-03 -6.37461042e-03 2.83501556e+01] [ 2.44320345e-03 9.99996901e-01 4.78278865e-04 -2.21099358e+00] [ 6.37342362e-03 -4.93842193e-04 9.99979568e-01 -8.25512569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.374860624 meters 0.107169414137406 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.83 [[ 9.99976753e-01 -2.45095432e-03 -6.36291487e-03 2.83501563e+01] [ 2.45412800e-03 9.99996868e-01 4.91016668e-04 -2.21104763e+00] [ 6.36169148e-03 -5.06620661e-04 9.99979636e-01 -8.25554806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.404860624 meters 0.10860131335149234 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.83 [[ 9.99977401e-01 -2.51423431e-03 -6.23510479e-03 2.83497840e+01] [ 2.51756699e-03 9.99996692e-01 5.26710734e-04 -2.21138713e+00] [ 6.23375989e-03 -5.42396124e-04 9.99980423e-01 -8.25421464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.434860624 meters 0.10780932968476296 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.83 [[ 9.99978669e-01 -2.29666488e-03 -6.11447653e-03 2.83499116e+01] [ 2.30263922e-03 9.99996878e-01 9.70220749e-04 -2.21224945e+00] [ 6.11222917e-03 -9.84279486e-04 9.99980836e-01 -8.25959501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464860624 meters 0.11264624759279478 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.83 [[ 9.99980710e-01 -2.10624029e-03 -5.84324214e-03 2.83498233e+01] [ 2.11557491e-03 9.99996495e-01 1.59178504e-03 -2.21369851e+00] [ 5.83986898e-03 -1.60411615e-03 9.99981661e-01 -8.26659113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.494860624 meters 0.11339272474754869 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.83 [[ 9.99981290e-01 -2.18698268e-03 -5.71291708e-03 2.83495400e+01] [ 2.19634414e-03 9.99996255e-01 1.63288870e-03 -2.21397954e+00] [ 5.70932459e-03 -1.64540568e-03 9.99982348e-01 -8.26667578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.524860624 meters 0.11560884554227532 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.83 [[ 9.99982537e-01 -1.92381751e-03 -5.58786862e-03 2.83496285e+01] [ 1.93629421e-03 9.99995643e-01 2.22826687e-03 -2.21540867e+00] [ 5.58355750e-03 -2.23904772e-03 9.99981905e-01 -8.27163837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.554860624 meters 0.11710004309056571 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.83 [[ 9.99983229e-01 -1.99524515e-03 -5.43703975e-03 2.83492040e+01] [ 2.00738865e-03 9.99995501e-01 2.22893560e-03 -2.21578931e+00] [ 5.43256802e-03 -2.23981247e-03 9.99982735e-01 -8.26999529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.584860624 meters 0.11527995968647103 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.83 [[ 9.99983847e-01 -1.90831476e-03 -5.35383486e-03 2.83491592e+01] [ 1.92133204e-03 9.99995208e-01 2.42730522e-03 -2.21637535e+00] [ 5.34917714e-03 -2.43755250e-03 9.99982722e-01 -8.27169224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.614860624 meters 0.11112838489300364 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.83 [[ 9.99983763e-01 -1.90034275e-03 -5.37241845e-03 2.83493260e+01] [ 1.91335931e-03 9.99995244e-01 2.41874925e-03 -2.21617193e+00] [ 5.36779645e-03 -2.42898934e-03 9.99982643e-01 -8.27351973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.644860624 meters 0.11116128359871309 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.22, Z:-0.83 [[ 9.99983303e-01 -2.12925876e-03 -5.37214632e-03 2.83492298e+01] [ 2.14044080e-03 9.99995553e-01 2.07659478e-03 -2.21527000e+00] [ 5.36770083e-03 -2.08805887e-03 9.99983414e-01 -8.27216467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.674860624 meters 0.11831562215014534 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.83 [[ 9.99981505e-01 -2.04482060e-03 -5.72793174e-03 2.83502303e+01] [ 2.05545787e-03 9.99996173e-01 1.85181602e-03 -2.21360774e+00] [ 5.72412319e-03 -1.86355529e-03 9.99981881e-01 -8.27651513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.704860624 meters 0.10450155307398547 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.83 [[ 9.99980843e-01 -1.94575924e-03 -5.87604246e-03 2.83506809e+01] [ 1.95649102e-03 9.99996428e-01 1.82116646e-03 -2.21317517e+00] [ 5.87247791e-03 -1.83262800e-03 9.99981078e-01 -8.27830563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.734860624 meters 0.10992003047743792 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.83 [[ 9.99979718e-01 -1.98832390e-03 -6.05067285e-03 2.83509116e+01] [ 1.99789641e-03 9.99996762e-01 1.57642281e-03 -2.21247134e+00] [ 6.04751882e-03 -1.58847946e-03 9.99980452e-01 -8.27632695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.764860624 meters 0.10706868401599316 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.83 [[ 9.99978609e-01 -1.87317137e-03 -6.26673352e-03 2.83514381e+01] [ 1.88242084e-03 9.99997147e-01 1.47039130e-03 -2.21185695e+00] [ 6.26396135e-03 -1.48215648e-03 9.99979283e-01 -8.27711945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.794860624 meters 0.10691216523045456 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.83 [[ 9.99977045e-01 -1.86853533e-03 -6.51290393e-03 2.83519785e+01] [ 1.87636642e-03 9.99997524e-01 1.19649310e-03 -2.21080937e+00] [ 6.51065211e-03 -1.20868623e-03 9.99978075e-01 -8.27713750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.824860624 meters 0.11059263576517914 Centerline is valid? [False, False] Translation: X:28.35, Y:-2.21, Z:-0.83 [[ 9.99973836e-01 -1.72331423e-03 -7.02555477e-03 2.83530567e+01] [ 1.72856502e-03 9.99998231e-01 7.41380090e-04 -2.20876587e+00] [ 7.02426472e-03 -7.53504821e-04 9.99975046e-01 -8.27812370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.854860624000004 meters 0.0996871885811016 Centerline is valid? [False, True] Translation: X:28.35, Y:-2.21, Z:-0.83 [[ 9.99972922e-01 -1.55224486e-03 -7.19341163e-03 2.83537573e+01] [ 1.55800253e-03 9.99998470e-01 7.94874057e-04 -2.20830225e+00] [ 7.19216679e-03 -8.06059887e-04 9.99973811e-01 -8.28291720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.884860624 meters 0.10194362297310763 Centerline is valid? [True, False] Translation: X:28.35, Y:-2.21, Z:-0.83 [[ 9.99972539e-01 -1.45398298e-03 -7.26688186e-03 2.83541651e+01] [ 1.45999489e-03 9.99998596e-01 8.22065222e-04 -2.20796718e+00] [ 7.26567639e-03 -8.32652258e-04 9.99973258e-01 -8.28628358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.914860624 meters 0.09933969054699383 Centerline is valid? [False, True] Translation: X:28.35, Y:-2.21, Z:-0.83 [[ 9.99969968e-01 -1.33990531e-03 -7.63333133e-03 2.83548484e+01] [ 1.34497318e-03 9.99998879e-01 6.58817969e-04 -2.20725670e+00] [ 7.63244002e-03 -6.69064810e-04 9.99970649e-01 -8.28520105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.944860624 meters 0.09999819718690915 Centerline is valid? [True, True] Translation: X:28.38, Y:-2.21, Z:-0.83 [[ 9.99973476e-01 -1.91535112e-04 -7.28087014e-03 2.83830509e+01] [ 1.96971857e-04 9.99999702e-01 7.46006651e-04 -2.21143545e+00] [ 7.28072509e-03 -7.47420990e-04 9.99973216e-01 -8.29190365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.974860624 meters 0.10070228152008014 Centerline is valid? [True, False] Translation: X:28.38, Y:-2.21, Z:-0.83 [[ 9.99973870e-01 -1.54924953e-04 -7.22743807e-03 2.83831460e+01] [ 1.60793334e-04 9.99999658e-01 8.11384674e-04 -2.21143809e+00] [ 7.22730989e-03 -8.12525596e-04 9.99973553e-01 -8.29470981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.004860624 meters 0.0983939145310955 Centerline is valid? [False, True] Translation: X:28.38, Y:-2.21, Z:-0.83 [[ 9.99972997e-01 1.56385532e-04 -7.34716994e-03 2.83838412e+01] [-1.47741190e-04 9.99999296e-01 1.17708201e-03 -2.21186045e+00] [ 7.34734885e-03 -1.17596475e-03 9.99972316e-01 -8.30064636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.034860624000004 meters 0.09825744454294062 Centerline is valid? [True, True] Translation: X:28.41, Y:-2.21, Z:-0.83 [[ 9.99972142e-01 1.13442348e-03 -7.37754132e-03 2.84127087e+01] [-1.12896605e-03 9.99999086e-01 7.43858428e-04 -2.21480553e+00] [ 7.37837843e-03 -7.35508712e-04 9.99972509e-01 -8.30509346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.064860624 meters 0.10025373776393369 Centerline is valid? [True, False] Translation: X:28.41, Y:-2.21, Z:-0.83 [[ 9.99972385e-01 1.03320354e-03 -7.35952661e-03 2.84124851e+01] [-1.02861973e-03 9.99999275e-01 6.26597671e-04 -2.21481085e+00] [ 7.36016868e-03 -6.19010213e-04 9.99972722e-01 -8.30250274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.094860624 meters 0.1019917717310038 Centerline is valid? [False, False] Translation: X:28.41, Y:-2.22, Z:-0.83 [[ 9.99973101e-01 1.15443583e-03 -7.24325519e-03 2.84124731e+01] [-1.14800056e-03 9.99998943e-01 8.92545602e-04 -2.21548285e+00] [ 7.24427792e-03 -8.84206332e-04 9.99973369e-01 -8.30547901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.124860624 meters 0.10027278851355374 Centerline is valid? [False, False] Translation: X:28.41, Y:-2.22, Z:-0.83 [[ 9.99972867e-01 1.22010346e-03 -7.26481241e-03 2.84126441e+01] [-1.21287721e-03 9.99998765e-01 9.99013961e-04 -2.21566656e+00] [ 7.26602234e-03 -9.90175529e-04 9.99973112e-01 -8.30725925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.154860624 meters 0.10157489296707925 Centerline is valid? [False, False] Translation: X:28.41, Y:-2.22, Z:-0.83 [[ 9.99972834e-01 1.18611685e-03 -7.27486504e-03 2.84127418e+01] [-1.17919830e-03 9.99998849e-01 9.55236511e-04 -2.21563494e+00] [ 7.27598968e-03 -9.46632053e-04 9.99973082e-01 -8.30818186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.184860624 meters 0.09642079846345356 Centerline is valid? [False, True] Translation: X:28.41, Y:-2.22, Z:-0.83 [[ 9.99972897e-01 1.27319595e-03 -7.25148649e-03 2.84129742e+01] [-1.26518516e-03 9.99998585e-01 1.10919081e-03 -2.21571286e+00] [ 7.25288844e-03 -1.09998628e-03 9.99973092e-01 -8.31201912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.214860624 meters 0.09935167367272205 Centerline is valid? [True, True] Translation: X:28.44, Y:-2.22, Z:-0.83 [[ 9.99978044e-01 1.03153178e-03 -6.54581235e-03 2.84401201e+01] [-1.02719272e-03 9.99999251e-01 6.66202137e-04 -2.22350720e+00] [ 6.54649465e-03 -6.59463699e-04 9.99978354e-01 -8.31921410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.244860624 meters 0.10030786433493556 Centerline is valid? [True, False] Translation: X:28.44, Y:-2.22, Z:-0.83 [[ 9.99978746e-01 7.68543573e-04 -6.47439799e-03 2.84397030e+01] [-7.66418536e-04 9.99999652e-01 3.30696225e-04 -2.22294084e+00] [ 6.47464989e-03 -3.25727097e-04 9.99978986e-01 -8.31543057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.274860624 meters 0.0991084365403137 Centerline is valid? [False, True] Translation: X:28.44, Y:-2.22, Z:-0.83 [[ 9.99978299e-01 7.66248107e-04 -6.54327860e-03 2.84398815e+01] [-7.64523732e-04 9.99999672e-01 2.66030995e-04 -2.22259443e+00] [ 6.54348030e-03 -2.61022730e-04 9.99978557e-01 -8.31567357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.304860624 meters 0.09969381748161044 Centerline is valid? [True, True] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99980878e-01 -5.34612079e-04 -6.16092164e-03 2.84693373e+01] [ 5.38538731e-04 9.99999653e-01 6.35706775e-04 -2.22649314e+00] [ 6.16057964e-03 -6.39012514e-04 9.99980819e-01 -8.32063456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.334860624 meters 0.10107779704241891 Centerline is valid? [True, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99982245e-01 -7.83467006e-04 -5.90723056e-03 2.84688192e+01] [ 7.86485424e-04 9.99999561e-01 5.08664446e-04 -2.22636486e+00] [ 5.90682944e-03 -5.13301366e-04 9.99982423e-01 -8.32081036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.364860624 meters 0.10299775683505208 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99982791e-01 -7.73181820e-04 -5.81547646e-03 2.84688610e+01] [ 7.76673513e-04 9.99999519e-01 5.98179592e-04 -2.22642527e+00] [ 5.81501116e-03 -6.02686024e-04 9.99982911e-01 -8.32424021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.394860624 meters 0.10412509340817279 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99983273e-01 -5.98286155e-04 -5.75284049e-03 2.84692148e+01] [ 6.03642259e-04 9.99999386e-01 9.29345271e-04 -2.22671249e+00] [ 5.75228095e-03 -9.32802384e-04 9.99983020e-01 -8.33124131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.424860624 meters 0.10412509340817279 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99983273e-01 -5.98286155e-04 -5.75284049e-03 2.84692148e+01] [ 6.03642259e-04 9.99999386e-01 9.29345271e-04 -2.22671249e+00] [ 5.75228095e-03 -9.32802384e-04 9.99983020e-01 -8.33124131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.454860624 meters 0.10517600046766737 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99983904e-01 -6.81143412e-04 -5.63278125e-03 2.84690239e+01] [ 6.86138956e-04 9.99999373e-01 8.84984946e-04 -2.22666770e+00] [ 5.63217492e-03 -8.88835572e-04 9.99983744e-01 -8.33190962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.484860624 meters 0.10615873350174151 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99984239e-01 -9.07920169e-04 -5.54051153e-03 2.84687832e+01] [ 9.11180033e-04 9.99999413e-01 5.85872870e-04 -2.22605082e+00] [ 5.53997635e-03 -5.90912040e-04 9.99984480e-01 -8.33146067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.514860624 meters 0.10403354718683896 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99983656e-01 -6.37500742e-04 -5.68170844e-03 2.84694381e+01] [ 6.42415594e-04 9.99999421e-01 8.63247558e-04 -2.22623819e+00] [ 5.68115483e-03 -8.66883467e-04 9.99983486e-01 -8.33651329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.544860624 meters 0.10331713017366846 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99983428e-01 -8.58043857e-04 -5.69278228e-03 2.84690874e+01] [ 8.61036453e-04 9.99999492e-01 5.23252417e-04 -2.22578317e+00] [ 5.69233042e-03 -5.28145438e-04 9.99983659e-01 -8.33106193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.574860624 meters 0.10530731237310427 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99983008e-01 -7.98495702e-04 -5.77463526e-03 2.84691370e+01] [ 8.01730445e-04 9.99999523e-01 5.57870852e-04 -2.22574607e+00] [ 5.77418705e-03 -5.62491073e-04 9.99983171e-01 -8.32949374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604860624000004 meters 0.10261403809019169 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99982886e-01 -9.93275435e-04 -5.76543496e-03 2.84687911e+01] [ 9.94824021e-04 9.99999470e-01 2.65736667e-04 -2.22538024e+00] [ 5.76516795e-03 -2.71467713e-04 9.99983344e-01 -8.32470676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.634860624 meters 0.10417664619073388 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99983004e-01 -9.76888402e-04 -5.74775027e-03 2.84688811e+01] [ 9.78581289e-04 9.99999479e-01 2.91725429e-04 -2.22529614e+00] [ 5.74746229e-03 -2.97345112e-04 9.99983439e-01 -8.32632370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.664860624 meters 0.1028977455463658 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99983080e-01 -4.37144860e-04 -5.80067221e-03 2.84696380e+01] [ 4.43384580e-04 9.99999324e-01 1.07444676e-03 -2.22697963e+00] [ 5.80019860e-03 -1.07700051e-03 9.99982599e-01 -8.33487566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.694860624 meters 0.10434915271852399 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99982633e-01 -4.01802386e-04 -5.87987177e-03 2.84697961e+01] [ 4.08139308e-04 9.99999337e-01 1.07657117e-03 -2.22715255e+00] [ 5.87943530e-03 -1.07895228e-03 9.99982134e-01 -8.33455924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.724860624 meters 0.10438074886343 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99983075e-01 -2.62292741e-04 -5.81219191e-03 2.84700191e+01] [ 2.70031585e-04 9.99999078e-01 1.33073986e-03 -2.22743574e+00] [ 5.81183751e-03 -1.33228681e-03 9.99982224e-01 -8.33969827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.754860624 meters 0.10580451039649005 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99983275e-01 -1.39193064e-04 -5.78183087e-03 2.84702208e+01] [ 1.48144873e-04 9.99998791e-01 1.54786599e-03 -2.22780478e+00] [ 5.78160843e-03 -1.54869665e-03 9.99982087e-01 -8.34321384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784860624000004 meters 0.10057187904617858 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99983100e-01 6.18468498e-05 -5.81341815e-03 2.84705699e+01] [-5.11077088e-05 9.99998292e-01 1.84743276e-03 -2.22829788e+00] [ 5.81352248e-03 -1.84710442e-03 9.99981395e-01 -8.34711981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.814860624 meters 0.11120786493129774 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99984107e-01 9.02825149e-05 -5.63715952e-03 2.84703770e+01] [-7.87289125e-05 9.99997896e-01 2.04973154e-03 -2.22903502e+00] [ 5.63733272e-03 -2.04925516e-03 9.99982010e-01 -8.34933441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.844860624 meters 0.10347190386289594 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.84 [[ 9.99984684e-01 1.48918688e-04 -5.53255030e-03 2.84704288e+01] [-1.36659620e-04 9.99997535e-01 2.21611985e-03 -2.22930589e+00] [ 5.53286669e-03 -2.21532983e-03 9.99982240e-01 -8.35310366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.874860624 meters 0.10347190386289594 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.84 [[ 9.99984684e-01 1.48918688e-04 -5.53255030e-03 2.84704288e+01] [-1.36659620e-04 9.99997535e-01 2.21611985e-03 -2.22930589e+00] [ 5.53286669e-03 -2.21532983e-03 9.99982240e-01 -8.35310366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.904860624 meters 0.11159351849808224 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.84 [[ 9.99985665e-01 -1.56696386e-05 -5.35434476e-03 2.84700761e+01] [ 2.69557094e-05 9.99997778e-01 2.10776849e-03 -2.22916772e+00] [ 5.35429984e-03 -2.10788261e-03 9.99983444e-01 -8.35322547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.934860624 meters 0.11150277302081847 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.84 [[ 9.99985618e-01 -2.67453076e-05 -5.36316366e-03 2.84701694e+01] [ 3.79098574e-05 9.99997833e-01 2.08161884e-03 -2.22895296e+00] [ 5.36309637e-03 -2.08179221e-03 9.99983452e-01 -8.35416724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964860624 meters 0.10611846590764894 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.84 [[ 9.99985917e-01 -3.54754851e-04 -5.29523494e-03 2.84697917e+01] [ 3.63371328e-04 9.99998611e-01 1.62633995e-03 -2.22799303e+00] [ 5.29465064e-03 -1.62824119e-03 9.99984658e-01 -8.35088248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.994860624 meters 0.10117218041678645 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99985226e-01 -5.28403774e-04 -5.41002876e-03 2.84699227e+01] [ 5.34908907e-04 9.99999136e-01 1.20104479e-03 -2.22658276e+00] [ 5.40938945e-03 -1.20392091e-03 9.99984644e-01 -8.34950152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.024860624 meters 0.10450222119123755 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.83 [[ 9.99985203e-01 -7.17961521e-04 -5.39243257e-03 2.84698433e+01] [ 7.22980375e-04 9.99999307e-01 9.28829966e-04 -2.22574185e+00] [ 5.39176197e-03 -9.32714845e-04 9.99985029e-01 -8.34917531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.054860624 meters 0.11379146119821204 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.23, Z:-0.84 [[ 9.99985187e-01 -7.40242314e-04 -5.39230377e-03 2.84700485e+01] [ 7.44946968e-04 9.99999344e-01 8.70519377e-04 -2.22523718e+00] [ 5.39165583e-03 -8.74523463e-04 9.99985083e-01 -8.35219201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.084860624 meters 0.10151223187551767 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.22, Z:-0.84 [[ 9.99984296e-01 -6.21213708e-04 -5.56972472e-03 2.84705104e+01] [ 6.25961389e-04 9.99999442e-01 8.50705849e-04 -2.22491754e+00] [ 5.56919315e-03 -8.54178922e-04 9.99984127e-01 -8.35320592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.114860624 meters 0.10270841094813245 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.22, Z:-0.84 [[ 9.99983924e-01 -6.18728079e-04 -5.63640608e-03 2.84707325e+01] [ 6.23127619e-04 9.99999503e-01 7.78835024e-04 -2.22449949e+00] [ 5.63592139e-03 -7.82334704e-04 9.99983812e-01 -8.35424079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.144860624 meters 0.10330545436002343 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.22, Z:-0.84 [[ 9.99983679e-01 -6.21911225e-04 -5.67926179e-03 2.84708616e+01] [ 6.25882104e-04 9.99999561e-01 6.97438814e-04 -2.22410065e+00] [ 5.67882556e-03 -7.00981980e-04 9.99983630e-01 -8.35471466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.174860624 meters 0.10311954273777547 Centerline is valid? [False, False] Translation: X:28.47, Y:-2.22, Z:-0.84 [[ 9.99983626e-01 -5.94266060e-04 -5.69167968e-03 2.84709031e+01] [ 5.98350483e-04 9.99999565e-01 7.15936983e-04 -2.22421603e+00] [ 5.69125175e-03 -7.19330879e-04 9.99983546e-01 -8.35475673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.204860624 meters 0.09943936533908462 Centerline is valid? [False, True] Translation: X:28.47, Y:-2.22, Z:-0.84 [[ 9.99983522e-01 -3.33134810e-04 -5.73111292e-03 2.84714364e+01] [ 3.39143426e-04 9.99999394e-01 1.04748060e-03 -2.22464337e+00] [ 5.73076049e-03 -1.04940701e-03 9.99983028e-01 -8.36090189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.234860624 meters 0.09984719110308758 Centerline is valid? [True, True] Translation: X:28.50, Y:-2.23, Z:-0.84 [[ 9.99982347e-01 1.31186156e-03 -5.79515733e-03 2.85000938e+01] [-1.30839403e-03 9.99998963e-01 6.02100003e-04 -2.22809088e+00] [ 5.79594119e-03 -5.94507025e-04 9.99983027e-01 -8.36873959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.264860624 meters 0.10211169471861536 Centerline is valid? [True, False] Translation: X:28.50, Y:-2.23, Z:-0.84 [[ 9.99982517e-01 1.27271931e-03 -5.77453094e-03 2.85001270e+01] [-1.26962831e-03 9.99999049e-01 5.38915258e-04 -2.22785965e+00] [ 5.77521133e-03 -5.31574328e-04 9.99983182e-01 -8.36971829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.294860624 meters 0.1004331919809414 Centerline is valid? [False, False] Translation: X:28.50, Y:-2.23, Z:-0.84 [[ 9.99982219e-01 1.34086565e-03 -5.81062455e-03 2.85003880e+01] [-1.33745877e-03 9.99998931e-01 5.90166169e-04 -2.22778477e+00] [ 5.81140967e-03 -5.82384204e-04 9.99982944e-01 -8.37218937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.324860624 meters 0.10024198488681652 Centerline is valid? [False, False] Translation: X:28.50, Y:-2.23, Z:-0.84 [[ 9.99982115e-01 1.41997286e-03 -5.80975809e-03 2.85005924e+01] [-1.41592581e-03 9.99998752e-01 7.00649544e-04 -2.22791352e+00] [ 5.81074574e-03 -6.92410827e-04 9.99982878e-01 -8.37519257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.354860624000004 meters 0.09837915734476203 Centerline is valid? [False, True] Translation: X:28.50, Y:-2.23, Z:-0.84 [[ 9.99981070e-01 1.51200936e-03 -5.96438358e-03 2.85011956e+01] [-1.50820040e-03 9.99998656e-01 6.43063873e-04 -2.22748209e+00] [ 5.96534788e-03 -6.34056214e-04 9.99982006e-01 -8.37891830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.384860624 meters 0.09980493315497276 Centerline is valid? [True, True] Translation: X:28.53, Y:-2.23, Z:-0.84 [[ 9.99981088e-01 1.93689491e-03 -5.83713666e-03 2.85291333e+01] [-1.93352979e-03 9.99997961e-01 5.82090209e-04 -2.23263286e+00] [ 5.83825221e-03 -5.70792923e-04 9.99982794e-01 -8.38333464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.414860624 meters 0.09687346603887949 Centerline is valid? [True, True] Translation: X:28.56, Y:-2.23, Z:-0.84 [[ 9.99983130e-01 1.63373888e-03 -5.57402945e-03 2.85582342e+01] [-1.63066800e-03 9.99998516e-01 5.55426725e-04 -2.22926405e+00] [ 5.57492860e-03 -5.46327963e-04 9.99984311e-01 -8.36864531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.444860624 meters 0.09568257197553803 Centerline is valid? [True, True] Translation: X:28.59, Y:-2.23, Z:-0.84 [[ 9.99978818e-01 2.45791626e-03 -6.02676609e-03 2.85877103e+01] [-2.45436196e-03 9.99996810e-01 5.97078401e-04 -2.22954027e+00] [ 6.02821444e-03 -5.82273888e-04 9.99981661e-01 -8.37208537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.474860624 meters 0.09674246715797591 Centerline is valid? [True, True] Translation: X:28.62, Y:-2.23, Z:-0.84 [[ 9.99979509e-01 3.06934760e-03 -5.61793244e-03 2.86151760e+01] [-3.06626132e-03 9.99995143e-01 5.57892424e-04 -2.23396436e+00] [ 5.61961752e-03 -5.40654943e-04 9.99984064e-01 -8.38922277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.504860624 meters 0.09564576336965247 Centerline is valid? [True, True] Translation: X:28.65, Y:-2.24, Z:-0.84 [[ 9.99978553e-01 4.19656003e-03 -5.02807133e-03 2.86455442e+01] [-4.19409806e-03 9.99991080e-01 5.00089564e-04 -2.23527393e+00] [ 5.03012514e-03 -4.78990615e-04 9.99987234e-01 -8.38655965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.534860624000004 meters 0.09645377605250556 Centerline is valid? [True, True] Translation: X:28.67, Y:-2.24, Z:-0.84 [[ 9.99977484e-01 5.33324447e-03 -4.07290140e-03 2.86739523e+01] [-5.33163999e-03 9.99985705e-01 4.04694377e-04 -2.23957375e+00] [ 4.07500152e-03 -3.82970020e-04 9.99991624e-01 -8.40065216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.564860624 meters 0.09484329733943347 Centerline is valid? [True, True] Translation: X:28.70, Y:-2.24, Z:-0.84 [[ 9.99951049e-01 8.45036039e-03 -5.14692748e-03 2.87037767e+01] [-8.44783799e-03 9.99964185e-01 5.11622456e-04 -2.23731473e+00] [ 5.15106654e-03 -4.68117002e-04 9.99986624e-01 -8.40242374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.594860624 meters 0.09309255060428855 Centerline is valid? [True, True] Translation: X:28.73, Y:-2.24, Z:-0.84 [[ 9.99933492e-01 1.03662957e-02 -5.05477487e-03 2.87343561e+01] [-1.03638893e-02 9.99946167e-01 5.02038332e-04 -2.23529066e+00] [ 5.05970704e-03 -4.49617815e-04 9.99987099e-01 -8.40049738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.624860624 meters 0.0917190543530122 Centerline is valid? [True, True] Translation: X:28.77, Y:-2.23, Z:-0.84 [[ 9.99907347e-01 1.27557603e-02 -4.75266948e-03 2.87653004e+01] [-1.27536584e-02 9.99918557e-01 4.72296459e-04 -2.23427488e+00] [ 4.75830691e-03 -4.11638776e-04 9.99988594e-01 -8.40053356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.654860624 meters 0.09260744876401798 Centerline is valid? [True, True] Translation: X:28.79, Y:-2.24, Z:-0.84 [[ 9.99873312e-01 1.50655272e-02 -5.13709044e-03 2.87944828e+01] [-1.50631042e-02 9.99886415e-01 5.10040421e-04 -2.23779140e+00] [ 5.14419098e-03 -4.32595277e-04 9.99986675e-01 -8.41790612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.684860624 meters 0.08895902148790501 Centerline is valid? [True, True] Translation: X:28.83, Y:-2.23, Z:-0.84 [[ 9.99810720e-01 1.88159637e-02 -4.94809538e-03 2.88257615e+01] [-1.88137592e-02 9.99822885e-01 4.91687305e-04 -2.23150964e+00] [ 4.95647056e-03 -3.98501963e-04 9.99987637e-01 -8.40567701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.714860624 meters 0.08990545964555167 Centerline is valid? [True, True] Translation: X:28.85, Y:-2.24, Z:-0.84 [[ 9.99780061e-01 2.03387988e-02 -5.11487937e-03 2.88539643e+01] [-2.03364678e-02 9.99793064e-01 5.07332514e-04 -2.23541008e+00] [ 5.12413946e-03 -4.03202352e-04 9.99986790e-01 -8.41728528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.744860624 meters 0.08864526344041773 Centerline is valid? [True, True] Translation: X:28.88, Y:-2.23, Z:-0.84 [[ 9.99724615e-01 2.30766286e-02 -4.26185139e-03 2.88843601e+01] [-2.30750327e-02 9.99733646e-01 4.23261572e-04 -2.23392228e+00] [ 4.27048368e-03 -3.24802652e-04 9.99990829e-01 -8.41099233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.774860624 meters 0.08752251282471876 Centerline is valid? [True, True] Translation: X:28.91, Y:-2.23, Z:-0.84 [[ 9.99701298e-01 2.40766738e-02 -4.19861277e-03 2.89133694e+01] [-2.40751387e-02 9.99710065e-01 4.15805646e-04 -2.23346903e+00] [ 4.20740666e-03 -3.14599260e-04 9.99991099e-01 -8.41691765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.804860624 meters 0.08613862450013245 Centerline is valid? [True, True] Translation: X:28.94, Y:-2.23, Z:-0.84 [[ 9.99643428e-01 2.62391385e-02 -4.95225304e-03 2.89434061e+01] [-2.62370267e-02 9.99655629e-01 4.90933750e-04 -2.23051242e+00] [ 4.96342931e-03 -3.60826302e-04 9.99987617e-01 -8.42243294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.834860624 meters 0.08427625286724034 Centerline is valid? [True, True] Translation: X:28.97, Y:-2.23, Z:-0.84 [[ 9.99613096e-01 2.73283680e-02 -5.17869100e-03 2.89730341e+01] [-2.73260928e-02 9.99626443e-01 5.09604490e-04 -2.22847016e+00] [ 5.19068313e-03 -3.67893931e-04 9.99986461e-01 -8.42063331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.864860624 meters 0.08459106773033194 Centerline is valid? [True, True] Translation: X:29.00, Y:-2.23, Z:-0.84 [[ 9.99585368e-01 2.82907908e-02 -5.35941385e-03 2.90006821e+01] [-2.82883590e-02 9.99599664e-01 5.29025374e-04 -2.23144628e+00] [ 5.37223483e-03 -3.77197000e-04 9.99985498e-01 -8.43669641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.894860624 meters 0.08408194121000344 Centerline is valid? [True, True] Translation: X:29.03, Y:-2.23, Z:-0.84 [[ 9.99581142e-01 2.85909674e-02 -4.48306817e-03 2.90298688e+01] [-2.85892685e-02 9.99591145e-01 4.42596903e-04 -2.23383430e+00] [ 4.49388952e-03 -3.14243878e-04 9.99989853e-01 -8.44144863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.924860624 meters 0.0862146833374867 Centerline is valid? [True, True] Translation: X:29.06, Y:-2.24, Z:-0.84 [[ 9.99681972e-01 2.50339461e-02 -3.04236631e-03 2.90589998e+01] [-2.50331458e-02 9.99686576e-01 3.00831689e-04 -2.24047325e+00] [ 3.04894377e-03 -2.24576016e-04 9.99995327e-01 -8.42500273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.954860624 meters 0.0862146833374867 Centerline is valid? [True, True] Translation: X:29.09, Y:-2.24, Z:-0.84 [[ 9.99684318e-01 2.49400827e-02 -3.04253192e-03 2.90864072e+01] [-2.49392871e-02 9.99688923e-01 2.99156120e-04 -2.24307191e+00] [ 3.04904644e-03 -2.23183104e-04 9.99995327e-01 -8.42915379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.984860624 meters 0.08839815367079026 Centerline is valid? [True, True] Translation: X:29.12, Y:-2.25, Z:-0.84 [[ 9.99745047e-01 2.22729265e-02 -3.70908487e-03 2.91162969e+01] [-2.22717193e-02 9.99751887e-01 3.66465571e-04 -2.25013252e+00] [ 3.71632686e-03 -2.83764443e-04 9.99993054e-01 -8.44618535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.014860624 meters 0.08899052900847125 Centerline is valid? [True, True] Translation: X:29.15, Y:-2.25, Z:-0.85 [[ 9.99797775e-01 1.97553070e-02 -3.75978992e-03 2.91457571e+01] [-1.97540505e-02 9.99804801e-01 3.71040874e-04 -2.25460593e+00] [ 3.76638604e-03 -2.96694760e-04 9.99992863e-01 -8.45229446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.044860624 meters 0.09092873695211003 Centerline is valid? [True, True] Translation: X:29.18, Y:-2.26, Z:-0.85 [[ 9.99860120e-01 1.64150346e-02 -3.20720986e-03 2.91756032e+01] [-1.64141024e-02 9.99865229e-01 3.16763067e-04 -2.26199573e+00] [ 3.21197729e-03 -2.64075288e-04 9.99994807e-01 -8.46425189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.074860624 meters 0.09572368225728893 Centerline is valid? [True, True] Translation: X:29.20, Y:-2.28, Z:-0.85 [[ 9.99946583e-01 9.16833138e-03 -4.77202368e-03 2.92038845e+01] [-9.16618691e-03 9.99957879e-01 4.71061781e-04 -2.27522511e+00] [ 4.77614153e-03 -4.27295357e-04 9.99988503e-01 -8.49394230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104860624000004 meters 0.09572368225728893 Centerline is valid? [True, True] Translation: X:29.23, Y:-2.28, Z:-0.85 [[ 9.99947438e-01 9.07455186e-03 -4.77218612e-03 2.92313308e+01] [-9.07241412e-03 9.99958735e-01 4.69415994e-04 -2.27781877e+00] [ 4.77624894e-03 -4.26096072e-04 9.99988503e-01 -8.49809991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.134860624 meters 0.09817911543197054 Centerline is valid? [True, True] Translation: X:29.26, Y:-2.29, Z:-0.85 [[ 9.99976197e-01 3.06334127e-03 -6.18227871e-03 2.92606405e+01] [-3.05962800e-03 9.99995133e-01 6.10000140e-04 -2.28584573e+00] [ 6.18411727e-03 -5.91070148e-04 9.99980703e-01 -8.51949149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.164860624 meters 0.1016605519124045 Centerline is valid? [True, False] Translation: X:29.26, Y:-2.29, Z:-0.85 [[ 9.99978685e-01 2.74759433e-03 -5.92280114e-03 2.92599481e+01] [-2.74514886e-03 9.99996143e-01 4.20981867e-04 -2.28562778e+00] [ 5.92393499e-03 -4.04713924e-04 9.99982371e-01 -8.51781245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.194860624 meters 0.09904641397691581 Centerline is valid? [False, True] Translation: X:29.26, Y:-2.29, Z:-0.85 [[ 9.99980116e-01 2.51219788e-03 -5.78410022e-03 2.92595784e+01] [-2.51100451e-03 9.99996825e-01 2.13572649e-04 -2.28514763e+00] [ 5.78461839e-03 -1.99044501e-04 9.99983249e-01 -8.51680695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.224860624 meters 0.1030366087249509 Centerline is valid? [True, False] Translation: X:29.26, Y:-2.28, Z:-0.85 [[ 9.99980626e-01 2.42425194e-03 -5.73328476e-03 2.92595313e+01] [-2.42345315e-03 9.99997053e-01 1.46267516e-04 -2.28483239e+00] [ 5.73362246e-03 -1.32370335e-04 9.99983554e-01 -8.51779031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.254860624 meters 0.10633214441506596 Centerline is valid? [False, False] Translation: X:29.26, Y:-2.28, Z:-0.85 [[ 9.99982137e-01 2.09764685e-03 -5.59700651e-03 2.92591240e+01] [-2.09887110e-03 9.99997775e-01 -2.12869267e-04 -2.28412876e+00] [ 5.59654753e-03 2.24612859e-04 9.99984314e-01 -8.51616454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284860624000004 meters 0.10108488634430328 Centerline is valid? [False, False] Translation: X:29.26, Y:-2.28, Z:-0.85 [[ 9.99982064e-01 2.16554462e-03 -5.58408766e-03 2.92594643e+01] [-2.16621196e-03 9.99997647e-01 -1.13460459e-04 -2.28393018e+00] [ 5.58382881e-03 1.25554741e-04 9.99984402e-01 -8.52138246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.314860624 meters 0.10108488634430328 Centerline is valid? [False, False] Translation: X:29.26, Y:-2.28, Z:-0.85 [[ 9.99982064e-01 2.16554462e-03 -5.58408766e-03 2.92594643e+01] [-2.16621196e-03 9.99997647e-01 -1.13460459e-04 -2.28393018e+00] [ 5.58382881e-03 1.25554741e-04 9.99984402e-01 -8.52138246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.344860624 meters 0.10278391661706407 Centerline is valid? [False, False] Translation: X:29.26, Y:-2.28, Z:-0.85 [[ 9.99982363e-01 1.94675541e-03 -5.61101193e-03 2.92593678e+01] [-1.94961586e-03 9.99997972e-01 -5.04367879e-04 -2.28300828e+00] [ 5.61001868e-03 5.15298301e-04 9.99984131e-01 -8.51910398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.374860624 meters 0.10113786714745905 Centerline is valid? [False, False] Translation: X:29.26, Y:-2.28, Z:-0.85 [[ 9.99981132e-01 1.59696557e-03 -5.93169824e-03 2.92598234e+01] [-1.60551848e-03 9.99997678e-01 -1.43741677e-03 -2.27996552e+00] [ 5.92938896e-03 1.44691310e-03 9.99981374e-01 -8.51587903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.404860624 meters 0.10143064620135034 Centerline is valid? [False, False] Translation: X:29.26, Y:-2.28, Z:-0.85 [[ 9.99979262e-01 1.58600840e-03 -6.24181854e-03 2.92605132e+01] [-1.59728195e-03 9.99997102e-01 -1.80156124e-03 -2.27858017e+00] [ 6.23894316e-03 1.81149382e-03 9.99978897e-01 -8.51562159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.434860624 meters 0.09962784852526871 Centerline is valid? [False, True] Translation: X:29.26, Y:-2.28, Z:-0.85 [[ 9.99978855e-01 1.37284896e-03 -6.35640491e-03 2.92605805e+01] [-1.38743076e-03 9.99996415e-01 -2.29019161e-03 -2.27729076e+00] [ 6.35323804e-03 2.29896226e-03 9.99977175e-01 -8.51273993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.464860624 meters 0.09835104400389513 Centerline is valid? [True, True] Translation: X:29.29, Y:-2.28, Z:-0.85 [[ 9.99976373e-01 3.88954579e-03 -5.66784139e-03 2.92913746e+01] [-3.88639530e-03 9.99992287e-01 5.66761619e-04 -2.27829958e+00] [ 5.67000212e-03 -5.44720756e-04 9.99983777e-01 -8.52192621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.494860624 meters 0.09363818784163314 Centerline is valid? [True, True] Translation: X:29.32, Y:-2.27, Z:-0.85 [[ 9.99969960e-01 5.71978100e-03 -5.23106561e-03 2.93219226e+01] [-5.71712609e-03 9.99983521e-01 5.22339495e-04 -2.27234284e+00] [ 5.23396707e-03 -4.92417142e-04 9.99986181e-01 -8.51146464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.524860624 meters 0.09400904757016441 Centerline is valid? [True, True] Translation: X:29.35, Y:-2.27, Z:-0.85 [[ 9.99964714e-01 7.02079599e-03 -4.61286639e-03 2.93503008e+01] [-7.01874783e-03 9.99975262e-01 4.60047182e-04 -2.27496594e+00] [ 4.61598218e-03 -4.27654403e-04 9.99989255e-01 -8.51534661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.554860624 meters 0.09358198144211781 Centerline is valid? [True, True] Translation: X:29.38, Y:-2.28, Z:-0.85 [[ 9.99959417e-01 7.74888046e-03 -4.59546450e-03 2.93790410e+01] [-7.74685808e-03 9.99969888e-01 4.57718170e-04 -2.27622273e+00] [ 4.59887293e-03 -4.22099184e-04 9.99989336e-01 -8.50910399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.584860624 meters 0.09531564352055194 Centerline is valid? [True, True] Translation: X:29.41, Y:-2.28, Z:-0.85 [[ 9.99970208e-01 6.59346083e-03 -4.01363725e-03 2.94068151e+01] [-6.59191053e-03 9.99978193e-01 3.99362300e-04 -2.28130647e+00] [ 4.01618291e-03 -3.72892865e-04 9.99991866e-01 -8.51221934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.614860624 meters 0.09583000679047923 Centerline is valid? [True, True] Translation: X:29.44, Y:-2.28, Z:-0.85 [[ 9.99976564e-01 5.56312647e-03 -3.99046613e-03 2.94361013e+01] [-5.56158412e-03 9.99984455e-01 3.97501730e-04 -2.28492462e+00] [ 3.99261546e-03 -3.75299101e-04 9.99991959e-01 -8.51728769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.644860624 meters 0.09772743677748043 Centerline is valid? [True, True] Translation: X:29.47, Y:-2.29, Z:-0.85 [[ 9.99982214e-01 3.07149668e-03 -5.11252248e-03 2.94658171e+01] [-3.06892910e-03 9.99995161e-01 5.09983091e-04 -2.29175172e+00] [ 5.11406415e-03 -4.94284051e-04 9.99986801e-01 -8.54153545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.674860624 meters 0.099488999402921 Centerline is valid? [True, True] Translation: X:29.50, Y:-2.30, Z:-0.86 [[ 9.99982720e-01 1.01733552e-03 -5.79007982e-03 2.94959573e+01] [-1.01400795e-03 9.99999319e-01 5.77609735e-04 -2.29790132e+00] [ 5.79066350e-03 -5.71728567e-04 9.99983071e-01 -8.55811390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.704860624 meters 0.10122206702784775 Centerline is valid? [True, False] Translation: X:29.50, Y:-2.30, Z:-0.86 [[ 9.99984645e-01 8.88576165e-04 -5.46989443e-03 2.94953621e+01] [-8.84456440e-04 9.99999323e-01 7.55536410e-04 -2.29862687e+00] [ 5.47056208e-03 -7.50686925e-04 9.99984755e-01 -8.55966596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.734860624 meters 0.10543255253041413 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99988141e-01 4.51264620e-04 -4.84922171e-03 2.94942685e+01] [-4.47066246e-04 9.99999524e-01 8.66832209e-04 -2.29914693e+00] [ 4.84961057e-03 -8.64654005e-04 9.99987867e-01 -8.56334095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.764860624 meters 0.10397267430724673 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99989841e-01 1.07568559e-04 -4.50624748e-03 2.94934469e+01] [-1.04258449e-04 9.99999725e-01 7.34788723e-04 -2.29899734e+00] [ 4.50632528e-03 -7.34311444e-04 9.99989577e-01 -8.56245971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.794860624 meters 0.10913397713909452 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99990995e-01 -7.06024820e-05 -4.24328284e-03 2.94929600e+01] [ 7.37734148e-05 9.99999718e-01 7.47131052e-04 -2.29901495e+00] [ 4.24322890e-03 -7.47437365e-04 9.99990718e-01 -8.56377751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.824860624 meters 0.1119601828153824 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99992262e-01 -1.99835508e-04 -3.92875942e-03 2.94923963e+01] [ 2.03260733e-04 9.99999600e-01 8.71453931e-04 -2.29942852e+00] [ 3.92858370e-03 -8.72245750e-04 9.99991903e-01 -8.56553229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.854860624000004 meters 0.10948400374724601 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99993493e-01 -3.16646893e-04 -3.59350146e-03 2.94917784e+01] [ 3.20419707e-04 9.99999398e-01 1.04937174e-03 -2.30012926e+00] [ 3.59316702e-03 -1.05051634e-03 9.99992993e-01 -8.56717398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.884860624 meters 0.1104933400700581 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99993978e-01 -2.34623059e-04 -3.46256284e-03 2.94917558e+01] [ 2.39085419e-04 9.99999141e-01 1.28838717e-03 -2.30077659e+00] [ 3.46225758e-03 -1.28920726e-03 9.99993175e-01 -8.57084363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.914860624 meters 0.11145237754701871 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99994388e-01 -2.17023238e-04 -3.34307966e-03 2.94916719e+01] [ 2.21742897e-04 9.99998979e-01 1.41146399e-03 -2.30098039e+00] [ 3.34276992e-03 -1.41219737e-03 9.99993416e-01 -8.57349681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.944860624 meters 0.11485779500823826 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99994599e-01 -5.93976782e-04 -3.23258833e-03 2.94909818e+01] [ 5.97043881e-04 9.99999372e-01 9.47923538e-04 -2.30026806e+00] [ 3.23202326e-03 -9.49848415e-04 9.99994326e-01 -8.56713260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.974860624 meters 0.11005763917960422 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99994288e-01 -1.03836330e-03 -3.21648102e-03 2.94905556e+01] [ 1.03927489e-03 9.99999420e-01 2.81753703e-04 -2.29846731e+00] [ 3.21618659e-03 -2.85094901e-04 9.99994787e-01 -8.56164461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.004860624 meters 0.11123220183533453 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99993957e-01 -1.20724846e-03 -3.26021166e-03 2.94904538e+01] [ 1.20715549e-03 9.99999271e-01 -3.04856869e-05 -2.29771914e+00] [ 3.26024608e-03 2.65499202e-05 9.99994685e-01 -8.55870761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.034860624000004 meters 0.11054558561135013 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99993650e-01 -1.04170369e-03 -3.40793577e-03 2.94908867e+01] [ 1.04198606e-03 9.99999454e-01 8.10845034e-05 -2.29776304e+00] [ 3.40784944e-03 -8.46350101e-05 9.99994190e-01 -8.56003390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.064860624 meters 0.11230317723121885 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99993605e-01 -1.11271602e-03 -3.39891911e-03 2.94907480e+01] [ 1.11259426e-03 9.99999380e-01 -3.77126680e-05 -2.29768392e+00] [ 3.39895896e-03 3.39308089e-05 9.99994223e-01 -8.55823682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.094860624 meters 0.11136460613995312 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99993690e-01 -9.00776510e-04 -3.43634103e-03 2.94910516e+01] [ 9.01664174e-04 9.99999561e-01 2.56776009e-04 -2.29832839e+00] [ 3.43610822e-03 -2.59872814e-04 9.99994063e-01 -8.56140862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.124860624 meters 0.1143013845508219 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99994114e-01 -6.55189669e-04 -3.36799370e-03 2.94912472e+01] [ 6.57583612e-04 9.99999532e-01 7.09733965e-04 -2.29928979e+00] [ 3.36752712e-03 -7.11944525e-04 9.99994076e-01 -8.56629009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.154860624 meters 0.11191085290237299 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99994294e-01 -7.88381385e-04 -3.28485014e-03 2.94908660e+01] [ 7.90382224e-04 9.99999503e-01 6.07857624e-04 -2.29937486e+00] [ 3.28436928e-03 -6.10450443e-04 9.99994420e-01 -8.56342584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.184860624 meters 0.11418555872380572 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99994713e-01 -8.47167052e-04 -3.13955613e-03 2.94904780e+01] [ 8.49363256e-04 9.99999396e-01 6.98259811e-04 -2.29982889e+00] [ 3.13896269e-03 -7.00922743e-04 9.99994828e-01 -8.56237908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.214860624 meters 0.11354994456453846 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99994552e-01 -5.22547723e-04 -3.25914365e-03 2.94911217e+01] [ 5.26237925e-04 9.99999221e-01 1.13150669e-03 -2.30050426e+00] [ 3.25854985e-03 -1.13321561e-03 9.99994049e-01 -8.56788464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.244860624 meters 0.11210575186782132 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99994264e-01 -2.90619912e-04 -3.37445645e-03 2.94915969e+01] [ 2.95321034e-04 9.99998987e-01 1.39273463e-03 -2.30113509e+00] [ 3.37404827e-03 -1.39372319e-03 9.99993337e-01 -8.57101137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.274860624 meters 0.11472335363577829 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99994165e-01 -4.50894825e-05 -3.41592019e-03 2.94920272e+01] [ 5.09223204e-05 9.99998541e-01 1.70747739e-03 -2.30182503e+00] [ 3.41583821e-03 -1.70764137e-03 9.99992708e-01 -8.57570549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.304860624 meters 0.10996554072213424 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99993530e-01 3.19226303e-04 -3.58314386e-03 2.94926455e+01] [-3.11603814e-04 9.99997688e-01 2.12767540e-03 -2.30290934e+00] [ 3.58381479e-03 -2.12654512e-03 9.99991317e-01 -8.57925465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.334860624 meters 0.11134016086758997 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99993076e-01 4.74875865e-04 -3.69075906e-03 2.94929496e+01] [-4.66575753e-04 9.99997361e-01 2.24942587e-03 -2.30328155e+00] [ 3.69181752e-03 -2.24768828e-03 9.99990659e-01 -8.57973144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.364860624 meters 0.10975897593809819 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99992935e-01 4.17709028e-04 -3.73557930e-03 2.94928473e+01] [-4.09826059e-04 9.99997688e-01 2.11075644e-03 -2.30325938e+00] [ 3.73645235e-03 -2.10921059e-03 9.99990795e-01 -8.57654158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.394860624 meters 0.11099379112468145 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99992341e-01 5.65274699e-04 -3.87286188e-03 2.94931163e+01] [-5.56743385e-04 9.99997417e-01 2.20356898e-03 -2.30351896e+00] [ 3.87409749e-03 -2.20139591e-03 9.99990073e-01 -8.57577416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.424860624 meters 0.1079135806063301 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99992136e-01 4.12020509e-04 -3.94428273e-03 2.94928786e+01] [-4.04497234e-04 9.99998098e-01 1.90799504e-03 -2.30322390e+00] [ 3.94506136e-03 -1.90638459e-03 9.99990401e-01 -8.56974952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.454860624 meters 0.11037211383983309 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99991560e-01 4.21106359e-04 -4.08678361e-03 2.94928756e+01] [-4.13773175e-04 9.99998303e-01 1.79504532e-03 -2.30325530e+00] [ 4.08753258e-03 -1.79333917e-03 9.99990038e-01 -8.56492868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.484860624 meters 0.10588890518095166 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99991456e-01 5.66624177e-04 -4.09464590e-03 2.94930042e+01] [-5.58389024e-04 9.99997820e-01 2.01206378e-03 -2.30381429e+00] [ 4.09577705e-03 -2.00976019e-03 9.99989593e-01 -8.56632608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.514860624 meters 0.10502429539171458 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.30, Z:-0.86 [[ 9.99991801e-01 6.11608148e-04 -4.00305021e-03 2.94927826e+01] [-6.02937518e-04 9.99997471e-01 2.16685426e-03 -2.30448665e+00] [ 4.00436535e-03 -2.16442291e-03 9.99989640e-01 -8.56594170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.544860624 meters 0.10634938163999792 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.31, Z:-0.86 [[ 9.99991831e-01 7.44760332e-04 -3.97293313e-03 2.94928115e+01] [-7.35235512e-04 9.99996854e-01 2.39834980e-03 -2.30523340e+00] [ 3.97470682e-03 -2.39540917e-03 9.99989232e-01 -8.56723892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.574860624 meters 0.10457174756141094 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.31, Z:-0.86 [[ 9.99992402e-01 7.50976056e-04 -3.82509186e-03 2.94923678e+01] [-7.41138350e-04 9.99996416e-01 2.57265583e-03 -2.30626982e+00] [ 3.82701015e-03 -2.56980136e-03 9.99989375e-01 -8.56506881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.604860624 meters 0.10576810235831509 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.31, Z:-0.86 [[ 9.99992512e-01 8.63262113e-04 -3.77242237e-03 2.94924100e+01] [-8.52569200e-04 9.99995617e-01 2.83518475e-03 -2.30704166e+00] [ 3.77485335e-03 -2.83194727e-03 9.99988865e-01 -8.56721614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.634860624 meters 0.1066665592446412 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.31, Z:-0.86 [[ 9.99992594e-01 9.76299396e-04 -3.72279474e-03 2.94923356e+01] [-9.64726938e-04 9.99994701e-01 3.10907023e-03 -2.30801921e+00] [ 3.72581040e-03 -3.10545572e-03 9.99988237e-01 -8.56757456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.664860624 meters 0.10880555407727611 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.31, Z:-0.86 [[ 9.99992597e-01 1.23784082e-03 -3.64343300e-03 2.94924415e+01] [-1.22472563e-03 9.99992771e-01 3.59971351e-03 -2.30932737e+00] [ 3.64786254e-03 -3.59522466e-03 9.99986884e-01 -8.57127374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.694860624 meters 0.10618784435240654 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.31, Z:-0.86 [[ 9.99992888e-01 1.33249384e-03 -3.52823205e-03 2.94921411e+01] [-1.31871557e-03 9.99991508e-01 3.90460088e-03 -2.31065745e+00] [ 3.53340494e-03 -3.89992038e-03 9.99986153e-01 -8.57039061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.724860624 meters 0.10567879895180776 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.31, Z:-0.86 [[ 9.99993185e-01 1.52239995e-03 -3.36337517e-03 2.94918675e+01] [-1.50760514e-03 9.99989197e-01 4.39696381e-03 -2.31234867e+00] [ 3.37003277e-03 -4.39186320e-03 9.99984677e-01 -8.57135737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.754860624 meters 0.10826738321919112 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.32, Z:-0.86 [[ 9.99993637e-01 1.75484927e-03 -3.10579626e-03 2.94912104e+01] [-1.73893224e-03 9.99985379e-01 5.12024479e-03 -2.31523071e+00] [ 3.11473611e-03 -5.11481145e-03 9.99982068e-01 -8.56909503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784860624000004 meters 0.10966484717305147 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.32, Z:-0.86 [[ 9.99993979e-01 1.62739806e-03 -3.06475172e-03 2.94906730e+01] [-1.61198423e-03 9.99986075e-01 5.02516120e-03 -2.31569996e+00] [ 3.07288698e-03 -5.02019061e-03 9.99982677e-01 -8.56243182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.814860624 meters 0.1085340845099502 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.32, Z:-0.86 [[ 9.99993958e-01 1.57330179e-03 -3.09968001e-03 2.94903961e+01] [-1.55793137e-03 9.99986511e-01 4.95490167e-03 -2.31607664e+00] [ 3.10743375e-03 -4.95004264e-03 9.99982920e-01 -8.55701575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.844860624 meters 0.10919603670464027 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.32, Z:-0.86 [[ 9.99993667e-01 1.65369886e-03 -3.15143791e-03 2.94903114e+01] [-1.63771498e-03 9.99985818e-01 5.06778022e-03 -2.31681368e+00] [ 3.15977380e-03 -5.06258696e-03 9.99982193e-01 -8.55387849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.874860624 meters 0.10884350073998127 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.32, Z:-0.86 [[ 9.99993255e-01 1.83392317e-03 -3.18228034e-03 2.94903025e+01] [-1.81690888e-03 9.99984085e-01 5.34125042e-03 -2.31788269e+00] [ 3.19202514e-03 -5.33543248e-03 9.99980672e-01 -8.55241835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.904860624 meters 0.10501764420344811 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.32, Z:-0.85 [[ 9.99990765e-01 -1.70453867e-03 -3.94510281e-03 2.94916897e+01] [ 1.71067818e-03 9.99997330e-01 1.55338436e-03 -2.31919342e+00] [ 3.94244447e-03 -1.56011882e-03 9.99991012e-01 -8.54902977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.934860624 meters 0.10511477713190842 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.32, Z:-0.85 [[ 9.99991106e-01 -1.57101843e-03 -3.91406630e-03 2.94915322e+01] [ 1.57810808e-03 9.99997119e-01 1.80889669e-03 -2.32024105e+00] [ 3.91121322e-03 -1.81505742e-03 9.99990704e-01 -8.54740765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.964860624 meters 0.10487368966431439 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.32, Z:-0.85 [[ 9.99991055e-01 -1.43506727e-03 -3.97887839e-03 2.94916900e+01] [ 1.44295690e-03 9.99996997e-01 1.98071684e-03 -2.32077733e+00] [ 3.97602398e-03 -1.98644048e-03 9.99990123e-01 -8.54721426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.994860624 meters 0.1045858193766255 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.32, Z:-0.85 [[ 9.99990623e-01 -1.47140828e-03 -4.07298638e-03 2.94915454e+01] [ 1.47911867e-03 9.99997119e-01 1.89069152e-03 -2.32098325e+00] [ 4.07019267e-03 -1.89669823e-03 9.99989918e-01 -8.54212356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.024860624 meters 0.10591636892601933 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.32, Z:-0.85 [[ 9.99990645e-01 -9.22853959e-04 -4.22581622e-03 2.94922210e+01] [ 9.33993183e-04 9.99996093e-01 2.63477920e-03 -2.32275760e+00] [ 4.22336819e-03 -2.63870143e-03 9.99987600e-01 -8.54657630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.054860624 meters 0.10363076286846667 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.32, Z:-0.85 [[ 9.99990816e-01 -6.22100359e-04 -4.24038265e-03 2.94923863e+01] [ 6.35406412e-04 9.99994877e-01 3.13731231e-03 -2.32433651e+00] [ 4.23840920e-03 -3.13997787e-03 9.99986088e-01 -8.54844099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.084860624 meters 0.10413285884248248 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.33, Z:-0.86 [[ 9.99990974e-01 -2.82599392e-04 -4.23926730e-03 2.94925012e+01] [ 2.98565703e-04 9.99992864e-01 3.76613041e-03 -2.32627467e+00] [ 4.23817274e-03 -3.76736212e-03 9.99983922e-01 -8.55012045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.114860624 meters 0.10567587680266231 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.33, Z:-0.86 [[ 9.99991563e-01 -4.93334341e-05 -4.10759214e-03 2.94923765e+01] [ 6.69537784e-05 9.99990797e-01 4.28967453e-03 -2.32799642e+00] [ 4.10734272e-03 -4.28991336e-03 9.99982363e-01 -8.55227275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.144860624 meters 0.10445247225949139 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.33, Z:-0.86 [[ 9.99982347e-01 -3.76130748e-03 -4.59987019e-03 2.94935190e+01] [ 3.76411830e-03 9.99992734e-01 6.02559979e-04 -2.32914079e+00] [ 4.59757036e-03 -6.19863797e-04 9.99989239e-01 -8.55335006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.174860624 meters 0.10467494863372537 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.33, Z:-0.85 [[ 9.99982309e-01 -3.85016392e-03 -4.53403239e-03 2.94930059e+01] [ 3.85292267e-03 9.99992398e-01 5.99875341e-04 -2.32973259e+00] [ 4.53168831e-03 -6.17334004e-04 9.99989541e-01 -8.54774807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.204860624 meters 0.10467494863372537 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.33, Z:-0.85 [[ 9.99982309e-01 -3.85016392e-03 -4.53403239e-03 2.94930059e+01] [ 3.85292267e-03 9.99992398e-01 5.99875341e-04 -2.32973259e+00] [ 4.53168831e-03 -6.17334004e-04 9.99989541e-01 -8.54774807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.234860624 meters 0.10982037545196906 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.33, Z:-0.85 [[ 9.99982979e-01 -3.69353097e-03 -4.51651260e-03 2.94930085e+01] [ 3.69786976e-03 9.99992709e-01 9.52676494e-04 -2.33057533e+00] [ 4.51296093e-03 -9.69361754e-04 9.99989347e-01 -8.54849454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.264860624 meters 0.10759023580503112 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.33, Z:-0.85 [[ 9.99984314e-01 -3.39711719e-03 -4.45327823e-03 2.94929121e+01] [ 3.40408382e-03 9.99992993e-01 1.55773677e-03 -2.33250726e+00] [ 4.44795522e-03 -1.57287167e-03 9.99988871e-01 -8.54848533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.294860624 meters 0.10583083440810624 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.33, Z:-0.85 [[ 9.99984756e-01 -3.20808671e-03 -4.49408227e-03 2.94930193e+01] [ 3.21637478e-03 9.99993138e-01 1.83820636e-03 -2.33349975e+00] [ 4.48815431e-03 -1.85263299e-03 9.99988212e-01 -8.54860850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.324860624 meters 0.10878484741966446 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.34, Z:-0.86 [[ 9.99985859e-01 -2.68224402e-03 -4.59203136e-03 2.94937899e+01] [ 2.69413247e-03 9.99993030e-01 2.58470594e-03 -2.33501448e+00] [ 4.58506654e-03 -2.59704093e-03 9.99986116e-01 -8.55649803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.354860624 meters 0.11124794340446163 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.34, Z:-0.86 [[ 9.99986212e-01 -2.57856314e-03 -4.57465903e-03 2.94938451e+01] [ 2.59137491e-03 9.99992731e-01 2.79688353e-03 -2.33562689e+00] [ 4.56741383e-03 -2.80869962e-03 9.99985625e-01 -8.55779261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.384860624 meters 0.10927494710453349 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.34, Z:-0.86 [[ 9.99986535e-01 -2.47367949e-03 -4.56178331e-03 2.94939022e+01] [ 2.48738831e-03 9.99992401e-01 3.00192525e-03 -2.33618628e+00] [ 4.55432284e-03 -3.01323175e-03 9.99985089e-01 -8.55886421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.414860624 meters 0.10097364272540356 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.34, Z:-0.86 [[ 9.99986357e-01 -2.61784366e-03 -4.52035738e-03 2.94935047e+01] [ 2.63073169e-03 9.99992485e-01 2.84752018e-03 -2.33626031e+00] [ 4.51286905e-03 -2.85937317e-03 9.99985729e-01 -8.55435517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.444860624 meters 0.11075689574598893 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.34, Z:-0.86 [[ 9.99986464e-01 -2.55295962e-03 -4.53365438e-03 2.94934099e+01] [ 2.56634830e-03 9.99992356e-01 2.94981675e-03 -2.33674402e+00] [ 4.52608896e-03 -2.96141176e-03 9.99985372e-01 -8.55211653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.474860624 meters 0.11243704339705117 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.34, Z:-0.85 [[ 9.99986352e-01 -2.58056697e-03 -4.54283843e-03 2.94932564e+01] [ 2.59387082e-03 9.99992358e-01 2.92507994e-03 -2.33699710e+00] [ 4.53525535e-03 -2.93682356e-03 9.99985403e-01 -8.54965081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.504860624 meters 0.10138907878094688 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.34, Z:-0.85 [[ 9.99986268e-01 -2.40845290e-03 -4.65432645e-03 2.94934917e+01] [ 2.42305217e-03 9.99992155e-01 3.13361888e-03 -2.33763561e+00] [ 4.64674276e-03 -3.14485352e-03 9.99984259e-01 -8.54945276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.534860624000004 meters 0.10548129096079267 Centerline is valid? [False, False] Translation: X:29.49, Y:-2.34, Z:-0.86 [[ 9.99986622e-01 -2.14011487e-03 -4.70921090e-03 2.94937388e+01] [ 2.15666940e-03 9.99991503e-01 3.51308444e-03 -2.33871677e+00] [ 4.70165248e-03 -3.52319365e-03 9.99982741e-01 -8.55119746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.564860624 meters 0.09971018921529172 Centerline is valid? [False, True] Translation: X:29.49, Y:-2.34, Z:-0.86 [[ 9.99986346e-01 -1.99720324e-03 -4.82890128e-03 2.94939918e+01] [ 2.01493614e-03 9.99991235e-01 3.67017119e-03 -2.33921385e+00] [ 4.82152888e-03 -3.67985100e-03 9.99981606e-01 -8.55119767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.594860624 meters 0.09954646309480836 Centerline is valid? [True, True] Translation: X:29.52, Y:-2.34, Z:-0.85 [[ 9.99980079e-01 1.22120337e-03 -6.19281756e-03 2.95230819e+01] [-1.21693865e-03 9.99999020e-01 6.92377210e-04 -2.34148045e+00] [ 6.19365702e-03 -6.84827138e-04 9.99980585e-01 -8.54934460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.624860624 meters 0.09864249208776277 Centerline is valid? [True, True] Translation: X:29.55, Y:-2.34, Z:-0.86 [[ 9.99975736e-01 2.86037759e-03 -6.35186492e-03 2.95529811e+01] [-2.85592090e-03 9.99995669e-01 7.10594936e-04 -2.34317408e+00] [ 6.35386998e-03 -6.92437270e-04 9.99979574e-01 -8.55557423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.654860624 meters 0.09939145250877965 Centerline is valid? [True, True] Translation: X:29.58, Y:-2.35, Z:-0.86 [[ 9.99961948e-01 4.44522729e-03 -7.50612212e-03 2.95812310e+01] [-4.43905509e-03 9.99989796e-01 8.38749927e-04 -2.34758789e+00] [ 7.50977396e-03 -8.05397921e-04 9.99971477e-01 -8.56928923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.684860624 meters 0.09717293473469585 Centerline is valid? [True, True] Translation: X:29.61, Y:-2.35, Z:-0.86 [[ 9.99951806e-01 6.04859944e-03 -7.73311586e-03 2.96111036e+01] [-6.04209485e-03 9.99981373e-01 8.64220612e-04 -2.34781491e+00] [ 7.73819914e-03 -8.17454742e-04 9.99969726e-01 -8.57054698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.714860624 meters 0.09388481735041723 Centerline is valid? [True, True] Translation: X:29.64, Y:-2.35, Z:-0.86 [[ 9.99945620e-01 7.19641469e-03 -7.54780878e-03 2.96416639e+01] [-7.19024904e-03 9.99973794e-01 8.43696979e-04 -2.34623731e+00] [ 7.55368257e-03 -7.89380473e-04 9.99971159e-01 -8.56429292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.744860624 meters 0.09953539738288422 Centerline is valid? [True, True] Translation: X:29.67, Y:-2.36, Z:-0.86 [[ 9.99932887e-01 8.95825680e-03 -7.34645325e-03 2.96685948e+01] [-8.95247055e-03 9.99959590e-01 8.20132540e-04 -2.36129317e+00] [ 7.35350333e-03 -7.54308593e-04 9.99972678e-01 -8.60135692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.774860624 meters 0.09610486659863914 Centerline is valid? [True, True] Translation: X:29.70, Y:-2.36, Z:-0.86 [[ 9.99925675e-01 9.09403714e-03 -8.12051046e-03 2.96974412e+01] [-9.08698518e-03 9.99958303e-01 9.04888867e-04 -2.35906875e+00] [ 8.12840095e-03 -8.31030653e-04 9.99966619e-01 -8.59388221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.804860624 meters 0.09762871911373865 Centerline is valid? [True, True] Translation: X:29.73, Y:-2.37, Z:-0.86 [[ 9.99926817e-01 9.59411783e-03 -7.36978689e-03 2.97250588e+01] [-9.58832279e-03 9.99953694e-01 8.21255498e-04 -2.36560646e+00] [ 7.37732485e-03 -7.50531501e-04 9.99972506e-01 -8.60639076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.834860624 meters 0.0987069253866843 Centerline is valid? [True, True] Translation: X:29.75, Y:-2.37, Z:-0.86 [[ 9.99923538e-01 9.74799036e-03 -7.60892899e-03 2.97521143e+01] [-9.74182404e-03 9.99952189e-01 8.47048558e-04 -2.37093929e+00] [ 7.61682222e-03 -7.72858943e-04 9.99970693e-01 -8.61558274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.864860624 meters 0.09300139053774972 Centerline is valid? [True, True] Translation: X:29.78, Y:-2.36, Z:-0.86 [[ 9.99922901e-01 9.20484646e-03 -8.33445393e-03 2.97813148e+01] [-9.19743455e-03 9.99957273e-01 9.27203005e-04 -2.36394578e+00] [ 8.34263258e-03 -8.50475924e-04 9.99964838e-01 -8.58607834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.894860624 meters 0.09585376574280988 Centerline is valid? [True, True] Translation: X:29.81, Y:-2.37, Z:-0.86 [[ 9.99928627e-01 8.16785461e-03 -8.71930989e-03 2.98086186e+01] [-8.15970552e-03 9.99966239e-01 9.69769589e-04 -2.37270750e+00] [ 8.72693645e-03 -8.98553373e-04 9.99961516e-01 -8.60608310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.924860624 meters 0.09608407713366351 Centerline is valid? [True, True] Translation: X:29.84, Y:-2.38, Z:-0.86 [[ 9.99937673e-01 6.96642640e-03 -8.72461666e-03 2.98372439e+01] [-6.95822237e-03 9.99975320e-01 9.70333452e-04 -2.37737759e+00] [ 8.73116110e-03 -9.09565151e-04 9.99961469e-01 -8.60624419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.954860624 meters 0.09849209071473078 Centerline is valid? [True, True] Translation: X:29.87, Y:-2.39, Z:-0.86 [[ 9.99965732e-01 3.40289197e-03 -7.54687091e-03 2.98655313e+01] [-3.39664267e-03 9.99993878e-01 8.40727645e-04 -2.38709346e+00] [ 7.54968561e-03 -8.15064811e-04 9.99971169e-01 -8.60462500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.984860624 meters 0.10076534058012954 Centerline is valid? [True, False] Translation: X:29.86, Y:-2.39, Z:-0.86 [[ 9.99969472e-01 3.25603804e-03 -7.10306454e-03 2.98643317e+01] [-3.24788341e-03 9.99994054e-01 1.15927714e-03 -2.38886588e+00] [ 7.10679695e-03 -1.13617182e-03 9.99974101e-01 -8.60001828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.014860624 meters 0.1013678562445468 Centerline is valid? [False, False] Translation: X:29.86, Y:-2.39, Z:-0.86 [[ 9.99973180e-01 3.01089442e-03 -6.67635046e-03 2.98630252e+01] [-3.00194681e-03 9.99994583e-01 1.34981132e-03 -2.39050385e+00] [ 6.68037843e-03 -1.32973307e-03 9.99976802e-01 -8.59346798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.044860624 meters 0.09973255841236568 Centerline is valid? [False, True] Translation: X:29.86, Y:-2.39, Z:-0.86 [[ 9.99978342e-01 -1.11115036e-03 -6.48699138e-03 2.98625439e+01] [ 1.09679452e-03 9.99996943e-01 -2.21615842e-03 -2.39276339e+00] [ 6.48943403e-03 2.20899552e-03 9.99976504e-01 -8.59232155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.074860624 meters 0.10455054138688925 Centerline is valid? [True, False] Translation: X:29.86, Y:-2.39, Z:-0.86 [[ 9.99980611e-01 -1.06490418e-03 -6.13545386e-03 2.98618608e+01] [ 1.05460121e-03 9.99998029e-01 -1.68224248e-03 -2.39459676e+00] [ 6.13723319e-03 1.67573941e-03 9.99979763e-01 -8.59304012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.104860624 meters 0.10316842414488193 Centerline is valid? [False, False] Translation: X:29.86, Y:-2.40, Z:-0.86 [[ 9.99982205e-01 -6.34139797e-04 -5.93186884e-03 2.98618976e+01] [ 6.30223212e-04 9.99999582e-01 -6.62107464e-04 -2.39697681e+00] [ 5.93228623e-03 6.58357280e-04 9.99982187e-01 -8.60022660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.134860624 meters 0.10833123927087258 Centerline is valid? [False, False] Translation: X:29.86, Y:-2.40, Z:-0.86 [[ 9.99985940e-01 -7.89691033e-04 -5.24372609e-03 2.98602135e+01] [ 7.89793825e-04 9.99999688e-01 1.75322222e-05 -2.40030875e+00] [ 5.24371061e-03 -2.16734382e-05 9.99986251e-01 -8.59545062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.164860624 meters 0.10513656467252254 Centerline is valid? [False, False] Translation: X:29.86, Y:-2.40, Z:-0.86 [[ 9.99986426e-01 -4.89986221e-04 -5.18732287e-03 2.98602272e+01] [ 4.93157340e-04 9.99999692e-01 6.10059489e-04 -2.40196377e+00] [ 5.18702236e-03 -6.12609374e-04 9.99986360e-01 -8.59720095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.194860624 meters 0.11149883019970197 Centerline is valid? [False, False] Translation: X:29.86, Y:-2.40, Z:-0.86 [[ 9.99987657e-01 -4.39382504e-04 -4.94907292e-03 2.98592964e+01] [ 4.44668522e-04 9.99999332e-01 1.06703282e-03 -2.40419575e+00] [ 4.94860078e-03 -1.06922034e-03 9.99987184e-01 -8.59069401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.224860624 meters 0.10781792430466351 Centerline is valid? [False, False] Translation: X:29.86, Y:-2.41, Z:-0.86 [[ 9.99987974e-01 -3.26523871e-04 -4.89340963e-03 2.98589834e+01] [ 3.33237530e-04 9.99999004e-01 1.37122732e-03 -2.40540511e+00] [ 4.89295702e-03 -1.37284150e-03 9.99987087e-01 -8.58778168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.254860624 meters 0.10798809535994645 Centerline is valid? [False, False] Translation: X:29.86, Y:-2.41, Z:-0.86 [[ 9.99988250e-01 -3.26662327e-04 -4.83663040e-03 2.98585919e+01] [ 3.33840646e-04 9.99998844e-01 1.48342410e-03 -2.40614512e+00] [ 4.83614023e-03 -1.48502133e-03 9.99987203e-01 -8.58379701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284860624000004 meters 0.10935055605365451 Centerline is valid? [False, False] Translation: X:29.86, Y:-2.41, Z:-0.86 [[ 9.99987726e-01 3.31300505e-05 -4.95449554e-03 2.98590134e+01] [-2.30902831e-05 9.99997947e-01 2.02643896e-03 -2.40731196e+00] [ 4.95455250e-03 -2.02629968e-03 9.99985673e-01 -8.58633837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.314860624 meters 0.10941845901448753 Centerline is valid? [False, False] Translation: X:29.86, Y:-2.41, Z:-0.86 [[ 9.99987567e-01 1.29106798e-04 -4.98494138e-03 2.98588707e+01] [-1.18040000e-04 9.99997528e-01 2.22027613e-03 -2.40813291e+00] [ 4.98521571e-03 -2.21966011e-03 9.99985110e-01 -8.58356112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.344860624 meters 0.11093052041036487 Centerline is valid? [False, False] Translation: X:29.86, Y:-2.41, Z:-0.86 [[ 9.99987211e-01 6.88703186e-04 -5.01041174e-03 2.98590073e+01] [-6.72967761e-04 9.99994839e-01 3.14155362e-03 -2.41091521e+00] [ 5.01254948e-03 -3.13814160e-03 9.99982513e-01 -8.58482474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.374860624 meters 0.11140219574835938 Centerline is valid? [False, False] Translation: X:29.86, Y:-2.41, Z:-0.86 [[ 9.99987040e-01 9.49818072e-04 -5.00170473e-03 2.98590310e+01] [-9.31778937e-04 9.99993058e-01 3.60769328e-03 -2.41228114e+00] [ 5.00509666e-03 -3.60298604e-03 9.99980984e-01 -8.58552993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.404860624 meters 0.11245293701057733 Centerline is valid? [False, False] Translation: X:29.86, Y:-2.41, Z:-0.86 [[ 9.99986644e-01 1.10500338e-03 -5.04891064e-03 2.98591138e+01] [-1.08551322e-03 9.99991956e-01 3.86138023e-03 -2.41314094e+00] [ 5.05313686e-03 -3.85584800e-03 9.99979799e-01 -8.58538723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.434860624 meters 0.11250584829874354 Centerline is valid? [False, False] Translation: X:29.86, Y:-2.41, Z:-0.86 [[ 9.99985333e-01 1.40686283e-03 -5.23017181e-03 2.98595885e+01] [-1.38491999e-03 9.99990235e-01 4.19669226e-03 -2.41396961e+00] [ 5.23602491e-03 -4.18938734e-03 9.99977516e-01 -8.58693415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.464860624 meters 0.11178768600300899 Centerline is valid? [False, False] Translation: X:29.86, Y:-2.41, Z:-0.86 [[ 9.99984588e-01 1.49365380e-03 -5.34721987e-03 2.98597500e+01] [-1.47083802e-03 9.99989809e-01 4.26824348e-03 -2.41430965e+00] [ 5.35354065e-03 -4.26031280e-03 9.99976594e-01 -8.58559403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.494860624 meters 0.11115290679630284 Centerline is valid? [False, False] Translation: X:29.86, Y:-2.41, Z:-0.86 [[ 9.99983978e-01 1.54119345e-03 -5.44691567e-03 2.98598167e+01] [-1.51779705e-03 9.99989617e-01 4.29687415e-03 -2.41459817e+00] [ 5.45348143e-03 -4.28853799e-03 9.99975934e-01 -8.58370703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.524860624 meters 0.11187185276625143 Centerline is valid? [False, False] Translation: X:29.86, Y:-2.42, Z:-0.86 [[ 9.99982738e-01 1.81527831e-03 -5.58818684e-03 2.98600319e+01] [-1.78938748e-03 9.99987659e-01 4.63465416e-03 -2.41569610e+00] [ 5.59653106e-03 -4.62457473e-03 9.99973646e-01 -8.58274332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.554860624 meters 0.09868516818381726 Centerline is valid? [False, True] Translation: X:29.86, Y:-2.42, Z:-0.86 [[ 9.99981888e-01 1.89334539e-03 -5.71312621e-03 2.98602898e+01] [-1.86657154e-03 9.99987269e-01 4.68807352e-03 -2.41584797e+00] [ 5.72192962e-03 -4.67732465e-03 9.99972691e-01 -8.58285034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.584860624 meters 0.1117826389109877 Centerline is valid? [True, False] Translation: X:29.86, Y:-2.42, Z:-0.86 [[ 9.99981314e-01 1.93619830e-03 -5.79850478e-03 2.98604881e+01] [-1.90903124e-03 9.99987193e-01 4.68705791e-03 -2.41593306e+00] [ 5.80750559e-03 -4.67590080e-03 9.99972204e-01 -8.58309897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.614860624 meters 0.11344332438030061 Centerline is valid? [False, False] Translation: X:29.86, Y:-2.42, Z:-0.86 [[ 9.99979493e-01 2.32498436e-03 -5.96732967e-03 2.98610427e+01] [-2.29409069e-03 9.99983959e-01 5.17876885e-03 -2.41717841e+00] [ 5.97927450e-03 -5.16497305e-03 9.99968785e-01 -8.58589597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.644860624 meters 0.09796824661185553 Centerline is valid? [False, True] Translation: X:29.86, Y:-2.42, Z:-0.86 [[ 9.99979165e-01 2.40180262e-03 -5.99181379e-03 2.98610801e+01] [-2.37010920e-03 9.99983194e-01 5.29095887e-03 -2.41764990e+00] [ 6.00442093e-03 -5.27664738e-03 9.99968051e-01 -8.58566235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.674860624 meters 0.09529880571936802 Centerline is valid? [True, True] Translation: X:29.89, Y:-2.42, Z:-0.86 [[ 9.99978386e-01 3.51418957e-03 -5.55672310e-03 2.98914997e+01] [-3.51062977e-03 9.99993626e-01 6.50254095e-04 -2.41556391e+00] [ 5.55897280e-03 -6.30732443e-04 9.99984350e-01 -8.57018811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.704860624 meters 0.11527979800911399 Centerline is valid? [True, False] Translation: X:29.89, Y:-2.42, Z:-0.86 [[ 9.99978097e-01 3.59002842e-03 -5.56026038e-03 2.98913729e+01] [-3.58566611e-03 9.99993256e-01 7.94321252e-04 -2.41623500e+00] [ 5.56307452e-03 -7.74366617e-04 9.99984226e-01 -8.56840265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.734860624 meters 0.09644925359388293 Centerline is valid? [False, True] Translation: X:29.89, Y:-2.42, Z:-0.86 [[ 9.99978045e-01 3.63665364e-03 -5.53934828e-03 2.98912343e+01] [-3.63154726e-03 9.99992972e-01 9.31616545e-04 -2.41685666e+00] [ 5.54269731e-03 -9.11479686e-04 9.99984224e-01 -8.56741284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.764860624 meters 0.09525123128170068 Centerline is valid? [True, True] Translation: X:29.92, Y:-2.42, Z:-0.86 [[ 9.99971542e-01 3.91766960e-03 -6.44727419e-03 2.99198464e+01] [-3.91290596e-03 9.99992062e-01 7.51309875e-04 -2.41890280e+00] [ 6.45016640e-03 -7.26060917e-04 9.99978934e-01 -8.56709045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.794860624 meters 0.09502254466696718 Centerline is valid? [True, True] Translation: X:29.95, Y:-2.42, Z:-0.86 [[ 9.99977278e-01 4.54787165e-03 -4.97592486e-03 2.99496098e+01] [-4.54504289e-03 9.99989503e-01 5.79649517e-04 -2.42315987e+00] [ 4.97850880e-03 -5.57020554e-04 9.99987452e-01 -8.56572199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.824860624 meters 0.11950190641267479 Centerline is valid? [True, False] Translation: X:29.95, Y:-2.42, Z:-0.86 [[ 9.99978237e-01 4.43296076e-03 -4.88621429e-03 2.99491640e+01] [-4.43063084e-03 9.99990066e-01 4.87556175e-04 -2.42335256e+00] [ 4.88832706e-03 -4.65896552e-04 9.99987944e-01 -8.56192060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.854860624 meters 0.09792027318656235 Centerline is valid? [False, True] Translation: X:29.95, Y:-2.43, Z:-0.86 [[ 9.99977978e-01 4.67313770e-03 -4.71229607e-03 2.99488907e+01] [-4.66835127e-03 9.99988577e-01 1.02621989e-03 -2.42507302e+00] [ 4.71703790e-03 -1.00419864e-03 9.99988371e-01 -8.56261810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.884860624 meters 0.09916324514562187 Centerline is valid? [True, True] Translation: X:29.98, Y:-2.43, Z:-0.86 [[ 9.99982042e-01 4.02543688e-03 -4.43971266e-03 2.99757397e+01] [-4.02317210e-03 9.99991772e-01 5.18932394e-04 -2.43171603e+00] [ 4.44176506e-03 -5.01061347e-04 9.99990010e-01 -8.57231810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.914860624 meters 0.09733975782004195 Centerline is valid? [True, True] Translation: X:30.00, Y:-2.43, Z:-0.86 [[ 9.99982746e-01 3.61439422e-03 -4.63081715e-03 3.00045425e+01] [-3.61192587e-03 9.99993330e-01 5.41279239e-04 -2.43344617e+00] [ 4.63274266e-03 -5.24543731e-04 9.99989131e-01 -8.57589318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.944860624 meters 0.09941692309227217 Centerline is valid? [True, True] Translation: X:30.03, Y:-2.44, Z:-0.86 [[ 9.99983261e-01 3.49463757e-03 -4.61144728e-03 3.00316243e+01] [-3.49219161e-03 9.99993757e-01 5.38355749e-04 -2.44280516e+00] [ 4.61329986e-03 -5.22242680e-04 9.99989222e-01 -8.59365313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.974860624 meters 0.09980399244295735 Centerline is valid? [True, True] Translation: X:30.06, Y:-2.45, Z:-0.86 [[ 9.99982689e-01 3.35360526e-03 -4.83486859e-03 3.00602767e+01] [-3.35091474e-03 9.99994226e-01 5.64474842e-04 -2.44694456e+00] [ 4.83673370e-03 -5.48263838e-04 9.99988153e-01 -8.60715364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.004860624 meters 0.10401837763426497 Centerline is valid? [True, False] Translation: X:30.06, Y:-2.45, Z:-0.86 [[ 9.99982031e-01 3.59348583e-03 -4.79847102e-03 3.00604080e+01] [-3.58870554e-03 9.99993056e-01 1.00444966e-03 -2.44794383e+00] [ 4.80204717e-03 -9.87211310e-04 9.99987983e-01 -8.60995442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.034860624000004 meters 0.1019962414338857 Centerline is valid? [False, False] Translation: X:30.06, Y:-2.45, Z:-0.86 [[ 9.99982094e-01 3.62759262e-03 -4.75938561e-03 3.00601732e+01] [-3.62223213e-03 9.99992796e-01 1.13443570e-03 -2.44855236e+00] [ 4.76346659e-03 -1.11717579e-03 9.99988031e-01 -8.60792819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.064860624 meters 0.10320315922665099 Centerline is valid? [False, False] Translation: X:30.06, Y:-2.45, Z:-0.86 [[ 9.99981069e-01 3.93998397e-03 -4.72640182e-03 3.00602619e+01] [-3.93216273e-03 9.99990886e-01 1.66294955e-03 -2.45017893e+00] [ 4.73291074e-03 -1.64433309e-03 9.99987448e-01 -8.61009339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.094860624 meters 0.10448949635714068 Centerline is valid? [False, False] Translation: X:30.06, Y:-2.45, Z:-0.86 [[ 9.99981094e-01 3.99991789e-03 -4.67045944e-03 3.00602751e+01] [-3.99169443e-03 9.99990469e-01 1.76873452e-03 -2.45044427e+00] [ 4.67748972e-03 -1.75005803e-03 9.99987529e-01 -8.61172324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.124860624 meters 0.10448949635714068 Centerline is valid? [False, False] Translation: X:30.06, Y:-2.45, Z:-0.86 [[ 9.99981094e-01 3.99991789e-03 -4.67045944e-03 3.00602751e+01] [-3.99169443e-03 9.99990469e-01 1.76873452e-03 -2.45044427e+00] [ 4.67748972e-03 -1.75005803e-03 9.99987529e-01 -8.61172324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.154860624 meters 0.10448949635714068 Centerline is valid? [False, False] Translation: X:30.06, Y:-2.45, Z:-0.86 [[ 9.99981094e-01 3.99991789e-03 -4.67045944e-03 3.00602751e+01] [-3.99169443e-03 9.99990469e-01 1.76873452e-03 -2.45044427e+00] [ 4.67748972e-03 -1.75005803e-03 9.99987529e-01 -8.61172324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.184860624 meters 0.10448949635714068 Centerline is valid? [False, False] Translation: X:30.06, Y:-2.45, Z:-0.86 [[ 9.99981094e-01 3.99991789e-03 -4.67045944e-03 3.00602751e+01] [-3.99169443e-03 9.99990469e-01 1.76873452e-03 -2.45044427e+00] [ 4.67748972e-03 -1.75005803e-03 9.99987529e-01 -8.61172324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.214860624 meters 0.09811425480573485 Centerline is valid? [False, True] Translation: X:30.06, Y:-2.45, Z:-0.86 [[ 9.99981405e-01 3.99842997e-03 -4.60467372e-03 3.00600168e+01] [-3.98999557e-03 9.99990348e-01 1.83943581e-03 -2.45096074e+00] [ 4.61198413e-03 -1.82102897e-03 9.99987707e-01 -8.60989878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.244860624 meters 0.09914316657811388 Centerline is valid? [True, True] Translation: X:30.09, Y:-2.46, Z:-0.86 [[ 9.99983264e-01 3.08600926e-03 -4.89369290e-03 3.00890988e+01] [-3.08328181e-03 9.99995087e-01 5.64786074e-04 -2.45578714e+00] [ 4.89541180e-03 -5.49687987e-04 9.99987866e-01 -8.61260410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.274860624 meters 0.1001463301324154 Centerline is valid? [True, False] Translation: X:30.09, Y:-2.46, Z:-0.86 [[ 9.99983595e-01 3.11880539e-03 -4.80438707e-03 3.00889431e+01] [-3.11550612e-03 9.99994906e-01 6.94052886e-04 -2.45626917e+00] [ 4.80652721e-03 -6.79073403e-04 9.99988218e-01 -8.61318644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.304860624 meters 0.10161030462896005 Centerline is valid? [False, False] Translation: X:30.09, Y:-2.46, Z:-0.86 [[ 9.99983845e-01 3.15412842e-03 -4.72876379e-03 3.00888600e+01] [-3.15023606e-03 9.99994693e-01 8.30347486e-04 -2.45681109e+00] [ 4.73135771e-03 -8.15437349e-04 9.99988475e-01 -8.61424069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.334860624 meters 0.10176482096190552 Centerline is valid? [False, False] Translation: X:30.09, Y:-2.46, Z:-0.86 [[ 9.99983664e-01 3.16831005e-03 -4.75746342e-03 3.00889146e+01] [-3.16423258e-03 9.99994620e-01 8.64349820e-04 -2.45692895e+00] [ 4.76017635e-03 -8.49281979e-04 9.99988310e-01 -8.61426122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.364860624 meters 0.1016493876262228 Centerline is valid? [False, False] Translation: X:30.09, Y:-2.46, Z:-0.86 [[ 9.99984057e-01 2.98682818e-03 -4.79205558e-03 3.00888272e+01] [-2.98420336e-03 9.99995393e-01 5.54801075e-04 -2.45632576e+00] [ 4.79369060e-03 -5.40491761e-04 9.99988364e-01 -8.61187154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.394860624 meters 0.10415848530871805 Centerline is valid? [False, False] Translation: X:30.09, Y:-2.45, Z:-0.86 [[ 9.99984709e-01 2.64024399e-03 -4.85908348e-03 3.00888352e+01] [-2.64086931e-03 9.99996505e-01 -1.22278728e-04 -2.45460073e+00] [ 4.85874366e-03 1.35109063e-04 9.99988187e-01 -8.60978606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.424860624 meters 0.10445634225501049 Centerline is valid? [False, False] Translation: X:30.09, Y:-2.45, Z:-0.86 [[ 9.99984413e-01 2.61621496e-03 -4.93240148e-03 3.00891642e+01] [-2.61747473e-03 9.99996543e-01 -2.48968744e-04 -2.45396894e+00] [ 4.93173308e-03 2.61875300e-04 9.99987805e-01 -8.61219884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.454860624 meters 0.10387795667160986 Centerline is valid? [False, False] Translation: X:30.09, Y:-2.45, Z:-0.86 [[ 9.99984253e-01 2.49230190e-03 -5.02806904e-03 3.00891458e+01] [-2.49500173e-03 9.99996747e-01 -5.30749998e-04 -2.45347654e+00] [ 5.02672989e-03 5.43286682e-04 9.99987218e-01 -8.60923083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.484860624 meters 0.10522695042438732 Centerline is valid? [False, False] Translation: X:30.09, Y:-2.45, Z:-0.86 [[ 9.99983936e-01 2.58043215e-03 -5.04662709e-03 3.00894420e+01] [-2.58274929e-03 9.99996562e-01 -4.52682495e-04 -2.45339550e+00] [ 5.04544163e-03 4.65709396e-04 9.99987163e-01 -8.61284386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.514860624 meters 0.10526973880776075 Centerline is valid? [False, False] Translation: X:30.09, Y:-2.45, Z:-0.86 [[ 9.99983210e-01 2.62779116e-03 -5.16476944e-03 3.00900549e+01] [-2.63057914e-03 9.99996398e-01 -5.33087733e-04 -2.45265194e+00] [ 5.16335000e-03 5.46665117e-04 9.99986520e-01 -8.61816307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.544860624 meters 0.09520542076705113 Centerline is valid? [False, True] Translation: X:30.09, Y:-2.45, Z:-0.86 [[ 9.99983607e-01 2.20052958e-03 -5.28621985e-03 3.00900051e+01] [-2.20764719e-03 9.99996664e-01 -1.34098872e-03 -2.45078863e+00] [ 5.28325133e-03 1.35263684e-03 9.99985129e-01 -8.61393628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.574860624 meters 0.10426565298109966 Centerline is valid? [True, False] Translation: X:30.09, Y:-2.45, Z:-0.86 [[ 9.99979592e-01 2.33026146e-03 -5.94853186e-03 3.00915033e+01] [-2.34207643e-03 9.99995297e-01 -1.98000726e-03 -2.44779856e+00] [ 5.94388995e-03 1.99389877e-03 9.99980347e-01 -8.61777308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.604860624 meters 0.09313321415166485 Centerline is valid? [False, True] Translation: X:30.09, Y:-2.45, Z:-0.86 [[ 9.99979269e-01 2.16488268e-03 -6.06415608e-03 3.00917384e+01] [-2.17960718e-03 9.99994690e-01 -2.42256554e-03 -2.44653624e+00] [ 6.05887932e-03 2.43573280e-03 9.99978678e-01 -8.61772470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.634860624 meters 0.09406046054974003 Centerline is valid? [True, True] Translation: X:30.12, Y:-2.45, Z:-0.86 [[ 9.99976895e-01 4.07734195e-03 -5.43925194e-03 3.01203772e+01] [-4.07440190e-03 9.99991548e-01 5.51496058e-04 -2.45189152e+00] [ 5.44145461e-03 -5.29321617e-04 9.99985055e-01 -8.63677192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.664860624 meters 0.09089717157287105 Centerline is valid? [True, True] Translation: X:30.15, Y:-2.45, Z:-0.86 [[ 9.99950191e-01 7.60505701e-03 -6.46363355e-03 3.01515232e+01] [-7.60097968e-03 9.99970898e-01 6.55143102e-04 -2.44695293e+00] [ 6.46842784e-03 -6.05980522e-04 9.99978896e-01 -8.64353673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.694860624 meters 0.09224920972611156 Centerline is valid? [True, True] Translation: X:30.18, Y:-2.45, Z:-0.86 [[ 9.99950428e-01 7.05829976e-03 -7.02298067e-03 3.01794001e+01] [-7.05348285e-03 9.99974872e-01 7.10410811e-04 -2.45097258e+00] [ 7.02781849e-03 -6.60839120e-04 9.99975086e-01 -8.64970231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.724860624 meters 0.09609877732842527 Centerline is valid? [True, True] Translation: X:30.21, Y:-2.46, Z:-0.87 [[ 9.99957869e-01 4.73906946e-03 -7.86142269e-03 3.02075865e+01] [-4.73295506e-03 9.99988483e-01 7.96195089e-04 -2.45935396e+00] [ 7.86510537e-03 -7.58953784e-04 9.99968782e-01 -8.66305526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.754860624 meters 0.09609877732842527 Centerline is valid? [True, True] Translation: X:30.24, Y:-2.46, Z:-0.87 [[ 9.99958305e-01 4.64577221e-03 -7.86159040e-03 3.02350538e+01] [-4.63966785e-03 9.99988921e-01 7.94538841e-04 -2.46202553e+00] [ 7.86519455e-03 -7.58030545e-04 9.99968782e-01 -8.66655189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.784860624000004 meters 0.09146675831794789 Centerline is valid? [True, True] Translation: X:30.27, Y:-2.46, Z:-0.87 [[ 9.99942418e-01 4.43108765e-04 -1.07220992e-02 3.02663558e+01] [-4.31498932e-04 9.99999318e-01 1.08508396e-03 -2.45560708e+00] [ 1.07225727e-02 -1.08039491e-03 9.99941928e-01 -8.65402394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.814860624 meters 0.09921937188660836 Centerline is valid? [True, True] Translation: X:30.29, Y:-2.47, Z:-0.87 [[ 9.99938986e-01 -2.25337000e-03 -1.08142300e-02 3.02941885e+01] [ 2.26533284e-03 9.99996836e-01 1.09409108e-03 -2.47275968e+00] [ 1.08117304e-02 -1.11852215e-03 9.99940926e-01 -8.68794141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.844860624 meters 0.09700560584662062 Centerline is valid? [True, True] Translation: X:30.32, Y:-2.47, Z:-0.87 [[ 9.99917705e-01 -7.20603507e-03 -1.06139470e-02 3.03246974e+01] [ 7.21783685e-03 9.99973374e-01 1.07402639e-03 -2.47156034e+00] [ 1.06059250e-02 -1.15054775e-03 9.99943094e-01 -8.66827192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.874860624 meters 0.09999738189848811 Centerline is valid? [True, True] Translation: X:30.35, Y:-2.48, Z:-0.87 [[ 9.99903769e-01 -9.10426610e-03 -1.04673303e-02 3.03533792e+01] [ 9.11583907e-03 9.99957890e-01 1.05844868e-03 -2.47910842e+00] [ 1.04572531e-02 -1.15376532e-03 9.99944656e-01 -8.66704127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.904860624 meters 0.09911362781770229 Centerline is valid? [True, True] Translation: X:30.38, Y:-2.48, Z:-0.87 [[ 9.99878660e-01 -1.10143570e-02 -1.10158184e-02 3.03838135e+01] [ 1.10272909e-02 9.99938577e-01 1.11407392e-03 -2.47967880e+00] [ 1.10028709e-02 -1.23541337e-03 9.99938703e-01 -8.66378919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.934860624 meters 0.0962966139667331 Centerline is valid? [True, True] Translation: X:30.41, Y:-2.48, Z:-0.87 [[ 9.99842317e-01 -1.32499398e-02 -1.18228761e-02 3.04143278e+01] [ 1.32649942e-02 9.99911301e-01 1.19581702e-03 -2.47794177e+00] [ 1.18059830e-02 -1.35245885e-03 9.99929392e-01 -8.65715122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.964860624 meters 0.0962966139667331 Centerline is valid? [True, True] Translation: X:30.44, Y:-2.48, Z:-0.87 [[ 9.99841873e-01 -1.32833047e-02 -1.18229569e-02 3.04435337e+01] [ 1.32983521e-02 9.99910859e-01 1.19501849e-03 -2.48086109e+00] [ 1.18060292e-02 -1.35205537e-03 9.99929392e-01 -8.66086938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.994860624 meters 0.09892104125641028 Centerline is valid? [True, True] Translation: X:30.47, Y:-2.49, Z:-0.87 [[ 9.99810136e-01 -1.48317365e-02 -1.26377200e-02 3.04720173e+01] [ 1.48490505e-02 9.99888931e-01 1.27728805e-03 -2.48789360e+00] [ 1.26173720e-02 -1.46470368e-03 9.99919325e-01 -8.68133851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.024860624 meters 0.09812409190972517 Centerline is valid? [True, True] Translation: X:30.50, Y:-2.49, Z:-0.87 [[ 9.99781621e-01 -1.57917497e-02 -1.36869223e-02 3.05018632e+01] [ 1.58121389e-02 9.99874024e-01 1.38274082e-03 -2.48820647e+00] [ 1.36633622e-02 -1.59885838e-03 9.99905374e-01 -8.68079069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.054860624 meters 0.0997656756030924 Centerline is valid? [True, True] Translation: X:30.53, Y:-2.49, Z:-0.87 [[ 9.99747787e-01 -1.71372694e-02 -1.45147020e-02 3.05312531e+01] [ 1.71603394e-02 9.99851675e-01 1.46636509e-03 -2.49166762e+00] [ 1.44874196e-02 -1.71507246e-03 9.99893581e-01 -8.67316002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.084860624 meters 0.09926805799634428 Centerline is valid? [True, True] Translation: X:30.56, Y:-2.49, Z:-0.87 [[ 9.99771748e-01 -1.67557854e-02 -1.32550419e-02 3.05606633e+01] [ 1.67749827e-02 9.99858394e-01 1.33843846e-03 -2.49305103e+00] [ 1.32307383e-02 -1.56048605e-03 9.99911252e-01 -8.66305399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.114860624 meters 0.09744508114227064 Centerline is valid? [True, True] Translation: X:30.59, Y:-2.49, Z:-0.87 [[ 9.99789518e-01 -1.60200682e-02 -1.28170267e-02 3.05911398e+01] [ 1.60379453e-02 9.99870548e-01 1.29322034e-03 -2.49228064e+00] [ 1.27946500e-02 -1.49850692e-03 9.99917022e-01 -8.65165932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.144860624 meters 0.10359547500037516 Centerline is valid? [True, False] Translation: X:30.58, Y:-2.49, Z:-0.87 [[ 9.99949899e-01 -9.81055697e-03 1.98785579e-03 3.05841377e+01] [ 9.81712832e-03 9.99946288e-01 -3.32340570e-03 -2.49140140e+00] [-1.95514456e-03 3.34275423e-03 9.99992502e-01 -8.70888345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.174860624 meters 0.0962847470422365 Centerline is valid? [False, True] Translation: X:30.58, Y:-2.49, Z:-0.87 [[ 9.99982994e-01 -5.49373011e-03 1.95700083e-03 3.05845900e+01] [ 5.49198508e-03 9.99984518e-01 8.95947028e-04 -2.49069392e+00] [-1.96189262e-03 -8.85183973e-04 9.99997684e-01 -8.71566545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.204860624 meters 0.09513914582937771 Centerline is valid? [True, True] Translation: X:30.62, Y:-2.49, Z:-0.87 [[ 9.99994041e-01 -3.45196439e-03 -3.30744095e-05 3.06155261e+01] [ 3.45196453e-03 9.99994042e-01 4.10764981e-06 -2.49017751e+00] [ 3.30600330e-05 -4.22179702e-06 9.99999999e-01 -8.72334970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.234860624 meters 0.09415247098807328 Centerline is valid? [True, True] Translation: X:30.65, Y:-2.49, Z:-0.87 [[ 9.99998669e-01 -1.60917526e-03 -2.70933598e-04 3.06466618e+01] [ 1.60918332e-03 9.99998705e-01 2.95660080e-05 -2.49056247e+00] [ 2.70885670e-04 -3.00019504e-05 9.99999963e-01 -8.73549261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.264860624 meters 0.09354798562086873 Centerline is valid? [True, True] Translation: X:30.68, Y:-2.49, Z:-0.87 [[ 9.99999347e-01 3.38786186e-04 -1.09153368e-03 3.06774637e+01] [-3.38658145e-04 9.99999936e-01 1.17487101e-04 -2.49154445e+00] [ 1.09157341e-03 -1.17117367e-04 9.99999397e-01 -8.74526130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.294860624 meters 0.09044710826773718 Centerline is valid? [True, True] Translation: X:30.71, Y:-2.49, Z:-0.87 [[ 9.99992535e-01 3.63144224e-03 -1.31975764e-03 3.07081622e+01] [-3.63125939e-03 9.99993397e-01 1.40921783e-04 -2.48702509e+00] [ 1.32026068e-03 -1.36128349e-04 9.99999119e-01 -8.73653130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.324860624 meters 0.09063152539637997 Centerline is valid? [True, True] Translation: X:30.74, Y:-2.49, Z:-0.87 [[ 9.99984967e-01 5.28601453e-03 -1.45722458e-03 3.07373600e+01] [-5.28579366e-03 9.99986018e-01 1.55382529e-04 -2.48985036e+00] [ 1.45802556e-03 -1.47677605e-04 9.99998926e-01 -8.74565948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.354860624 meters 0.0905977211964389 Centerline is valid? [True, True] Translation: X:30.77, Y:-2.49, Z:-0.87 [[ 9.99978033e-01 6.56903316e-03 -8.84039711e-04 3.07669021e+01] [-6.56895272e-03 9.99978420e-01 9.38635660e-05 -2.49204566e+00] [ 8.84637227e-04 -8.80542891e-05 9.99999605e-01 -8.74830349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.384860624 meters 0.09049288692611511 Centerline is valid? [True, True] Translation: X:30.80, Y:-2.49, Z:-0.88 [[ 9.99968391e-01 7.81670022e-03 -1.45484686e-03 3.07969456e+01] [-7.81648211e-03 9.99969439e-01 1.55544868e-04 -2.49413510e+00] [ 1.45601824e-03 -1.44168167e-04 9.99998930e-01 -8.75636916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.414860624 meters 0.09204561463407931 Centerline is valid? [True, True] Translation: X:30.83, Y:-2.50, Z:-0.88 [[ 9.99957856e-01 9.07817330e-03 -1.36832185e-03 3.08256852e+01] [-9.07798228e-03 9.99958784e-01 1.45748833e-04 -2.49730454e+00] [ 1.36958859e-03 -1.33321089e-04 9.99999053e-01 -8.77244261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.444860624 meters 0.09052987120883164 Centerline is valid? [True, True] Translation: X:30.85, Y:-2.50, Z:-0.88 [[ 9.99951760e-01 9.47465705e-03 -2.59023916e-03 3.08545434e+01] [-9.47397453e-03 9.99955083e-01 2.75640435e-04 -2.49644247e+00] [ 2.59273441e-03 -2.51087279e-04 9.99996607e-01 -8.77339433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.474860624 meters 0.0903446238751872 Centerline is valid? [True, True] Translation: X:30.88, Y:-2.50, Z:-0.88 [[ 9.99955644e-01 8.38849958e-03 -4.28294919e-03 3.08845419e+01] [-8.38661260e-03 9.99964727e-01 4.58350077e-04 -2.49651565e+00] [ 4.28664299e-03 -4.22410311e-04 9.99990723e-01 -8.77878385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.504860624 meters 0.09204686215478934 Centerline is valid? [True, True] Translation: X:30.91, Y:-2.50, Z:-0.88 [[ 9.99954592e-01 8.09905443e-03 -5.02186479e-03 3.09116961e+01] [-8.09646773e-03 9.99967080e-01 5.35203705e-04 -2.50184699e+00] [ 5.02603411e-03 -4.94520036e-04 9.99987247e-01 -8.80277962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.534860624000004 meters 0.09353295396635493 Centerline is valid? [True, True] Translation: X:30.94, Y:-2.51, Z:-0.88 [[ 9.99958378e-01 6.77515651e-03 -6.11063110e-03 3.09404218e+01] [-6.77129139e-03 9.99976861e-01 6.52992319e-04 -2.50713108e+00] [ 6.11491384e-03 -6.11588276e-04 9.99981117e-01 -8.81878344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.564860624 meters 0.09293690113536382 Centerline is valid? [True, True] Translation: X:30.97, Y:-2.51, Z:-0.88 [[ 9.99964198e-01 5.34448467e-03 -6.56049376e-03 3.09705217e+01] [-5.33999685e-03 9.99985496e-01 7.01392676e-04 -2.50888976e+00] [ 6.56414719e-03 -6.66334549e-04 9.99978234e-01 -8.81867344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.594860624 meters 0.09244975734526167 Centerline is valid? [True, True] Translation: X:31.00, Y:-2.51, Z:-0.88 [[ 9.99981834e-01 1.59114315e-03 -5.81379198e-03 3.10007138e+01] [-1.58755503e-03 9.99998547e-01 6.21737254e-04 -2.50985476e+00] [ 5.81477280e-03 -6.12496245e-04 9.99982906e-01 -8.80445144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.624860624 meters 0.0939091489841568 Centerline is valid? [True, True] Translation: X:31.03, Y:-2.51, Z:-0.88 [[ 9.99985007e-01 -4.09554268e-04 -5.46064268e-03 3.10301850e+01] [ 4.12747419e-04 9.99999745e-01 5.83643270e-04 -2.51391171e+00] [ 5.46040225e-03 -5.85888386e-04 9.99984920e-01 -8.80245751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.654860624 meters 0.0955009767831125 Centerline is valid? [True, True] Translation: X:31.06, Y:-2.52, Z:-0.88 [[ 9.99986506e-01 -1.16215959e-03 -5.06322782e-03 3.10577303e+01] [ 1.16490241e-03 9.99999176e-01 5.38798909e-04 -2.51925960e+00] [ 5.06259748e-03 -5.44689805e-04 9.99987037e-01 -8.81305396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.684860624 meters 0.09847466200473888 Centerline is valid? [True, True] Translation: X:31.09, Y:-2.53, Z:-0.88 [[ 9.99983891e-01 -1.30935580e-03 -5.52300727e-03 3.10860436e+01] [ 1.31262668e-03 9.99998965e-01 5.88645183e-04 -2.52695717e+00] [ 5.52223081e-03 -5.95885347e-04 9.99984575e-01 -8.83746192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.714860624 meters 0.09529243120965272 Centerline is valid? [True, True] Translation: X:31.12, Y:-2.52, Z:-0.88 [[ 9.99982770e-01 -1.50181752e-03 -5.67486074e-03 3.11151283e+01] [ 1.50523653e-03 9.99998688e-01 5.98259697e-04 -2.52388821e+00] [ 5.67395482e-03 -6.06791396e-04 9.99983719e-01 -8.83006671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.744860624 meters 0.0942685954380518 Centerline is valid? [True, True] Translation: X:31.14, Y:-2.52, Z:-0.88 [[ 9.99983990e-01 -1.92480895e-03 -5.32111897e-03 3.11440321e+01] [ 1.92781171e-03 9.99997985e-01 5.59238882e-04 -2.52479304e+00] [ 5.32003182e-03 -5.69488044e-04 9.99985686e-01 -8.82597374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.774860624 meters 0.0944872271117532 Centerline is valid? [True, True] Translation: X:31.17, Y:-2.53, Z:-0.88 [[ 9.99976579e-01 -2.11945210e-03 -6.50766027e-03 3.11728685e+01] [ 2.12394737e-03 9.99997511e-01 6.83931629e-04 -2.52669108e+00] [ 6.50619451e-03 -6.97737539e-04 9.99978591e-01 -8.83251090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.804860624 meters 0.09654691732738194 Centerline is valid? [True, True] Translation: X:31.20, Y:-2.53, Z:-0.88 [[ 9.99973072e-01 -1.66798505e-03 -7.14660382e-03 3.12001343e+01] [ 1.67342661e-03 9.99998314e-01 7.55508158e-04 -2.53231734e+00] [ 7.14533160e-03 -7.67447130e-04 9.99974177e-01 -8.84697491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.834860624 meters 0.09586190197605493 Centerline is valid? [True, True] Translation: X:31.23, Y:-2.53, Z:-0.88 [[ 9.99977253e-01 -1.49945360e-03 -6.57603466e-03 3.12286818e+01] [ 1.50401803e-03 9.99998631e-01 6.89209541e-04 -2.53329017e+00] [ 6.57499223e-03 -6.99084339e-04 9.99978140e-01 -8.84223538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.864860624 meters 0.09654432511085154 Centerline is valid? [True, True] Translation: X:31.26, Y:-2.54, Z:-0.88 [[ 9.99986729e-01 -6.59669171e-04 -5.10940274e-03 3.12575149e+01] [ 6.62434623e-04 9.99999635e-01 5.39574312e-04 -2.53790005e+00] [ 5.10904494e-03 -5.42951796e-04 9.99986801e-01 -8.83977313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.894860624 meters 0.09698610934936874 Centerline is valid? [True, True] Translation: X:31.29, Y:-2.54, Z:-0.89 [[ 9.99990178e-01 -3.79506768e-04 -4.41593002e-03 3.12863897e+01] [ 3.81542476e-04 9.99999821e-01 4.60158403e-04 -2.54133359e+00] [ 4.41575460e-03 -4.61838748e-04 9.99990144e-01 -8.85288527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.924860624 meters 0.09737287133598807 Centerline is valid? [True, True] Translation: X:31.31, Y:-2.54, Z:-0.89 [[ 9.99991856e-01 -8.16595309e-05 -4.03500974e-03 3.13148826e+01] [ 8.33494291e-05 9.99999909e-01 4.18642576e-04 -2.54429855e+00] [ 4.03497518e-03 -4.18975483e-04 9.99991772e-01 -8.86531853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.954860624 meters 0.0984760634300144 Centerline is valid? [True, True] Translation: X:31.34, Y:-2.55, Z:-0.89 [[ 9.99989538e-01 2.10019997e-04 -4.56954444e-03 3.13430979e+01] [-2.07829628e-04 9.99999863e-01 4.79810328e-04 -2.54797937e+00] [ 4.56964458e-03 -4.78855621e-04 9.99989444e-01 -8.88336542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.984860624 meters 0.09884702230137797 Centerline is valid? [True, True] Translation: X:31.37, Y:-2.55, Z:-0.89 [[ 9.99983513e-01 -1.19271834e-04 -5.74111525e-03 3.13727973e+01] [ 1.22738493e-04 9.99999810e-01 6.03481634e-04 -2.55058491e+00] [ 5.74104218e-03 -6.04176340e-04 9.99983338e-01 -8.89535297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.014860624 meters 0.09929770904537312 Centerline is valid? [True, True] Translation: X:31.40, Y:-2.55, Z:-0.89 [[ 9.99982757e-01 5.25091006e-04 -5.84891263e-03 3.14016322e+01] [-5.21511179e-04 9.99999676e-01 6.13558363e-04 -2.55380131e+00] [ 5.84923291e-03 -6.10497510e-04 9.99982707e-01 -8.91510593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.044860624 meters 0.09929770904537312 Centerline is valid? [True, True] Translation: X:31.43, Y:-2.56, Z:-0.89 [[ 9.99982801e-01 4.31706831e-04 -5.84906463e-03 3.14291100e+01] [-4.28133790e-04 9.99999721e-01 6.12112214e-04 -2.55658060e+00] [ 5.84932725e-03 -6.09597504e-04 9.99982707e-01 -8.92314051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.074860624 meters 0.09875076372060106 Centerline is valid? [True, True] Translation: X:31.46, Y:-2.56, Z:-0.89 [[ 9.99975882e-01 1.14605470e-03 -6.84992423e-03 3.14583053e+01] [-1.14119907e-03 9.99999095e-01 7.12725427e-04 -2.55831935e+00] [ 6.85073486e-03 -7.04891110e-04 9.99976285e-01 -8.94315946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.104860624 meters 0.09884452073369611 Centerline is valid? [True, True] Translation: X:31.49, Y:-2.56, Z:-0.90 [[ 9.99978630e-01 9.16494850e-04 -6.47299050e-03 3.14857262e+01] [-9.12139599e-04 9.99999356e-01 6.75754601e-04 -2.56004942e+00] [ 6.47360566e-03 -6.69835889e-04 9.99978822e-01 -8.95137000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.134860624 meters 0.09830393284473213 Centerline is valid? [True, True] Translation: X:31.51, Y:-2.56, Z:-0.89 [[ 9.99983495e-01 8.98107946e-04 -5.67486088e-03 3.15148879e+01] [-8.94759036e-04 9.99999424e-01 5.92641979e-04 -2.55983566e+00] [ 5.67538987e-03 -5.87554564e-04 9.99983722e-01 -8.93892569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.164860624 meters 0.09926322439866085 Centerline is valid? [True, True] Translation: X:31.54, Y:-2.56, Z:-0.89 [[ 9.99984399e-01 1.08342273e-03 -5.47978160e-03 3.15431719e+01] [-1.08030211e-03 9.99999253e-01 5.72406733e-04 -2.56300292e+00] [ 5.48039767e-03 -5.66477983e-04 9.99984822e-01 -8.94480624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.194860624 meters 0.09615648013333553 Centerline is valid? [True, True] Translation: X:31.57, Y:-2.56, Z:-0.89 [[ 9.99986234e-01 9.31854052e-04 -5.16364791e-03 3.15730455e+01] [-9.29085921e-04 9.99999423e-01 5.38453358e-04 -2.55940561e+00] [ 5.16414669e-03 -5.33648473e-04 9.99986523e-01 -8.93031780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.224860624 meters 0.09793922664835744 Centerline is valid? [True, True] Translation: X:31.60, Y:-2.56, Z:-0.89 [[ 9.99987657e-01 3.98805616e-04 -4.95245270e-03 3.16001837e+01] [-3.96257426e-04 9.99999789e-01 5.15501573e-04 -2.56380354e+00] [ 4.95265724e-03 -5.13532764e-04 9.99987604e-01 -8.94804078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.254860624 meters 0.09923565229422893 Centerline is valid? [True, True] Translation: X:31.63, Y:-2.57, Z:-0.90 [[ 9.99988291e-01 1.10294243e-04 -4.83790495e-03 3.16289106e+01] [-1.07858598e-04 9.99999867e-01 5.03708386e-04 -2.56832887e+00] [ 4.83795987e-03 -5.03180678e-04 9.99988170e-01 -8.95952008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.284860624000004 meters 0.09901590567447287 Centerline is valid? [True, True] Translation: X:31.66, Y:-2.57, Z:-0.90 [[ 9.99992048e-01 3.22896758e-04 -3.97497026e-03 3.16577802e+01] [-3.21256495e-04 9.99999863e-01 4.13279409e-04 -2.57071897e+00] [ 3.97510316e-03 -4.11999138e-04 9.99992014e-01 -8.96828449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.314860624 meters 0.1006175390877193 Centerline is valid? [True, False] Translation: X:31.66, Y:-2.57, Z:-0.90 [[ 9.99992457e-01 1.84550642e-05 -3.88407775e-03 3.16573847e+01] [-1.86566672e-05 9.99999998e-01 -5.18687483e-05 -2.56987166e+00] [ 3.88407679e-03 5.19408210e-05 9.99992456e-01 -8.96507272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.344860624 meters 0.10224710674425606 Centerline is valid? [False, False] Translation: X:31.66, Y:-2.57, Z:-0.90 [[ 9.99992255e-01 -1.34063702e-04 -3.93333559e-03 3.16575422e+01] [ 1.32517809e-04 9.99999914e-01 -3.93281302e-04 -2.56874878e+00] [ 3.93338798e-03 3.92757019e-04 9.99992187e-01 -8.96587509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.374860624 meters 0.10315694820439034 Centerline is valid? [False, False] Translation: X:31.66, Y:-2.57, Z:-0.90 [[ 9.99991875e-01 -1.14570611e-04 -4.02957931e-03 3.16578830e+01] [ 1.12760301e-04 9.99999893e-01 -4.49479554e-04 -2.56825939e+00] [ 4.02963037e-03 4.49021526e-04 9.99991780e-01 -8.96789873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.404860624 meters 0.10048137300519916 Centerline is valid? [False, False] Translation: X:31.66, Y:-2.57, Z:-0.90 [[ 9.99991700e-01 -1.42721139e-04 -4.07186021e-03 3.16580463e+01] [ 1.40573851e-04 9.99999851e-01 -5.27629453e-04 -2.56779044e+00] [ 4.07193490e-03 5.27052676e-04 9.99991571e-01 -8.96901011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.434860624 meters 0.0952386110559829 Centerline is valid? [False, True] Translation: X:31.66, Y:-2.57, Z:-0.90 [[ 9.99991963e-01 -3.55510061e-04 -3.99353120e-03 3.16576248e+01] [ 3.52283546e-04 9.99999611e-01 -8.08609599e-04 -2.56741164e+00] [ 3.99381712e-03 8.07196245e-04 9.99991699e-01 -8.96514374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.464860624 meters 0.10650128096457975 Centerline is valid? [True, False] Translation: X:31.66, Y:-2.57, Z:-0.90 [[ 9.99991601e-01 -1.96779569e-04 -4.09380741e-03 3.16579496e+01] [ 1.94320854e-04 9.99999801e-01 -6.00982837e-04 -2.56764252e+00] [ 4.09392485e-03 6.00182277e-04 9.99991440e-01 -8.96687202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.494860624 meters 0.10755270549732403 Centerline is valid? [False, False] Translation: X:31.66, Y:-2.57, Z:-0.90 [[ 9.99991855e-01 -3.21233456e-04 -4.02333179e-03 3.16576541e+01] [ 3.18333427e-04 9.99999689e-01 -7.21422489e-04 -2.56761497e+00] [ 4.02356228e-03 7.20135852e-04 9.99991646e-01 -8.96473976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.524860624 meters 0.0958250901718736 Centerline is valid? [False, True] Translation: X:31.66, Y:-2.57, Z:-0.90 [[ 9.99992096e-01 -1.47719130e-04 -3.97307494e-03 3.16578280e+01] [ 1.46203709e-04 9.99999916e-01 -3.81710376e-04 -2.56817397e+00] [ 3.97313100e-03 3.81126480e-04 9.99992034e-01 -8.96880663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.554860624 meters 0.1015763350444619 Centerline is valid? [True, False] Translation: X:31.66, Y:-2.57, Z:-0.90 [[ 9.99992598e-01 -2.15982797e-04 -3.84145970e-03 3.16575683e+01] [ 2.14487733e-04 9.99999901e-01 -3.89599299e-04 -2.56823305e+00] [ 3.84154346e-03 3.88772470e-04 9.99992546e-01 -8.96907116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.584860624 meters 0.09871780422310218 Centerline is valid? [False, True] Translation: X:31.66, Y:-2.57, Z:-0.90 [[ 9.99992831e-01 3.13576382e-05 -3.78637176e-03 3.16579104e+01] [-3.11734871e-05 9.99999998e-01 4.86942711e-05 -2.56888266e+00] [ 3.78637328e-03 -4.85758876e-05 9.99992830e-01 -8.97583508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.614860624 meters 0.11482424818742822 Centerline is valid? [True, False] Translation: X:31.66, Y:-2.57, Z:-0.90 [[ 9.99994015e-01 1.55462257e-04 -3.45616698e-03 3.16577234e+01] [-1.53455724e-04 9.99999820e-01 5.80823719e-04 -2.57024337e+00] [ 3.45625666e-03 -5.80289875e-04 9.99993859e-01 -8.98320722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.644860624 meters 0.11647303989072538 Centerline is valid? [False, False] Translation: X:31.66, Y:-2.57, Z:-0.90 [[ 9.99994355e-01 8.88207146e-05 -3.35879983e-03 3.16575486e+01] [-8.69040039e-05 9.99999833e-01 5.70795079e-04 -2.57030108e+00] [ 3.35884997e-03 -5.70499964e-04 9.99994196e-01 -8.98368035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.674860624 meters 0.10486397580433263 Centerline is valid? [False, False] Translation: X:31.66, Y:-2.57, Z:-0.90 [[ 9.99994723e-01 -3.76619740e-06 -3.24859856e-03 3.16574073e+01] [ 5.60145870e-06 9.99999840e-01 5.64930480e-04 -2.57006800e+00] [ 3.24859592e-03 -5.64945696e-04 9.99994564e-01 -8.98491100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.704860624 meters 0.10364084723437852 Centerline is valid? [False, False] Translation: X:31.66, Y:-2.57, Z:-0.90 [[ 9.99994733e-01 -5.01689833e-05 -3.24521581e-03 3.16575395e+01] [ 5.17602435e-05 9.99999878e-01 4.90258207e-04 -2.56958748e+00] [ 3.24519082e-03 -4.90423598e-04 9.99994614e-01 -8.98701294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.734860624 meters 0.10381629543626351 Centerline is valid? [False, False] Translation: X:31.66, Y:-2.57, Z:-0.90 [[ 9.99994897e-01 -2.71388221e-04 -3.18306008e-03 3.16573914e+01] [ 2.71911327e-04 9.99999950e-01 1.63908907e-04 -2.56862340e+00] [ 3.18301543e-03 -1.64773581e-04 9.99994921e-01 -8.98683167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.764860624 meters 0.09964331848359517 Centerline is valid? [False, True] Translation: X:31.66, Y:-2.57, Z:-0.90 [[ 9.99994900e-01 -4.35517240e-04 -3.16406195e-03 3.16573405e+01] [ 4.35095535e-04 9.99999896e-01 -1.33966691e-04 -2.56771358e+00] [ 3.16411997e-03 1.32589338e-04 9.99994985e-01 -8.98650457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.794860624 meters 0.09867413511379008 Centerline is valid? [True, True] Translation: X:31.69, Y:-2.57, Z:-0.90 [[ 9.99996885e-01 3.52498855e-04 -2.47115059e-03 3.16872901e+01] [-3.51815521e-04 9.99999900e-01 2.76953551e-04 -2.56869089e+00] [ 2.47124797e-03 -2.76083299e-04 9.99996908e-01 -8.98586810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.824860624 meters 0.09809092188180105 Centerline is valid? [True, True] Translation: X:31.72, Y:-2.57, Z:-0.90 [[ 9.99997903e-01 5.45506162e-04 -1.97408394e-03 3.17174045e+01] [-5.45070908e-04 9.99999827e-01 2.21015305e-04 -2.56922151e+00] [ 1.97420417e-03 -2.19938826e-04 9.99998027e-01 -8.98216232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.854860624 meters 0.09880333598425518 Centerline is valid? [True, True] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997019e-01 2.29429932e-04 -2.43086214e-03 3.17472236e+01] [-2.28768763e-04 9.99999937e-01 2.72263806e-04 -2.57250572e+00] [ 2.43092445e-03 -2.71706889e-04 9.99997008e-01 -8.99169175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.884860624 meters 0.10436926988243288 Centerline is valid? [True, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99996835e-01 2.25436958e-04 -2.50563778e-03 3.17476055e+01] [-2.25033655e-04 9.99999962e-01 1.61239033e-04 -2.57178045e+00] [ 2.50567403e-03 -1.60674670e-04 9.99996848e-01 -8.99480617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.914860624 meters 0.09944045558633383 Centerline is valid? [False, True] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99996748e-01 1.83887045e-04 -2.54358069e-03 3.17477638e+01] [-1.83721184e-04 9.99999981e-01 6.54412807e-05 -2.57132923e+00] [ 2.54359268e-03 -6.49737582e-05 9.99996763e-01 -8.99604966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.944860624 meters 0.10540608197086945 Centerline is valid? [True, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99996935e-01 2.87713982e-04 -2.45918311e-03 3.17479166e+01] [-2.87109472e-04 9.99999928e-01 2.46167084e-04 -2.57156713e+00] [ 2.45925376e-03 -2.45460275e-04 9.99996946e-01 -9.00060923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.974860624 meters 0.10234074559230993 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99996989e-01 6.98330151e-05 -2.45318220e-03 3.17477088e+01] [-7.01073111e-05 9.99999991e-01 -1.11726508e-04 -2.57087946e+00] [ 2.45317437e-03 1.11898157e-04 9.99996985e-01 -8.99755082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.004860624 meters 0.1039138120865488 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997122e-01 -2.32415620e-04 -2.38784250e-03 3.17473804e+01] [ 2.31121412e-04 9.99999826e-01 -5.42260315e-04 -2.56985617e+00] [ 2.38796811e-03 5.41706873e-04 9.99997002e-01 -8.99468081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.034860624000004 meters 0.10388686116001572 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99996902e-01 -4.37373195e-04 -2.45063073e-03 3.17473793e+01] [ 4.35137479e-04 9.99999489e-01 -9.12761444e-04 -2.56876509e+00] [ 2.45102870e-03 9.11692255e-04 9.99996581e-01 -8.99272551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.064860624 meters 0.10566367517975063 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99996689e-01 -2.01245827e-04 -2.56539151e-03 3.17479947e+01] [ 1.99519816e-04 9.99999754e-01 -6.73044104e-04 -2.56886413e+00] [ 2.56552633e-03 6.72530030e-04 9.99996483e-01 -8.99820320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.094860624 meters 0.1048036842832313 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99996486e-01 2.17941722e-05 -2.65089499e-03 3.17486728e+01] [-2.29497462e-05 9.99999905e-01 -4.35888809e-04 -2.56886255e+00] [ 2.65088524e-03 4.35948114e-04 9.99996391e-01 -9.00567199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.124860624 meters 0.09854731072237828 Centerline is valid? [False, True] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99996478e-01 -1.26321033e-05 -2.65419349e-03 3.17488297e+01] [ 1.12328295e-05 9.99999861e-01 -5.27207834e-04 -2.56845958e+00] [ 2.65419978e-03 5.27176162e-04 9.99996339e-01 -9.00784618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.154860624 meters 0.10616249432646425 Centerline is valid? [True, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99996044e-01 8.53065455e-05 -2.81140770e-03 3.17493012e+01] [-8.67746653e-05 9.99999860e-01 -5.22083127e-04 -2.56810066e+00] [ 2.81136277e-03 5.22325021e-04 9.99995912e-01 -9.00987973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.184860624 meters 0.10622847098829184 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99995778e-01 2.96764163e-05 -2.90582715e-03 3.17494793e+01] [-3.16520234e-05 9.99999768e-01 -6.79834071e-04 -2.56749620e+00] [ 2.90580630e-03 6.79923175e-04 9.99995547e-01 -9.00953178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.214860624 meters 0.10755158286221123 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99995723e-01 -9.26647961e-05 -2.92320370e-03 3.17495578e+01] [ 8.99276734e-05 9.99999557e-01 -9.36461024e-04 -2.56652956e+00] [ 2.92328919e-03 9.36194142e-04 9.99995289e-01 -9.00995191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.244860624 meters 0.10438848962543128 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99995391e-01 2.38423247e-04 -3.02680683e-03 3.17502344e+01] [-2.39946660e-04 9.99999845e-01 -5.02953821e-04 -2.56707411e+00] [ 3.02668644e-03 5.03677774e-04 9.99995293e-01 -9.01663835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.274860624 meters 0.10516244473828026 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99995181e-01 5.67439679e-04 -3.05218466e-03 3.17508077e+01] [-5.67481401e-04 9.99999839e-01 -1.28035062e-05 -2.56776470e+00] [ 3.05217690e-03 1.45355026e-05 9.99995342e-01 -9.02433805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.304860624 meters 0.10239139398099542 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99996385e-01 4.05743207e-05 -2.68851590e-03 3.17495409e+01] [-4.19406396e-05 9.99999870e-01 -5.08151212e-04 -2.56728952e+00] [ 2.68849493e-03 5.08262134e-04 9.99996257e-01 -9.01670121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.334860624 meters 0.10206286104099133 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99996674e-01 -2.31385060e-04 -2.56866781e-03 3.17490578e+01] [ 2.29259046e-04 9.99999631e-01 -8.27935379e-04 -2.56677423e+00] [ 2.56885844e-03 8.27343735e-04 9.99996358e-01 -9.01329371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.364860624 meters 0.10527623504451286 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99996621e-01 -1.19141383e-04 -2.59704307e-03 3.17493932e+01] [ 1.17356286e-04 9.99999757e-01 -6.87499084e-04 -2.56674687e+00] [ 2.59712435e-03 6.87191981e-04 9.99996391e-01 -9.01725279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.394860624 meters 0.0995582538114559 Centerline is valid? [False, True] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99996434e-01 2.01856703e-04 -2.66296416e-03 3.17499273e+01] [-2.02436322e-04 9.99999956e-01 -2.17391483e-04 -2.56749206e+00] [ 2.66292016e-03 2.17929788e-04 9.99996431e-01 -9.02317067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.424860624 meters 0.10424279896071256 Centerline is valid? [True, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997202e-01 1.04034007e-05 -2.36544409e-03 3.17494106e+01] [-1.10483022e-05 9.99999963e-01 -2.72621515e-04 -2.56757532e+00] [ 2.36544116e-03 2.72646887e-04 9.99997165e-01 -9.02481049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.454860624 meters 0.10840964282387176 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99996979e-01 3.27119066e-04 -2.43629068e-03 3.17500596e+01] [-3.26701974e-04 9.99999932e-01 1.71595754e-04 -2.56816545e+00] [ 2.43634665e-03 -1.70799294e-04 9.99997018e-01 -9.03223536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.484860624 meters 0.10610492207192336 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997173e-01 2.68916887e-04 -2.36272386e-03 3.17498280e+01] [-2.68515107e-04 9.99999949e-01 1.70364658e-04 -2.56843019e+00] [ 2.36276956e-03 -1.69729750e-04 9.99997194e-01 -9.03120952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.514860624 meters 0.10397064779895789 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997490e-01 8.66899664e-05 -2.23903338e-03 3.17493815e+01] [-8.66509877e-05 9.99999996e-01 1.75057190e-05 -2.56841857e+00] [ 2.23903488e-03 -1.73116606e-05 9.99997493e-01 -9.02841678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.544860624 meters 0.10726123487608484 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997293e-01 1.96078409e-04 -2.31872884e-03 3.17496130e+01] [-1.95713441e-04 9.99999968e-01 1.57625765e-04 -2.56859755e+00] [ 2.31875967e-03 -1.57171532e-04 9.99997299e-01 -9.02930179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.574860624 meters 0.10319216593714127 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997540e-01 2.25925106e-05 -2.21821149e-03 3.17492498e+01] [-2.26407910e-05 1.00000000e+00 -2.17403418e-05 -2.56836127e+00] [ 2.21821100e-03 2.17905104e-05 9.99997540e-01 -9.02708223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.604860624 meters 0.10232601184129284 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997504e-01 1.32737228e-04 -2.23027251e-03 3.17493719e+01] [-1.32387113e-04 9.99999979e-01 1.57130106e-04 -2.56865702e+00] [ 2.23029332e-03 -1.56834454e-04 9.99997501e-01 -9.02829804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.634860624 meters 0.10687277284154652 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997635e-01 1.59301938e-04 -2.16891354e-03 3.17492842e+01] [-1.58743725e-04 9.99999954e-01 2.57539582e-04 -2.56889545e+00] [ 2.16895447e-03 -2.57194672e-04 9.99997615e-01 -9.02891639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.664860624 meters 0.10938077819979351 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997738e-01 2.32667473e-04 -2.11421631e-03 3.17492083e+01] [-2.31765602e-04 9.99999882e-01 4.26809702e-04 -2.56944049e+00] [ 2.11431536e-03 -4.26318734e-04 9.99997674e-01 -9.02932117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.694860624 meters 0.10809960288771879 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997831e-01 1.94025900e-04 -2.07354572e-03 3.17490134e+01] [-1.93157302e-04 9.99999894e-01 4.19087228e-04 -2.56966072e+00] [ 2.07362682e-03 -4.18685799e-04 9.99997762e-01 -9.02775864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.724860624 meters 0.10453942513333249 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997767e-01 3.09807400e-04 -2.09026708e-03 3.17493066e+01] [-3.08550455e-04 9.99999771e-01 6.01627713e-04 -2.56971716e+00] [ 2.09045300e-03 -6.00981417e-04 9.99997634e-01 -9.03123994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.754860624 meters 0.10470374066694108 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997842e-01 2.25358181e-04 -2.06509718e-03 3.17492213e+01] [-2.24375198e-04 9.99999861e-01 4.76217908e-04 -2.56940452e+00] [ 2.06520421e-03 -4.75753523e-04 9.99997754e-01 -9.03058720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.784860624000004 meters 0.10567130831818274 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997782e-01 3.25376097e-04 -2.08092888e-03 3.17494404e+01] [-3.24116275e-04 9.99999764e-01 6.05721848e-04 -2.56964373e+00] [ 2.08112547e-03 -6.05046042e-04 9.99997651e-01 -9.03293029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.814860624 meters 0.10567130831818274 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997782e-01 3.25376097e-04 -2.08092888e-03 3.17494404e+01] [-3.24116275e-04 9.99999764e-01 6.05721848e-04 -2.56964373e+00] [ 2.08112547e-03 -6.05046042e-04 9.99997651e-01 -9.03293029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.844860624 meters 0.10389063694931874 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997721e-01 4.56752532e-04 -2.08546212e-03 3.17496056e+01] [-4.55085306e-04 9.99999577e-01 7.99855976e-04 -2.56996119e+00] [ 2.08582657e-03 -7.98905090e-04 9.99997506e-01 -9.03511288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.874860624 meters 0.10786404940123963 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997777e-01 5.22154893e-04 -2.04301104e-03 3.17496894e+01] [-5.20305553e-04 9.99999455e-01 9.05630251e-04 -2.57002412e+00] [ 2.04348280e-03 -9.04565247e-04 9.99997503e-01 -9.03737036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.904860624 meters 0.10233810669227567 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997845e-01 4.80021852e-04 -2.01958591e-03 3.17496243e+01] [-4.78247332e-04 9.99999499e-01 8.79046899e-04 -2.56994642e+00] [ 2.02000686e-03 -8.78079143e-04 9.99997574e-01 -9.03724142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.934860624 meters 0.10834931829335104 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99998110e-01 4.61914093e-04 -1.88856553e-03 3.17493425e+01] [-4.59982155e-04 9.99999371e-01 1.02327224e-03 -2.57061710e+00] [ 1.88903701e-03 -1.02240160e-03 9.99997693e-01 -9.03730018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.964860624 meters 0.10834931829335104 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99998110e-01 4.61914093e-04 -1.88856553e-03 3.17493425e+01] [-4.59982155e-04 9.99999371e-01 1.02327224e-03 -2.57061710e+00] [ 1.88903701e-03 -1.02240160e-03 9.99997693e-01 -9.03730018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.994860624 meters 0.10969056197431128 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997822e-01 7.47207120e-04 -1.94896663e-03 3.17498195e+01] [-7.44378034e-04 9.99998669e-01 1.45190420e-03 -2.57143805e+00] [ 1.95004891e-03 -1.45045027e-03 9.99997047e-01 -9.04230163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024860624 meters 0.10409433140994753 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99997853e-01 8.52002274e-04 -1.88869463e-03 3.17498646e+01] [-8.48849452e-04 9.99998246e-01 1.66948656e-03 -2.57202180e+00] [ 1.89011373e-03 -1.66787976e-03 9.99996823e-01 -9.04466674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.054860624 meters 0.10916171106522166 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99998467e-01 7.25079665e-04 -1.59365160e-03 3.17490289e+01] [-7.22187622e-04 9.99998093e-01 1.81455456e-03 -2.57312222e+00] [ 1.59496426e-03 -1.81340087e-03 9.99997084e-01 -9.04122690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.084860624 meters 0.10613889234009682 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99998778e-01 6.21049013e-04 -1.43445832e-03 3.17484881e+01] [-6.18493371e-04 9.99998222e-01 1.78136515e-03 -2.57354579e+00] [ 1.43556208e-03 -1.78047577e-03 9.99997385e-01 -9.03810061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.114860624 meters 0.10571433663528262 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99998984e-01 5.46199886e-04 -1.31691722e-03 3.17480946e+01] [-5.43872685e-04 9.99998291e-01 1.76686908e-03 -2.57389500e+00] [ 1.31788004e-03 -1.76615105e-03 9.99997572e-01 -9.03574738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.144860624 meters 0.11095626918666703 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99999067e-01 5.41335894e-04 -1.25451851e-03 3.17479179e+01] [-5.39051258e-04 9.99998197e-01 1.82074882e-03 -2.57425465e+00] [ 1.25550189e-03 -1.82007087e-03 9.99997556e-01 -9.03497142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.174860624 meters 0.11362793425373022 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.57, Z:-0.90 [[ 9.99999240e-01 5.23110365e-04 -1.11658342e-03 3.17475348e+01] [-5.20946173e-04 9.99997987e-01 1.93763774e-03 -2.57484132e+00] [ 1.11759477e-03 -1.93705459e-03 9.99997499e-01 -9.03365278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.204860624 meters 0.10970292035113463 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.58, Z:-0.90 [[ 9.99999377e-01 6.82722417e-04 -8.83517808e-04 3.17468608e+01] [-6.80530914e-04 9.99996697e-01 2.47835681e-03 -2.57704826e+00] [ 8.85206919e-04 -2.47775401e-03 9.99996539e-01 -9.03054744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.234860624 meters 0.10950625939194712 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.58, Z:-0.90 [[ 9.99999218e-01 9.05988781e-04 -8.61928261e-04 3.17468943e+01] [-9.03516152e-04 9.99995488e-01 2.86479494e-03 -2.57826428e+00] [ 8.64519844e-04 -2.86401394e-03 9.99995525e-01 -9.03144834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.264860624 meters 0.11188104443659216 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.58, Z:-0.90 [[ 9.99999203e-01 9.66575260e-04 -8.11672664e-04 3.17466546e+01] [-9.64083200e-04 9.99994838e-01 3.06507684e-03 -2.57915475e+00] [ 8.14631102e-04 -3.06429187e-03 9.99994973e-01 -9.02959226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.294860624 meters 0.11432796647828777 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.58, Z:-0.90 [[ 9.99999219e-01 1.06328791e-03 -6.57368885e-04 3.17461412e+01] [-1.06101377e-03 9.99993485e-01 3.45017832e-03 -2.58082917e+00] [ 6.61033135e-04 -3.44947815e-03 9.99993832e-01 -9.02637475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.324860624 meters 0.10654500580481999 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.58, Z:-0.90 [[ 9.99999000e-01 1.23558389e-03 -6.87912170e-04 3.17462338e+01] [-1.23299857e-03 9.99992223e-01 3.74603420e-03 -2.58175548e+00] [ 6.92535360e-04 -3.74518226e-03 9.99992747e-01 -9.02679435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.354860624 meters 0.11540076877063311 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.58, Z:-0.90 [[ 9.99998822e-01 1.35495827e-03 -7.21026943e-04 3.17463160e+01] [-1.35210685e-03 9.99991322e-01 3.94055783e-03 -2.58245936e+00] [ 7.26359977e-04 -3.93957828e-03 9.99991976e-01 -9.02695380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.384860624 meters 0.11571566297719586 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.58, Z:-0.90 [[ 9.99998423e-01 1.59832868e-03 -7.73599163e-04 3.17463517e+01] [-1.59495589e-03 9.99989306e-01 4.34103065e-03 -2.58386318e+00] [ 7.80529284e-04 -4.33978995e-03 9.99990278e-01 -9.02583464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.414860624 meters 0.11141087211177221 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.58, Z:-0.90 [[ 9.99998235e-01 1.67713472e-03 -8.46894606e-04 3.17465217e+01] [-1.67337040e-03 9.99988804e-01 4.42616734e-03 -2.58410298e+00] [ 8.54308404e-04 -4.42474236e-03 9.99989846e-01 -9.02618025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.444860624 meters 0.10483444131027203 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.58, Z:-0.90 [[ 9.99997981e-01 1.77503334e-03 -9.41723371e-04 3.17467718e+01] [-1.77077152e-03 9.99988274e-01 4.50724594e-03 -2.58420482e+00] [ 9.49712841e-04 -4.50556927e-03 9.99989399e-01 -9.02687513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.474860624 meters 0.10835693604590611 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.58, Z:-0.90 [[ 9.99997952e-01 1.71572991e-03 -1.07357221e-03 3.17467934e+01] [-1.71104960e-03 9.99989095e-01 4.34540091e-03 -2.58401560e+00] [ 1.08101604e-03 -4.34355508e-03 9.99989982e-01 -9.02334743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.504860624 meters 0.10439368920779707 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.58, Z:-0.90 [[ 9.99997800e-01 1.69058914e-03 -1.24183882e-03 3.17469141e+01] [-1.68541163e-03 9.99989933e-01 4.15850398e-03 -2.58370898e+00] [ 1.24885664e-03 -4.15640182e-03 9.99990582e-01 -9.01978320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.534860624 meters 0.10414112716694668 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.58, Z:-0.90 [[ 9.99997734e-01 1.64911215e-03 -1.34602316e-03 3.17469220e+01] [-1.64368588e-03 9.99990559e-01 4.02252903e-03 -2.58362373e+00] [ 1.35264405e-03 -4.02030747e-03 9.99991004e-01 -9.01676176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.564860624 meters 0.10351192477782471 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.58, Z:-0.90 [[ 9.99997555e-01 1.69103013e-03 -1.42474133e-03 3.17469988e+01] [-1.68527208e-03 9.99990447e-01 4.03302154e-03 -2.58383219e+00] [ 1.43154768e-03 -4.03061061e-03 9.99990852e-01 -9.01534994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.594860624 meters 0.10434305561143138 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.58, Z:-0.90 [[ 9.99996944e-01 1.91685554e-03 -1.56151079e-03 3.17474396e+01] [-1.91013169e-03 9.99988947e-01 4.29616089e-03 -2.58426039e+00] [ 1.56972865e-03 -4.29316506e-03 9.99989552e-01 -9.01756443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62486062400001 meters 0.104385065275212 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.58, Z:-0.90 [[ 9.99996980e-01 1.87027865e-03 -1.59454267e-03 3.17472706e+01] [-1.86357627e-03 9.99989467e-01 4.19450392e-03 -2.58439967e+00] [ 1.60237076e-03 -4.19151970e-03 9.99989932e-01 -9.01415823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.654860624 meters 0.10523556198090234 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.58, Z:-0.90 [[ 9.99997125e-01 1.77352949e-03 -1.61381609e-03 3.17471223e+01] [-1.76697013e-03 9.99990210e-01 4.05689385e-03 -2.58430708e+00] [ 1.62099532e-03 -4.05403062e-03 9.99990469e-01 -9.01127968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.684860624 meters 0.10344842608322756 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.58, Z:-0.90 [[ 9.99996940e-01 1.82066636e-03 -1.67483152e-03 3.17472561e+01] [-1.81379053e-03 9.99989959e-01 4.09778693e-03 -2.58437281e+00] [ 1.68227540e-03 -4.09473659e-03 9.99990201e-01 -9.01114915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.714860624 meters 0.10410231793773687 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.59, Z:-0.90 [[ 9.99996912e-01 1.93352245e-03 -1.56114756e-03 3.17468930e+01] [-1.92657576e-03 9.99988292e-01 4.43904037e-03 -2.58578444e+00] [ 1.56971226e-03 -4.43601900e-03 9.99988929e-01 -9.00934184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.744860624 meters 0.10594741459047699 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.59, Z:-0.90 [[ 9.99996886e-01 2.00185932e-03 -1.49006721e-03 3.17465929e+01] [-1.99490712e-03 9.99987187e-01 4.65264927e-03 -2.58680845e+00] [ 1.49936206e-03 -4.64966224e-03 9.99988066e-01 -9.00713433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.774860624 meters 0.10656173633563254 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.59, Z:-0.90 [[ 9.99996220e-01 -1.78322198e-03 -2.09308673e-03 3.17481922e+01] [ 1.78462231e-03 9.99998185e-01 6.67348670e-04 -2.58640950e+00] [ 2.09189290e-03 -6.71081516e-04 9.99997587e-01 -9.01289116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804860624 meters 0.10700888761984914 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.59, Z:-0.90 [[ 9.99996327e-01 -1.79586279e-03 -2.02978433e-03 3.17478394e+01] [ 1.79744552e-03 9.99998082e-01 7.78194909e-04 -2.58716262e+00] [ 2.02838290e-03 -7.81840477e-04 9.99997637e-01 -9.00971612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.834860624 meters 0.11064350884546623 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.59, Z:-0.90 [[ 9.99997110e-01 -1.38875767e-03 -1.96224474e-03 3.17480794e+01] [ 1.39188667e-03 9.99997761e-01 1.59413783e-03 -2.58897761e+00] [ 1.96002648e-03 -1.59686445e-03 9.99996804e-01 -9.01550386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.864860624 meters 0.10609315918776686 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.59, Z:-0.90 [[ 9.99997274e-01 -1.38332295e-03 -1.88101809e-03 3.17479370e+01] [ 1.38651321e-03 9.99997601e-01 1.69578477e-03 -2.58936537e+00] [ 1.87866776e-03 -1.69838820e-03 9.99996793e-01 -9.01593238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.894860624 meters 0.1128498230012772 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.59, Z:-0.90 [[ 9.99997564e-01 -1.00739910e-03 -1.96390116e-03 3.17484505e+01] [ 1.01187337e-03 9.99996892e-01 2.27859237e-03 -2.59052324e+00] [ 1.96159961e-03 -2.28057404e-03 9.99995476e-01 -9.02085756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.924860624 meters 0.10323908177662126 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.59, Z:-0.90 [[ 9.99997728e-01 -9.11489560e-04 -1.92688880e-03 3.17482704e+01] [ 9.16299118e-04 9.99996464e-01 2.49661509e-03 -2.59142168e+00] [ 1.92460635e-03 -2.49837503e-03 9.99995027e-01 -9.01940635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.954860624 meters 0.1123359076167098 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.59, Z:-0.90 [[ 9.99986307e-01 -4.71424119e-03 -2.27190165e-03 3.17491532e+01] [ 4.71156587e-03 9.99988203e-01 -1.18148412e-03 -2.59241878e+00] [ 2.27744465e-03 1.17076373e-03 9.99996721e-01 -9.02150153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.984860624 meters 0.11386328880132467 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.59, Z:-0.90 [[ 9.99988141e-01 -4.36210897e-03 -2.16543932e-03 3.17491092e+01] [ 4.36112150e-03 9.99990384e-01 -4.60525807e-04 -2.59429363e+00] [ 2.16742736e-03 4.51076602e-04 9.99997549e-01 -9.02415443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.014860624 meters 0.10724400934778133 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.60, Z:-0.90 [[ 9.99989799e-01 -3.97222026e-03 -2.15014036e-03 3.17492406e+01] [ 3.97281272e-03 9.99992072e-01 2.71342211e-04 -2.59611227e+00] [ 2.14904549e-03 -2.79881548e-04 9.99997652e-01 -9.02664900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.044860624 meters 0.1068667616117482 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.60, Z:-0.90 [[ 9.99990747e-01 -3.79365228e-03 -2.02814616e-03 3.17488115e+01] [ 3.79531191e-03 9.99992466e-01 8.15078327e-04 -2.59794291e+00] [ 2.02503876e-03 -8.22768232e-04 9.99997611e-01 -9.02376863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.074860624 meters 0.10952372554551552 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.60, Z:-0.90 [[ 9.99991328e-01 -3.63272323e-03 -2.03628737e-03 3.17488653e+01] [ 3.63500243e-03 9.99992770e-01 1.11671172e-03 -2.59871110e+00] [ 2.03221595e-03 -1.12410395e-03 9.99997303e-01 -9.02451734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.104860624 meters 0.10599142076346489 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.60, Z:-0.90 [[ 9.99991933e-01 -3.45419272e-03 -2.04999111e-03 3.17489156e+01] [ 3.45716500e-03 9.99992975e-01 1.44813047e-03 -2.59967814e+00] [ 2.04497459e-03 -1.45520595e-03 9.99996850e-01 -9.02497737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.134860624 meters 0.10695932972055162 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.60, Z:-0.90 [[ 9.99993242e-01 -2.98674271e-03 -2.14387992e-03 3.17495797e+01] [ 2.99136407e-03 9.99993202e-01 2.15564446e-03 -2.60101288e+00] [ 2.13742699e-03 -2.16204302e-03 9.99995378e-01 -9.03186699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164860624 meters 0.1072854228801259 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.60, Z:-0.90 [[ 9.99993408e-01 -2.89458348e-03 -2.19215627e-03 3.17494905e+01] [ 2.89966284e-03 9.99993111e-01 2.31743559e-03 -2.60176973e+00] [ 2.18543316e-03 -2.32377683e-03 9.99994912e-01 -9.02930505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.194860624 meters 0.10909132566208755 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.60, Z:-0.90 [[ 9.99993054e-01 -2.88033612e-03 -2.36551910e-03 3.17497540e+01] [ 2.88558699e-03 9.99993374e-01 2.21934893e-03 -2.60150884e+00] [ 2.35911096e-03 -2.22615942e-03 9.99994739e-01 -9.02784606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.224860624 meters 0.1099658971528717 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.60, Z:-0.90 [[ 9.99992545e-01 -2.85107156e-03 -2.60404619e-03 3.17502615e+01] [ 2.85649765e-03 9.99993752e-01 2.08237870e-03 -2.60079622e+00] [ 2.59809291e-03 -2.08980163e-03 9.99994441e-01 -9.02807819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.254860624 meters 0.10547700534350589 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.60, Z:-0.90 [[ 9.99991442e-01 -3.11122838e-03 -2.72701860e-03 3.17502317e+01] [ 3.11549093e-03 9.99993930e-01 1.56022638e-03 -2.59955325e+00] [ 2.72214783e-03 -1.56870903e-03 9.99995065e-01 -9.02398376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.284860624 meters 0.10828904262829524 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.60, Z:-0.90 [[ 9.99990442e-01 -2.59366797e-03 -3.51974625e-03 3.17521885e+01] [ 2.59899348e-03 9.99995484e-01 1.50930823e-03 -2.59798021e+00] [ 3.51581571e-03 -1.51844160e-03 9.99992667e-01 -9.03003217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.314860624 meters 0.1005755746156414 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.60, Z:-0.90 [[ 9.99989716e-01 -2.46428926e-03 -3.80726205e-03 3.17529505e+01] [ 2.46975590e-03 9.99995925e-01 1.43181101e-03 -2.59725049e+00] [ 3.80371814e-03 -1.44119929e-03 9.99991727e-01 -9.03281483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.344860624 meters 0.10494975893272813 Centerline is valid? [False, False] Translation: X:31.75, Y:-2.60, Z:-0.90 [[ 9.99989056e-01 -2.51526725e-03 -3.94466371e-03 3.17532909e+01] [ 2.52000259e-03 9.99996110e-01 1.19593174e-03 -2.59644574e+00] [ 3.94164028e-03 -1.20585922e-03 9.99991505e-01 -9.03370601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37486062400001 meters 0.09983661407084285 Centerline is valid? [False, True] Translation: X:31.75, Y:-2.60, Z:-0.90 [[ 9.99988436e-01 -2.33319141e-03 -4.20529464e-03 3.17540866e+01] [ 2.33837213e-03 9.99996513e-01 1.22745611e-03 -2.59599380e+00] [ 4.20241609e-03 -1.23727546e-03 9.99990404e-01 -9.03739834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.404860624 meters 0.09853040880069455 Centerline is valid? [True, True] Translation: X:31.78, Y:-2.60, Z:-0.90 [[ 9.99989618e-01 4.93388985e-05 -4.55654921e-03 3.17845764e+01] [-4.69794830e-05 9.99999865e-01 5.17913123e-04 -2.59565553e+00] [ 4.55657415e-03 -5.17693682e-04 9.99989485e-01 -9.04055125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.434860624 meters 0.10000861630163699 Centerline is valid? [True, False] Translation: X:31.79, Y:-2.59, Z:-0.90 [[ 9.99988849e-01 1.07654593e-04 -4.72129729e-03 3.17851121e+01] [-1.05664867e-04 9.99999906e-01 4.21683555e-04 -2.59498860e+00] [ 4.72134224e-03 -4.21179977e-04 9.99988766e-01 -9.04318601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.464860624 meters 0.09928260573222628 Centerline is valid? [False, True] Translation: X:31.78, Y:-2.59, Z:-0.90 [[ 9.99988544e-01 -1.52057122e-04 -4.78413297e-03 3.17849139e+01] [ 1.51835669e-04 9.99999987e-01 -4.66523648e-05 -2.59410167e+00] [ 4.78414000e-03 4.59254283e-05 9.99988555e-01 -9.03837587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.494860624 meters 0.09849707231338105 Centerline is valid? [True, True] Translation: X:31.81, Y:-2.60, Z:-0.90 [[ 9.99993167e-01 2.51345863e-04 -3.68825823e-03 3.18140290e+01] [-2.49846660e-04 9.99999886e-01 4.06935040e-04 -2.59580165e+00] [ 3.68836009e-03 -4.06010761e-04 9.99993116e-01 -9.04706549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524860624 meters 0.09914295033913874 Centerline is valid? [True, True] Translation: X:31.84, Y:-2.60, Z:-0.91 [[ 9.99993707e-01 2.46382215e-05 -3.54768564e-03 3.18429626e+01] [-2.32364486e-05 9.99999922e-01 3.95163892e-04 -2.60002807e+00] [ 3.54769510e-03 -3.95078970e-04 9.99993629e-01 -9.05427846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.554860624 meters 0.10061404212693624 Centerline is valid? [True, False] Translation: X:31.84, Y:-2.60, Z:-0.91 [[ 9.99993806e-01 9.07084882e-05 -3.51849011e-03 3.18429691e+01] [-8.87913988e-05 9.99999848e-01 5.45013784e-04 -2.60043861e+00] [ 3.51853901e-03 -5.44697996e-04 9.99993662e-01 -9.05544501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.584860624 meters 0.0989206491557466 Centerline is valid? [False, True] Translation: X:31.84, Y:-2.60, Z:-0.91 [[ 9.99994412e-01 1.64729428e-04 -3.33895290e-03 3.18430364e+01] [-1.62214455e-04 9.99999703e-01 7.53478886e-04 -2.60084453e+00] [ 3.33907603e-03 -7.52933049e-04 9.99994142e-01 -9.06150274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.614860624 meters 0.0989206491557466 Centerline is valid? [True, True] Translation: X:31.87, Y:-2.60, Z:-0.91 [[ 9.99994278e-01 1.08762896e-04 -3.38115607e-03 3.18713763e+01] [-1.07478468e-04 9.99999922e-01 3.80057639e-04 -2.60380311e+00] [ 3.38119714e-03 -3.79692063e-04 9.99994212e-01 -9.06816861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.644860624 meters 0.0991692802854616 Centerline is valid? [True, True] Translation: X:31.90, Y:-2.61, Z:-0.91 [[ 9.99994175e-01 -1.51353011e-03 -3.05917838e-03 3.19016426e+01] [ 1.51459263e-03 9.99998793e-01 3.45034142e-04 -2.60657827e+00] [ 3.05865247e-03 -3.49665542e-04 9.99995261e-01 -9.06640602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.674860624 meters 0.10030111519536612 Centerline is valid? [True, False] Translation: X:31.90, Y:-2.61, Z:-0.91 [[ 9.99993878e-01 -1.85643368e-03 -2.96607887e-03 3.19011521e+01] [ 1.85613840e-03 9.99998272e-01 -1.02302600e-04 -2.60574443e+00] [ 2.96626366e-03 9.67965211e-05 9.99995596e-01 -9.06203700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.704860624 meters 0.10051243939340032 Centerline is valid? [False, False] Translation: X:31.90, Y:-2.61, Z:-0.91 [[ 9.99994091e-01 -1.66426808e-03 -3.00806307e-03 3.19015005e+01] [ 1.66489318e-03 9.99998593e-01 2.05317107e-04 -2.60613724e+00] [ 3.00771714e-03 -2.10323997e-04 9.99995455e-01 -9.06588804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.734860624 meters 0.1015323570075178 Centerline is valid? [False, False] Translation: X:31.90, Y:-2.61, Z:-0.91 [[ 9.99994693e-01 -1.50950467e-03 -2.88695109e-03 3.19015113e+01] [ 1.51118048e-03 9.99998691e-01 5.78385373e-04 -2.60690350e+00] [ 2.88607424e-03 -5.82745008e-04 9.99995665e-01 -9.06973973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.764860624 meters 0.10569805101757335 Centerline is valid? [False, False] Translation: X:31.90, Y:-2.61, Z:-0.91 [[ 9.99995800e-01 -1.46034829e-03 -2.50336046e-03 3.19008251e+01] [ 1.46302828e-03 9.99998358e-01 1.06905642e-03 -2.60879209e+00] [ 2.50179515e-03 -1.07271441e-03 9.99996295e-01 -9.07059380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.794860624 meters 0.10555841617076185 Centerline is valid? [False, False] Translation: X:31.90, Y:-2.61, Z:-0.91 [[ 9.99995981e-01 -1.50958294e-03 -2.39992558e-03 3.19006468e+01] [ 1.51220868e-03 9.99998260e-01 1.09265400e-03 -2.60890917e+00] [ 2.39827195e-03 -1.09627879e-03 9.99996523e-01 -9.07096316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.824860624 meters 0.10555841617076185 Centerline is valid? [False, False] Translation: X:31.90, Y:-2.61, Z:-0.91 [[ 9.99995981e-01 -1.50958294e-03 -2.39992558e-03 3.19006468e+01] [ 1.51220868e-03 9.99998260e-01 1.09265400e-03 -2.60890917e+00] [ 2.39827195e-03 -1.09627879e-03 9.99996523e-01 -9.07096316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.854860624 meters 0.1101734407567894 Centerline is valid? [False, False] Translation: X:31.90, Y:-2.61, Z:-0.91 [[ 9.99995920e-01 -1.49214336e-03 -2.43575210e-03 3.19007225e+01] [ 1.49490003e-03 9.99998244e-01 1.13032169e-03 -2.60892412e+00] [ 2.43406122e-03 -1.13395829e-03 9.99996395e-01 -9.07073824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.884860624 meters 0.11123911364302883 Centerline is valid? [False, False] Translation: X:31.90, Y:-2.61, Z:-0.91 [[ 9.99995685e-01 -1.72751431e-03 -2.37593909e-03 3.19007030e+01] [ 1.72945406e-03 9.99998173e-01 8.14604906e-04 -2.60772377e+00] [ 2.37452750e-03 -8.18710469e-04 9.99996846e-01 -9.07206929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.914860624 meters 0.11475544097863632 Centerline is valid? [False, False] Translation: X:31.90, Y:-2.61, Z:-0.91 [[ 9.99995518e-01 -1.88213931e-03 -2.32828079e-03 3.19005642e+01] [ 1.88356737e-03 9.99998039e-01 6.11310157e-04 -2.60727639e+00] [ 2.32712565e-03 -6.15692891e-04 9.99997103e-01 -9.07139629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.944860624 meters 0.113324671099139 Centerline is valid? [False, False] Translation: X:31.90, Y:-2.61, Z:-0.91 [[ 9.99995579e-01 -1.69413330e-03 -2.44392861e-03 3.19011970e+01] [ 1.69612128e-03 9.99998232e-01 8.11591854e-04 -2.60725621e+00] [ 2.44254935e-03 -8.15733465e-04 9.99996684e-01 -9.07714073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.974860624 meters 0.10842242115898026 Centerline is valid? [False, False] Translation: X:31.90, Y:-2.61, Z:-0.91 [[ 9.99995028e-01 -1.70220470e-03 -2.65449375e-03 3.19018578e+01] [ 1.70356201e-03 9.99998419e-01 5.09145825e-04 -2.60591301e+00] [ 2.65362288e-03 -5.13665388e-04 9.99996347e-01 -9.08082674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.004860624 meters 0.10900150511640866 Centerline is valid? [False, False] Translation: X:31.90, Y:-2.60, Z:-0.91 [[ 9.99994432e-01 -1.71720873e-03 -2.86145740e-03 3.19024206e+01] [ 1.71792075e-03 9.99998494e-01 2.46392163e-04 -2.60472961e+00] [ 2.86102999e-03 -2.51306548e-04 9.99995876e-01 -9.08288144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.034860624 meters 0.10447934430464485 Centerline is valid? [False, False] Translation: X:31.90, Y:-2.60, Z:-0.91 [[ 9.99993659e-01 -1.67254606e-03 -3.14391329e-03 3.19031282e+01] [ 1.67258498e-03 9.99998601e-01 9.75000982e-06 -2.60353360e+00] [ 3.14389258e-03 -1.50084101e-05 9.99995058e-01 -9.08469677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.064860624 meters 0.10867502677182089 Centerline is valid? [False, False] Translation: X:31.90, Y:-2.60, Z:-0.91 [[ 9.99992661e-01 -1.97259011e-03 -3.28444626e-03 3.19032463e+01] [ 1.97053799e-03 9.99997861e-01 -6.27918022e-04 -2.60159202e+00] [ 3.28567786e-03 6.21441287e-04 9.99994409e-01 -9.08213409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.094860624 meters 0.10432627559607471 Centerline is valid? [False, False] Translation: X:31.90, Y:-2.60, Z:-0.91 [[ 9.99993671e-01 1.89301528e-03 -3.01230211e-03 3.19024117e+01] [-1.88367304e-03 9.99993417e-01 3.10118236e-03 -2.60057725e+00] [ 3.01815286e-03 -3.09548854e-03 9.99990654e-01 -9.07823190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12486062400001 meters 0.10315486396556538 Centerline is valid? [False, False] Translation: X:31.90, Y:-2.60, Z:-0.91 [[ 9.99993146e-01 1.92254110e-03 -3.16429460e-03 3.19028390e+01] [-1.91321609e-03 9.99993826e-01 2.94733981e-03 -2.59991088e+00] [ 3.16994144e-03 -2.94126563e-03 9.99990650e-01 -9.07987168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.154860624 meters 0.1063527176997883 Centerline is valid? [False, False] Translation: X:31.90, Y:-2.60, Z:-0.91 [[ 9.99992795e-01 1.85232980e-03 -3.31357237e-03 3.19031783e+01] [-1.84364593e-03 9.99994863e-01 2.62183324e-03 -2.59898498e+00] [ 3.31841185e-03 -2.61570530e-03 9.99991073e-01 -9.08037929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.184860624 meters 0.1038647971204974 Centerline is valid? [False, False] Translation: X:31.90, Y:-2.60, Z:-0.91 [[ 9.99992392e-01 1.79671185e-03 -3.46247196e-03 3.19036969e+01] [-1.78875751e-03 9.99995757e-01 2.29903076e-03 -2.59773925e+00] [ 3.46658797e-03 -2.29281975e-03 9.99991363e-01 -9.08360852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.214860624 meters 0.09756418135641802 Centerline is valid? [False, True] Translation: X:31.90, Y:-2.59, Z:-0.91 [[ 9.99990599e-01 1.73507462e-03 -3.97387344e-03 3.19047975e+01] [-1.72922849e-03 9.99997418e-01 1.47410521e-03 -2.59469156e+00] [ 3.97642086e-03 -1.46721961e-03 9.99991018e-01 -9.08562299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.244860624 meters 0.09662608164887788 Centerline is valid? [True, True] Translation: X:31.94, Y:-2.59, Z:-0.91 [[ 9.99987169e-01 4.16139955e-03 -2.88865283e-03 3.19356581e+01] [-4.16050121e-03 9.99991295e-01 3.16928082e-04 -2.59473082e+00] [ 2.88994655e-03 -3.04905772e-04 9.99995778e-01 -9.09328398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.274860624 meters 0.09566452439066804 Centerline is valid? [True, True] Translation: X:31.97, Y:-2.60, Z:-0.91 [[ 9.99974699e-01 6.39529888e-03 -3.11474008e-03 3.19665322e+01] [-6.39426523e-03 9.99979498e-01 3.41705334e-04 -2.59562322e+00] [ 3.11686153e-03 -3.21780214e-04 9.99995091e-01 -9.09939006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.304860624 meters 0.09331329112110884 Centerline is valid? [True, True] Translation: X:32.00, Y:-2.59, Z:-0.91 [[ 9.99948908e-01 1.00368616e-02 -1.20153251e-03 3.19974399e+01] [-1.00367101e-02 9.99949622e-01 1.31990924e-04 -2.59284447e+00] [ 1.20279676e-03 -1.19924747e-04 9.99999269e-01 -9.10035008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.334860624 meters 0.09565040053648677 Centerline is valid? [True, True] Translation: X:32.03, Y:-2.60, Z:-0.91 [[ 9.99935537e-01 1.12803139e-02 -1.29501586e-03 3.20254653e+01] [-1.12801409e-02 9.99936367e-01 1.40885798e-04 -2.59971110e+00] [ 1.29652269e-03 -1.26268755e-04 9.99999152e-01 -9.11917508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.364860624 meters 0.09449007823827797 Centerline is valid? [True, True] Translation: X:32.05, Y:-2.60, Z:-0.91 [[ 9.99927798e-01 1.19864666e-02 -8.50091804e-04 3.20549186e+01] [-1.19863926e-02 9.99928156e-01 9.20521019e-05 -2.60074193e+00] [ 8.51134110e-04 -8.18559215e-05 9.99999634e-01 -9.12716926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.394860624 meters 0.09450207509467347 Centerline is valid? [True, True] Translation: X:32.08, Y:-2.60, Z:-0.91 [[ 9.99925640e-01 1.21692684e-02 -7.89527707e-04 3.20836452e+01] [-1.21692051e-02 9.99925949e-01 8.49844119e-05 -2.60369986e+00] [ 7.90503440e-04 -7.53701679e-05 9.99999685e-01 -9.13839387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.424860624 meters 0.09817480458263192 Centerline is valid? [True, True] Translation: X:32.11, Y:-2.61, Z:-0.92 [[ 9.99941928e-01 1.07763322e-02 1.09475285e-04 3.21109864e+01] [-1.07763309e-02 9.99941934e-01 -1.29617538e-05 -2.61253669e+00] [-1.09608608e-04 1.17812592e-05 9.99999994e-01 -9.15934004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.454860624 meters 0.09666534869097967 Centerline is valid? [True, True] Translation: X:32.14, Y:-2.61, Z:-0.92 [[ 9.99949397e-01 1.00574292e-02 2.26743306e-04 3.21400470e+01] [-1.00574235e-02 9.99949422e-01 -2.63416055e-05 -2.61233989e+00] [-2.26996767e-04 2.40598190e-05 9.99999974e-01 -9.16029189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.484860624 meters 0.0953322231714095 Centerline is valid? [True, True] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99960568e-01 8.88013551e-03 7.87433937e-05 3.21693093e+01] [-8.88013477e-03 9.99960571e-01 -9.77490356e-06 -2.61252026e+00] [-7.88270913e-05 9.07526617e-06 9.99999997e-01 -9.16935077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.514860624 meters 0.1025186938808345 Centerline is valid? [True, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99987309e-01 4.99514836e-03 -6.56591343e-04 3.21710989e+01] [-4.99795716e-03 9.99978057e-01 -4.34818986e-03 -2.61097509e+00] [ 6.34857082e-04 4.35141629e-03 9.99990331e-01 -9.17494604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.544860624 meters 0.10392816745195292 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99986910e-01 5.08631301e-03 -5.55689551e-04 3.21713386e+01] [-5.08856758e-03 9.99978508e-01 -4.13411166e-03 -2.61104281e+00] [ 5.34650222e-04 4.13688521e-03 9.99991300e-01 -9.18165287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.574860624 meters 0.10088471725014746 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99988479e-01 4.79303427e-03 -2.61343124e-04 3.21708347e+01] [-4.79412332e-03 9.99979094e-01 -4.33920782e-03 -2.61052424e+00] [ 2.40539688e-04 4.34041074e-03 9.99990551e-01 -9.18340186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.604860624 meters 0.09754678203532081 Centerline is valid? [False, True] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99988145e-01 4.85661362e-03 -3.49802989e-04 3.21712771e+01] [-4.85806299e-03 9.99979087e-01 -4.26909806e-03 -2.61015148e+00] [ 3.29062314e-04 4.27074682e-03 9.99990826e-01 -9.18738534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.634860624 meters 0.10386895355736853 Centerline is valid? [True, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99989593e-01 4.55438584e-03 -2.67544951e-04 3.21711288e+01] [-4.55558119e-03 9.99978805e-01 -4.65145729e-03 -2.60882297e+00] [ 2.46354749e-04 4.65262771e-03 9.99989146e-01 -9.18782140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664860624 meters 0.10122756979350438 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99989270e-01 4.62629388e-03 -2.38897263e-04 3.21713956e+01] [-4.62732993e-03 9.99979008e-01 -4.53548420e-03 -2.60864991e+00] [ 2.17909765e-04 4.53654099e-03 9.99989686e-01 -9.19247998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.694860624 meters 0.09964742926344723 Centerline is valid? [False, True] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99989358e-01 4.60632257e-03 -2.55029176e-04 3.21714149e+01] [-4.60744054e-03 9.99978934e-01 -4.57193647e-03 -2.60848692e+00] [ 2.33963990e-04 4.57306285e-03 9.99989516e-01 -9.19220660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.724860624 meters 0.10203025569209935 Centerline is valid? [True, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99988766e-01 4.73065988e-03 -2.97477971e-04 3.21718160e+01] [-4.73192576e-03 9.99979083e-01 -4.40933675e-03 -2.60838769e+00] [ 2.76612676e-04 4.41069486e-03 9.99990235e-01 -9.19677259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.754860624 meters 0.09957580397146802 Centerline is valid? [False, True] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99990114e-01 4.44585232e-03 -8.46134682e-05 3.21712980e+01] [-4.44620008e-03 9.99979132e-01 -4.68697370e-03 -2.60780262e+00] [ 6.37741096e-05 4.68730357e-03 9.99989012e-01 -9.19559266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.784860624 meters 0.1074218233786759 Centerline is valid? [True, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99990498e-01 4.35895516e-03 6.31920436e-05 3.21710981e+01] [-4.35861408e-03 9.99979683e-01 -4.65147064e-03 -2.60776801e+00] [-8.34663117e-05 4.65115101e-03 9.99989180e-01 -9.19743869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.814860624 meters 0.10414882173597054 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99990020e-01 4.46710301e-03 6.60567032e-05 3.21713052e+01] [-4.46676450e-03 9.99980105e-01 -4.45394425e-03 -2.60798407e+00] [-8.59516168e-05 4.45360474e-03 9.99990079e-01 -9.20067784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.844860624 meters 0.103956311323222 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99990404e-01 4.37939611e-03 1.12363721e-04 3.21714060e+01] [-4.37884359e-03 9.99980200e-01 -4.51949134e-03 -2.60744350e+00] [-1.32154139e-04 4.51895595e-03 9.99989781e-01 -9.20352354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87486062400001 meters 0.10590651316705726 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99989476e-01 4.58767794e-03 2.78369910e-05 3.21719684e+01] [-4.58751860e-03 9.99980481e-01 -4.24165181e-03 -2.60759747e+00] [-4.72957801e-05 4.24147947e-03 9.99991004e-01 -9.20923113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.904860624 meters 0.1054987870465294 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99989736e-01 4.52991502e-03 9.14901161e-05 3.21718457e+01] [-4.52948512e-03 9.99980703e-01 -4.25165115e-03 -2.60763486e+00] [-1.10747969e-04 4.25119311e-03 9.99990958e-01 -9.20946636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.934860624 meters 0.10255696285583601 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99989356e-01 4.61122078e-03 1.53727236e-04 3.21719710e+01] [-4.61055693e-03 9.99981088e-01 -4.07029385e-03 -2.60781084e+00] [-1.72493353e-04 4.06954176e-03 9.99991705e-01 -9.21322779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.964860624 meters 0.11219780933577399 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99989234e-01 4.62374700e-03 3.90659811e-04 3.21717238e+01] [-4.62223733e-03 9.99982170e-01 -3.78076886e-03 -2.60851905e+00] [-4.08134165e-04 3.77892243e-03 9.99992777e-01 -9.21711598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.994860624 meters 0.10334278851717967 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99989403e-01 4.58095644e-03 4.56042803e-04 3.21716782e+01] [-4.57919867e-03 9.99982358e-01 -3.78358330e-03 -2.60847098e+00] [-4.73367188e-04 3.78145490e-03 9.99992738e-01 -9.21838885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024860624 meters 0.1130207895786616 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99988548e-01 4.76869401e-03 4.04613134e-04 3.21721178e+01] [-4.76724259e-03 9.99982458e-01 -3.51534864e-03 -2.60871449e+00] [-4.21369658e-04 3.51337949e-03 9.99993739e-01 -9.22339703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.054860624 meters 0.11304481457938424 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99988796e-01 4.71521861e-03 4.16707650e-04 3.21721515e+01] [-4.71370188e-03 9.99982522e-01 -3.56874939e-03 -2.60842773e+00] [-4.33527801e-04 3.56674518e-03 9.99993545e-01 -9.22403982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.084860624 meters 0.10978187550098183 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99988544e-01 4.77533721e-03 3.29816627e-04 3.21726513e+01] [-4.77412298e-03 9.99982163e-01 -3.58909373e-03 -2.60777942e+00] [-3.46949877e-04 3.58747803e-03 9.99993505e-01 -9.22843174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.114860624 meters 0.11053991371580776 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99988716e-01 4.74199234e-03 2.86628344e-04 3.21727284e+01] [-4.74090619e-03 9.99981997e-01 -3.67821393e-03 -2.60753243e+00] [-3.04065246e-04 3.67681354e-03 9.99993194e-01 -9.22818673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.144860624 meters 0.1071789041877829 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99988530e-01 4.78439072e-03 2.23092480e-04 3.21730627e+01] [-4.78352952e-03 9.99981666e-01 -3.71301481e-03 -2.60705581e+00] [-2.40852903e-04 3.71190505e-03 9.99993082e-01 -9.23109239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.174860624 meters 0.11316750312190064 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99988889e-01 4.71057386e-03 1.80005155e-04 3.21731533e+01] [-4.70983892e-03 9.99981359e-01 -3.88579850e-03 -2.60648598e+00] [-1.98306140e-04 3.88490753e-03 9.99992434e-01 -9.23100125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.204860624 meters 0.10880615070140073 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99989270e-01 4.62855906e-03 1.92319569e-04 3.21732577e+01] [-4.62773981e-03 9.99981043e-01 -4.06179731e-03 -2.60574239e+00] [-2.11116192e-04 4.06086373e-03 9.99991732e-01 -9.23270376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.234860624 meters 0.10913331524373167 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99989473e-01 4.58450210e-03 1.91274500e-04 3.21732368e+01] [-4.58367136e-03 9.99980932e-01 -4.13841874e-03 -2.60544411e+00] [-2.10243442e-04 4.13749844e-03 9.99991418e-01 -9.23225629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.264860624 meters 0.11017502452474999 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99989538e-01 4.56163316e-03 3.39897569e-04 3.21729753e+01] [-4.56023470e-03 9.99981572e-01 -4.00741873e-03 -2.60590151e+00] [-3.58171680e-04 4.00582679e-03 9.99991912e-01 -9.23319759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.294860624 meters 0.11043943936364521 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99988167e-01 4.85046843e-03 3.72072040e-04 3.21733398e+01] [-4.84913381e-03 9.99982091e-01 -3.50774924e-03 -2.60688867e+00] [-3.89079603e-04 3.50590350e-03 9.99993779e-01 -9.23977581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.324860624 meters 0.10740258602417686 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99986888e-01 5.10764092e-03 3.67413916e-04 3.21736414e+01] [-5.10648926e-03 9.99982249e-01 -3.06995392e-03 -2.60783158e+00] [-3.83087616e-04 3.06803747e-03 9.99995220e-01 -9.24432233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.354860624 meters 0.11244118404502712 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99986808e-01 5.12293651e-03 3.74405676e-04 3.21737024e+01] [-5.12178359e-03 9.99982329e-01 -3.01800985e-03 -2.60796552e+00] [-3.89860132e-04 3.01605241e-03 9.99995376e-01 -9.24547458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.384860624 meters 0.1140855054676608 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99985928e-01 5.30128773e-03 1.99270341e-04 3.21741984e+01] [-5.30069913e-03 9.99981900e-01 -2.84654525e-03 -2.60804272e+00] [-2.14357089e-04 2.84544893e-03 9.99995929e-01 -9.24721777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.414860624 meters 0.10743558011998851 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99985968e-01 5.29299504e-03 2.18446980e-04 3.21741030e+01] [-5.29235731e-03 9.99982009e-01 -2.82341791e-03 -2.60824945e+00] [-2.33387387e-04 2.82222219e-03 9.99995990e-01 -9.24627104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.444860624 meters 0.10835143799137148 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99985525e-01 5.37485685e-03 2.44480867e-04 3.21739866e+01] [-5.37419404e-03 9.99982086e-01 -2.63541209e-03 -2.60896322e+00] [-2.58641450e-04 2.63406005e-03 9.99996497e-01 -9.24532100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.474860624 meters 0.1099922722502544 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99984496e-01 5.55784516e-03 3.43468376e-04 3.21738978e+01] [-5.55706635e-03 9.99982077e-01 -2.22830583e-03 -2.61025651e+00] [-3.55846799e-04 2.22636261e-03 9.99997458e-01 -9.24696785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.504860624 meters 0.1099922722502544 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99984496e-01 5.55784516e-03 3.43468376e-04 3.21738978e+01] [-5.55706635e-03 9.99982077e-01 -2.22830583e-03 -2.61025651e+00] [-3.55846799e-04 2.22636261e-03 9.99997458e-01 -9.24696785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.534860624 meters 0.10542508084061307 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99983560e-01 5.72607431e-03 3.02443713e-04 3.21739684e+01] [-5.72548120e-03 9.99981753e-01 -1.92681376e-03 -2.61125040e+00] [-3.13471273e-04 1.92505045e-03 9.99998098e-01 -9.24680717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.564860624 meters 0.11150037312003565 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99983269e-01 5.77847230e-03 2.68158888e-04 3.21739899e+01] [-5.77796180e-03 9.99981565e-01 -1.86694610e-03 -2.61150380e+00] [-2.78942040e-04 1.86536545e-03 9.99998221e-01 -9.24597216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.594860624 meters 0.11105167118824935 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99983962e-01 5.65396688e-03 3.29575356e-04 3.21735340e+01] [-5.65330470e-03 9.99982066e-01 -1.97663608e-03 -2.61168204e+00] [-3.40745280e-04 1.97474119e-03 9.99997992e-01 -9.24129531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62486062400001 meters 0.10794382364880015 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99983352e-01 5.76728305e-03 1.82799376e-04 3.21738972e+01] [-5.76691333e-03 9.99981446e-01 -1.96232364e-03 -2.61171692e+00] [-1.94113261e-04 1.96123679e-03 9.99998058e-01 -9.24168722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.654860624 meters 0.10796659979876247 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99983349e-01 5.77043787e-03 5.82858303e-05 3.21741784e+01] [-5.77030539e-03 9.99981225e-01 -2.06256843e-03 -2.61135200e+00] [-7.01866589e-05 2.06219776e-03 9.99997871e-01 -9.24206954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.684860624 meters 0.10812573481019132 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.92 [[ 9.99981777e-01 6.03547499e-03 -1.35016730e-04 3.21749814e+01] [-6.03571191e-03 9.99980112e-01 -1.82911264e-03 -2.61139191e+00] [ 1.23974481e-04 1.82989423e-03 9.99998318e-01 -9.24782069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.714860624 meters 0.10836991670636024 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.61, Z:-0.92 [[ 9.99981570e-01 6.06503078e-03 -2.75617479e-04 3.21752552e+01] [-6.06554245e-03 9.99979809e-01 -1.89514239e-03 -2.61125036e+00] [ 2.64117817e-04 1.89677923e-03 9.99998166e-01 -9.24744986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.744860624 meters 0.10836991670636024 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.61, Z:-0.92 [[ 9.99981570e-01 6.06503078e-03 -2.75617479e-04 3.21752552e+01] [-6.06554245e-03 9.99979809e-01 -1.89514239e-03 -2.61125036e+00] [ 2.64117817e-04 1.89677923e-03 9.99998166e-01 -9.24744986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.774860624 meters 0.110246599943758 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.61, Z:-0.92 [[ 9.99981504e-01 6.06841479e-03 -4.06325301e-04 3.21756000e+01] [-6.06921739e-03 9.99979574e-01 -2.00406209e-03 -2.61075830e+00] [ 3.94155521e-04 2.00649110e-03 9.99997909e-01 -9.24832342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.804860624 meters 0.10694511446859455 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.61, Z:-0.92 [[ 9.99983072e-01 5.79254715e-03 -5.50508102e-04 3.21756229e+01] [-5.79397215e-03 9.99979774e-01 -2.62317376e-03 -2.60914838e+00] [ 5.35302110e-04 2.62631899e-03 9.99996408e-01 -9.24439403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.834860624 meters 0.1050801686417946 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.61, Z:-0.92 [[ 9.99984099e-01 5.60944904e-03 -5.80218322e-04 3.21755032e+01] [-5.61113969e-03 9.99979893e-01 -2.95442309e-03 -2.60843554e+00] [ 5.63633970e-04 2.95763179e-03 9.99995467e-01 -9.24177333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.864860624 meters 0.10252579497250427 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.61, Z:-0.92 [[ 9.99984684e-01 5.50647066e-03 -5.57639254e-04 3.21753662e+01] [-5.50817751e-03 9.99980003e-01 -3.10702338e-03 -2.60816978e+00] [ 5.40519370e-04 3.11004737e-03 9.99995018e-01 -9.24037872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.894860624 meters 0.10293682417162289 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.61, Z:-0.92 [[ 9.99985167e-01 5.40256592e-03 -6.90929593e-04 3.21754672e+01] [-5.40490411e-03 9.99979517e-01 -3.42825606e-03 -2.60744920e+00] [ 6.72394061e-04 3.43193962e-03 9.99993885e-01 -9.23772612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.924860624 meters 0.10091846687527332 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.61, Z:-0.92 [[ 9.99985313e-01 5.37241114e-03 -7.15140904e-04 3.21757405e+01] [-5.37493465e-03 9.99979165e-01 -3.57481610e-03 -2.60665112e+00] [ 6.95920622e-04 3.57860743e-03 9.99993355e-01 -9.24074615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.954860624 meters 0.09691690909781235 Centerline is valid? [False, True] Translation: X:32.18, Y:-2.61, Z:-0.92 [[ 9.99985368e-01 5.34084991e-03 -8.59992532e-04 3.21760993e+01] [-5.34404559e-03 9.99978661e-01 -3.75753446e-03 -2.60582102e+00] [ 8.39905753e-04 3.76207532e-03 9.99992571e-01 -9.24148345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.984860624 meters 0.10178290856332528 Centerline is valid? [True, False] Translation: X:32.18, Y:-2.60, Z:-0.92 [[ 9.99985660e-01 5.25828178e-03 -1.01523900e-03 3.21764505e+01] [-5.26241143e-03 9.99977712e-01 -4.10876396e-03 -2.60455901e+00] [ 9.93611333e-04 4.11404765e-03 9.99991044e-01 -9.24174466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.014860624 meters 0.10377588051372387 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.60, Z:-0.92 [[ 9.99985530e-01 5.27663250e-03 -1.04696901e-03 3.21765484e+01] [-5.28092959e-03 9.99977466e-01 -4.14490616e-03 -2.60447401e+00] [ 1.02507427e-03 4.15037515e-03 9.99990862e-01 -9.24218742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.044860624 meters 0.1032371952236953 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.60, Z:-0.92 [[ 9.99984212e-01 5.50181614e-03 -1.14290575e-03 3.21771016e+01] [-5.50621310e-03 9.99977312e-01 -3.88032835e-03 -2.60462546e+00] [ 1.12153097e-03 3.88656017e-03 9.99991818e-01 -9.24714240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.074860624 meters 0.10425361247835535 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.60, Z:-0.92 [[ 9.99985577e-01 5.25963631e-03 -1.08748273e-03 3.21767582e+01] [-5.26414312e-03 9.99977392e-01 -4.18378683e-03 -2.60408149e+00] [ 1.06545294e-03 4.18945115e-03 9.99990657e-01 -9.24385849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.104860624 meters 0.1042542754305364 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.60, Z:-0.92 [[ 9.99985784e-01 5.21837454e-03 -1.09524942e-03 3.21769117e+01] [-5.22298429e-03 9.99977333e-01 -4.24906709e-03 -2.60356392e+00] [ 1.07305137e-03 4.25472716e-03 9.99990373e-01 -9.24584623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.134860624 meters 0.10225111855511106 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.60, Z:-0.92 [[ 9.99985547e-01 5.26553568e-03 -1.08619593e-03 3.21772095e+01] [-5.27001570e-03 9.99977445e-01 -4.16372195e-03 -2.60332670e+00] [ 1.06424720e-03 4.16938604e-03 9.99990742e-01 -9.24998654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164860624 meters 0.1052436688986058 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.60, Z:-0.93 [[ 9.99984077e-01 5.54862674e-03 -1.02927144e-03 3.21775783e+01] [-5.55233747e-03 9.99977968e-01 -3.63807052e-03 -2.60416336e+00] [ 1.00906247e-03 3.64372745e-03 9.99992852e-01 -9.25711172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.194860624 meters 0.10374869467623099 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.60, Z:-0.93 [[ 9.99984360e-01 5.53216784e-03 -8.21074632e-04 3.21772575e+01] [-5.53498155e-03 9.99978678e-01 -3.46509399e-03 -2.60478642e+00] [ 8.01887643e-04 3.46958443e-03 9.99993659e-01 -9.25874614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.224860624 meters 0.11012076334937451 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.61, Z:-0.93 [[ 9.99985230e-01 5.42681462e-03 -2.97867681e-04 3.21763096e+01] [-5.42769579e-03 9.99980644e-01 -3.04180289e-03 -2.60666032e+00] [ 2.81354615e-04 3.04337470e-03 9.99995329e-01 -9.26007458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.254860624 meters 0.10758442342631838 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.61, Z:-0.93 [[ 9.99986272e-01 5.23977303e-03 -1.04952592e-05 3.21756104e+01] [-5.23978088e-03 9.99981742e-01 -3.01013067e-03 -2.60716910e+00] [-5.27733390e-06 3.01014434e-03 9.99995469e-01 -9.25864463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.284860624 meters 0.10735828241755396 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.61, Z:-0.93 [[ 9.99985497e-01 5.38507354e-03 8.61345669e-05 3.21756900e+01] [-5.38482515e-03 9.99981957e-01 -2.66243029e-03 -2.60782691e+00] [-1.00470396e-04 2.66192786e-03 9.99996452e-01 -9.26267850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.314860624 meters 0.10914221907399743 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.93 [[ 9.99987225e-01 5.04265779e-03 3.49369197e-04 3.21748435e+01] [-5.04161876e-03 9.99983046e-01 -2.91367705e-03 -2.60767223e+00] [-3.64055951e-04 2.91187844e-03 9.99995694e-01 -9.25846942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.344860624 meters 0.11177561607087784 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.93 [[ 9.99988165e-01 4.82733345e-03 6.05140025e-04 3.21741949e+01] [-4.82551312e-03 9.99983934e-01 -2.97431216e-03 -2.60774122e+00] [-6.19488299e-04 2.97135685e-03 9.99995394e-01 -9.25704297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37486062400001 meters 0.1110644760713016 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.93 [[ 9.99988110e-01 4.79135862e-03 9.07055331e-04 3.21736052e+01] [-4.78889805e-03 9.99984900e-01 -2.69571911e-03 -2.60901813e+00] [-9.19957791e-04 2.69134326e-03 9.99995955e-01 -9.25679274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.404860624 meters 0.1091269880159757 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.93 [[ 9.99988375e-01 4.68096412e-03 1.15698159e-03 3.21729923e+01] [-4.67791154e-03 9.99985607e-01 -2.62716989e-03 -2.60961521e+00] [-1.16926262e-03 2.62172709e-03 9.99995880e-01 -9.25559006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.434860624 meters 0.1127139434523802 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.93 [[ 9.99987606e-01 4.83986452e-03 1.16768429e-03 3.21732165e+01] [-4.83710739e-03 9.99985534e-01 -2.35257504e-03 -2.61006730e+00] [-1.17905354e-03 2.34689767e-03 9.99996551e-01 -9.25903808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.464860624 meters 0.11082314342808494 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.93 [[ 9.99988919e-01 4.53648282e-03 1.25780371e-03 3.21728768e+01] [-4.53303798e-03 9.99986004e-01 -2.72823159e-03 -2.60924343e+00] [-1.27016268e-03 2.72249968e-03 9.99995487e-01 -9.25691838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.494860624 meters 0.1123180655192518 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.93 [[ 9.99989183e-01 4.56294459e-03 9.01495211e-04 3.21740406e+01] [-4.56021601e-03 9.99985084e-01 -3.00594592e-03 -2.60730482e+00] [-9.15197729e-04 3.00180239e-03 9.99995076e-01 -9.26322532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524860624 meters 0.10925798621409925 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.93 [[ 9.99990415e-01 4.29975954e-03 8.25695742e-04 3.21741017e+01] [-4.29686001e-03 9.99984707e-01 -3.48187033e-03 -2.60588215e+00] [-8.40654320e-04 3.47828906e-03 9.99993597e-01 -9.26203138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.554860624 meters 0.10873379459922344 Centerline is valid? [False, False] Translation: X:32.17, Y:-2.61, Z:-0.93 [[ 9.99990301e-01 4.36556934e-03 5.83148677e-04 3.21746900e+01] [-4.36344196e-03 9.99983997e-01 -3.60085871e-03 -2.60510579e+00] [-5.98859143e-04 3.59827925e-03 9.99993347e-01 -9.26319770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.584860624 meters 0.10709081988240583 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.60, Z:-0.93 [[ 9.99989248e-01 4.63610671e-03 -9.94405704e-05 3.21763542e+01] [-4.63646563e-03 9.99981339e-01 -3.97811681e-03 -2.60267818e+00] [ 8.09957407e-05 3.97853509e-03 9.99992082e-01 -9.26740182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.614860624 meters 0.10636021483788287 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.60, Z:-0.93 [[ 9.99990194e-01 4.41601985e-03 -3.33144732e-04 3.21768505e+01] [-4.41750542e-03 9.99979669e-01 -4.59869771e-03 -2.60058582e+00] [ 3.12830018e-04 4.60012429e-03 9.99989370e-01 -9.26760387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.644860624 meters 0.10616740667492408 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.60, Z:-0.93 [[ 9.99988651e-01 4.68919613e-03 -8.42241929e-04 3.21783326e+01] [-4.69311795e-03 9.99977865e-01 -4.71639350e-03 -2.59911789e+00] [ 8.20107192e-04 4.72029271e-03 9.99988523e-01 -9.27356055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.674860624 meters 0.10556224849505243 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.60, Z:-0.93 [[ 9.99986955e-01 4.91865133e-03 -1.37684991e-03 3.21798189e+01] [-4.92539517e-03 9.99975677e-01 -4.93824806e-03 -2.59731985e+00] [ 1.35252690e-03 4.94496517e-03 9.99986859e-01 -9.27914613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.704860624 meters 0.10616788107910599 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.59, Z:-0.93 [[ 9.99980158e-01 5.84760429e-03 -2.34285729e-03 3.21825969e+01] [-5.85916751e-03 9.99970537e-01 -4.95943492e-03 -2.59407586e+00] [ 2.31378745e-03 4.97306370e-03 9.99984957e-01 -9.29123269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.734860624 meters 0.1101155571421289 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.59, Z:-0.93 [[ 9.99977304e-01 6.11328172e-03 -2.83194452e-03 3.21840144e+01] [-6.12779573e-03 9.99967989e-01 -5.14509617e-03 -2.59248445e+00] [ 2.80040044e-03 5.16233297e-03 9.99982754e-01 -9.29677742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.764860624 meters 0.10284815226016052 Centerline is valid? [False, False] Translation: X:32.18, Y:-2.59, Z:-0.93 [[ 9.99976087e-01 6.13122852e-03 -3.19887710e-03 3.21848936e+01] [-6.14890035e-03 9.99965726e-01 -5.54411403e-03 -2.59073846e+00] [ 3.16477524e-03 5.56365103e-03 9.99979515e-01 -9.29840262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.794860624 meters 0.10078343490529343 Centerline is valid? [False, False] Translation: X:32.19, Y:-2.59, Z:-0.93 [[ 9.99974412e-01 6.21811103e-03 -3.53709685e-03 3.21858560e+01] [-6.23866860e-03 9.99963539e-01 -5.83095643e-03 -2.58914773e+00] [ 3.50071035e-03 5.85287400e-03 9.99976744e-01 -9.30179396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.824860624 meters 0.09595935674993038 Centerline is valid? [False, True] Translation: X:32.19, Y:-2.59, Z:-0.93 [[ 9.99969819e-01 6.58447390e-03 -4.12377642e-03 3.21876947e+01] [-6.60918480e-03 9.99960113e-01 -6.00761582e-03 -2.58679888e+00] [ 4.08405495e-03 6.03468930e-03 9.99973451e-01 -9.31114748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.854860624 meters 0.09719499890323975 Centerline is valid? [True, True] Translation: X:32.22, Y:-2.59, Z:-0.93 [[ 9.99965922e-01 7.82808972e-03 -2.62205375e-03 3.22158583e+01] [-7.82741008e-03 9.99969329e-01 2.69362337e-04 -2.59425088e+00] [ 2.62408192e-03 -2.48829267e-04 9.99996526e-01 -9.34570589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.884860624 meters 0.09652142091354483 Centerline is valid? [True, True] Translation: X:32.25, Y:-2.60, Z:-0.93 [[ 9.99962667e-01 8.21732511e-03 -2.67208980e-03 3.22452152e+01] [-8.21662324e-03 9.99966206e-01 2.73537369e-04 -2.59531941e+00] [ 2.67424725e-03 -2.51571602e-04 9.99996393e-01 -9.34942146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.914860624 meters 0.09654612442254235 Centerline is valid? [True, True] Translation: X:32.27, Y:-2.60, Z:-0.94 [[ 9.99960628e-01 7.53707122e-03 -4.68348652e-03 3.22747888e+01] [-7.53490096e-03 9.99971497e-01 4.80857911e-04 -2.59678882e+00] [ 4.68697729e-03 -4.45549372e-04 9.99988917e-01 -9.35891996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.944860624 meters 0.09689122248432964 Centerline is valid? [True, True] Translation: X:32.30, Y:-2.60, Z:-0.94 [[ 9.99962875e-01 7.02539505e-03 -4.98925605e-03 3.23036975e+01] [-7.02292928e-03 9.99975208e-01 5.11563402e-04 -2.60027246e+00] [ 4.99272630e-03 -4.76505218e-04 9.99987423e-01 -9.36790186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.974860624 meters 0.0999416082656391 Centerline is valid? [True, True] Translation: X:32.33, Y:-2.61, Z:-0.94 [[ 9.99970946e-01 6.08070637e-03 -4.59693173e-03 3.23313249e+01] [-6.07860368e-03 9.99981414e-01 4.71243732e-04 -2.60805303e+00] [ 4.59971179e-03 -4.43287114e-04 9.99989323e-01 -9.38453818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.004860624 meters 0.09849538551625057 Centerline is valid? [True, True] Translation: X:32.36, Y:-2.61, Z:-0.94 [[ 9.99973591e-01 5.00773856e-03 -5.26695722e-03 3.23612275e+01] [-5.00496290e-03 9.99987329e-01 5.40043919e-04 -2.60790149e+00] [ 5.26959488e-03 -5.13668731e-04 9.99985984e-01 -9.38872846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.034860624 meters 0.10200749675605243 Centerline is valid? [True, False] Translation: X:32.36, Y:-2.61, Z:-0.94 [[ 9.99977361e-01 4.68104876e-03 -4.83380918e-03 3.23604245e+01] [-4.67874208e-03 9.99988935e-01 4.88395130e-04 -2.60786983e+00] [ 4.83604190e-03 -4.65767927e-04 9.99988198e-01 -9.39091610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.064860624 meters 0.10191461368322913 Centerline is valid? [False, False] Translation: X:32.36, Y:-2.61, Z:-0.94 [[ 9.99978430e-01 4.67135623e-03 -4.61706099e-03 3.23602233e+01] [-4.66830811e-03 9.99988878e-01 6.70742435e-04 -2.60820410e+00] [ 4.62014292e-03 -6.49174104e-04 9.99989116e-01 -9.39479866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.094860624 meters 0.10213291958037672 Centerline is valid? [False, False] Translation: X:32.36, Y:-2.61, Z:-0.94 [[ 9.99980695e-01 4.42225253e-03 -4.36500161e-03 3.23595769e+01] [-4.42007161e-03 9.99990102e-01 5.09159449e-04 -2.60816609e+00] [ 4.36721004e-03 -4.89856000e-04 9.99990344e-01 -9.39347877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12486062400001 meters 0.10310812618448896 Centerline is valid? [False, False] Translation: X:32.36, Y:-2.61, Z:-0.94 [[ 9.99982271e-01 4.20907410e-03 -4.21195831e-03 3.23591358e+01] [-4.20771397e-03 9.99991093e-01 3.31730750e-04 -2.60795100e+00] [ 4.21331707e-03 -3.14002153e-04 9.99991075e-01 -9.39197148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.154860624 meters 0.10329000520429832 Centerline is valid? [False, False] Translation: X:32.36, Y:-2.61, Z:-0.94 [[ 9.99984551e-01 3.78919494e-03 -4.06693500e-03 3.23588221e+01] [-3.78989560e-03 9.99992805e-01 -1.64588673e-04 -2.60636989e+00] [ 4.06628208e-03 1.79999390e-04 9.99991716e-01 -9.39255021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.184860624 meters 0.10366144940613627 Centerline is valid? [False, False] Translation: X:32.36, Y:-2.61, Z:-0.94 [[ 9.99985715e-01 3.47504881e-03 -4.06133778e-03 3.23585798e+01] [-3.47764231e-03 9.99993753e-01 -6.31696513e-04 -2.60522304e+00] [ 4.05911723e-03 6.45811369e-04 9.99991553e-01 -9.38943259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.214860624 meters 0.1045664040985663 Centerline is valid? [False, False] Translation: X:32.36, Y:-2.60, Z:-0.94 [[ 9.99986652e-01 3.25869995e-03 -4.00957185e-03 3.23583836e+01] [-3.26256095e-03 9.99994220e-01 -9.56781191e-04 -2.60440745e+00] [ 4.00643081e-03 9.69849892e-04 9.99991504e-01 -9.38807696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.244860624 meters 0.10468403173435763 Centerline is valid? [False, False] Translation: X:32.36, Y:-2.60, Z:-0.94 [[ 9.99985792e-01 3.18862167e-03 -4.27179847e-03 3.23589332e+01] [-3.19459136e-03 9.99993929e-01 -1.39137273e-03 -2.60286229e+00] [ 4.26733598e-03 1.40499961e-03 9.99989908e-01 -9.38821046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.274860624 meters 0.10474492349849346 Centerline is valid? [False, False] Translation: X:32.36, Y:-2.60, Z:-0.94 [[ 9.99985581e-01 3.13921552e-03 -4.35701287e-03 3.23592440e+01] [-3.14617240e-03 9.99993785e-01 -1.59077515e-03 -2.60197270e+00] [ 4.35199201e-03 1.60446012e-03 9.99989243e-01 -9.39004684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.304860624 meters 0.10397190775572475 Centerline is valid? [False, False] Translation: X:32.36, Y:-2.60, Z:-0.94 [[ 9.99984436e-01 3.20568931e-03 -4.56622466e-03 3.23599597e+01] [-3.21347116e-03 9.99993395e-01 -1.69790508e-03 -2.60099969e+00] [ 4.56075155e-03 1.71255209e-03 9.99988133e-01 -9.39388243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.334860624 meters 0.1048197534704232 Centerline is valid? [False, False] Translation: X:32.36, Y:-2.60, Z:-0.94 [[ 9.99984254e-01 3.02705408e-03 -4.72539173e-03 3.23602863e+01] [-3.03748099e-03 9.99992965e-01 -2.20095601e-03 -2.59938759e+00] [ 4.71869607e-03 2.21527464e-03 9.99986413e-01 -9.39345112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.364860624 meters 0.09645438529692922 Centerline is valid? [False, True] Translation: X:32.36, Y:-2.60, Z:-0.94 [[ 9.99980996e-01 3.34638248e-03 -5.17776915e-03 3.23616384e+01] [-3.35787419e-03 9.99991915e-01 -2.21233215e-03 -2.59836108e+00] [ 5.17032398e-03 2.22967641e-03 9.99984148e-01 -9.39873229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.394860624 meters 0.10134229724073432 Centerline is valid? [True, False] Translation: X:32.36, Y:-2.59, Z:-0.94 [[ 9.99976735e-01 3.55578541e-03 -5.82122740e-03 3.23631527e+01] [-3.57243179e-03 9.99989553e-01 -2.85170272e-03 -2.59496682e+00] [ 5.81102654e-03 2.87243231e-03 9.99978990e-01 -9.40171307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.424860624 meters 0.10064071401728886 Centerline is valid? [False, False] Translation: X:32.36, Y:-2.59, Z:-0.94 [[ 9.99972125e-01 3.93510156e-03 -6.34534747e-03 3.23647961e+01] [-3.95333692e-03 9.99988085e-01 -2.86383888e-03 -2.59377130e+00] [ 6.33400237e-03 2.88884435e-03 9.99975767e-01 -9.40942418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.454860624 meters 0.09253827339360103 Centerline is valid? [False, True] Translation: X:32.37, Y:-2.59, Z:-0.94 [[ 9.99966477e-01 4.43659121e-03 -6.88197469e-03 3.23666826e+01] [-4.45575863e-03 9.99986230e-01 -2.77233480e-03 -2.59258566e+00] [ 6.86958021e-03 2.80290628e-03 9.99972476e-01 -9.42020204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.484860624 meters 0.09005209117316845 Centerline is valid? [True, True] Translation: X:32.40, Y:-2.59, Z:-0.95 [[ 9.99922197e-01 9.71788825e-03 -7.82068265e-03 3.23971471e+01] [-9.71265918e-03 9.99952582e-01 7.06324798e-04 -2.58951844e+00] [ 7.82717579e-03 -6.30310218e-04 9.99969169e-01 -9.45035511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.514860624 meters 0.09350912809160315 Centerline is valid? [True, True] Translation: X:32.43, Y:-2.60, Z:-0.95 [[ 9.99894301e-01 1.19457088e-02 -8.28774698e-03 3.24259198e+01] [-1.19399165e-02 9.99928437e-01 7.48027689e-04 -2.59705866e+00] [ 8.29608961e-03 -6.48993617e-04 9.99965376e-01 -9.48302861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.544860624 meters 0.08890691773981631 Centerline is valid? [True, True] Translation: X:32.46, Y:-2.59, Z:-0.95 [[ 9.99863291e-01 1.40815264e-02 -8.66662275e-03 3.24572405e+01] [-1.40752715e-02 9.99900632e-01 7.82299395e-04 -2.58855765e+00] [ 8.67677754e-03 -6.60207380e-04 9.99962138e-01 -9.46808495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.574860624 meters 0.08812086075642481 Centerline is valid? [True, True] Translation: X:32.49, Y:-2.59, Z:-0.95 [[ 9.99826115e-01 1.65521039e-02 -8.58881534e-03 3.24869133e+01] [-1.65460554e-02 9.99862804e-01 7.74811468e-04 -2.58828926e+00] [ 8.60046176e-03 -6.32565726e-04 9.99962815e-01 -9.47325949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.604860624 meters 0.08609561472454265 Centerline is valid? [True, True] Translation: X:32.52, Y:-2.58, Z:-0.95 [[ 9.99792599e-01 1.85321335e-02 -8.44508366e-03 3.25169073e+01] [-1.85263584e-02 9.99828082e-01 7.61561780e-04 -2.58477497e+00] [ 8.45774517e-03 -6.04947184e-04 9.99964050e-01 -9.46665238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.634860624 meters 0.08609561472454265 Centerline is valid? [True, True] Translation: X:32.54, Y:-2.59, Z:-0.95 [[ 9.99794353e-01 1.84372006e-02 -8.44522588e-03 3.25443333e+01] [-1.84314354e-02 9.99829838e-01 7.59984490e-04 -2.58713716e+00] [ 8.45780081e-03 -6.04170566e-04 9.99964050e-01 -9.47004772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.664860624 meters 0.08659155289772541 Centerline is valid? [True, True] Translation: X:32.57, Y:-2.59, Z:-0.95 [[ 9.99742788e-01 2.11852805e-02 -8.09581775e-03 3.25737136e+01] [-2.11800682e-02 9.99775411e-01 7.29034683e-04 -2.58886039e+00] [ 8.10944432e-03 -5.57377194e-04 9.99966963e-01 -9.48406269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.694860624 meters 0.08494066733694557 Centerline is valid? [True, True] Translation: X:32.60, Y:-2.59, Z:-0.95 [[ 9.99740390e-01 2.13303081e-02 -8.01061503e-03 3.26032717e+01] [-2.13252403e-02 9.99772334e-01 7.17534894e-04 -2.58659434e+00] [ 8.02409652e-03 -5.46520325e-04 9.99967657e-01 -9.47874651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.724860624 meters 0.08425988953131443 Centerline is valid? [True, True] Translation: X:32.63, Y:-2.59, Z:-0.95 [[ 9.99741191e-01 2.10011984e-02 -8.74647189e-03 3.26326073e+01] [-2.09951316e-02 9.99779270e-01 7.84873903e-04 -2.58623245e+00] [ 8.76102457e-03 -6.01037442e-04 9.99961441e-01 -9.48507228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.754860624 meters 0.08447319728936097 Centerline is valid? [True, True] Translation: X:32.66, Y:-2.59, Z:-0.95 [[ 9.99765449e-01 1.96191890e-02 -9.17249893e-03 3.26617005e+01] [-1.96124609e-02 9.99807319e-01 8.22888746e-04 -2.58669938e+00] [ 9.18687597e-03 -6.42800460e-04 9.99957593e-01 -9.48446911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.784860624 meters 0.08767354538886082 Centerline is valid? [True, True] Translation: X:32.69, Y:-2.59, Z:-0.95 [[ 9.99777048e-01 1.87562190e-02 -9.69842393e-03 3.26883628e+01] [-1.87486714e-02 9.99823851e-01 8.68571759e-04 -2.59489700e+00] [ 9.71300668e-03 -6.86545546e-04 9.99952592e-01 -9.51371564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.814860624 meters 0.08685648793105889 Centerline is valid? [True, True] Translation: X:32.72, Y:-2.59, Z:-0.95 [[ 9.99792944e-01 1.75402938e-02 -1.03153748e-02 3.27174855e+01] [-1.75316890e-02 9.99845881e-01 9.24011710e-04 -2.59465432e+00] [ 1.03299925e-02 -7.42974444e-04 9.99946368e-01 -9.51298492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.844860624 meters 0.08718159141921172 Centerline is valid? [True, True] Translation: X:32.75, Y:-2.60, Z:-0.95 [[ 9.99809466e-01 1.64655944e-02 -1.04841069e-02 3.27467485e+01] [-1.64566484e-02 9.99864139e-01 9.38994792e-04 -2.59707929e+00] [ 1.04981436e-02 -7.66282620e-04 9.99944599e-01 -9.52382615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.874860624 meters 0.08821729709233352 Centerline is valid? [True, True] Translation: X:32.78, Y:-2.60, Z:-0.95 [[ 9.99859695e-01 1.37601522e-02 -9.55242366e-03 3.27768479e+01] [-1.37526027e-02 9.99905062e-01 8.55557448e-04 -2.60157871e+00] [ 9.56328938e-03 -7.24066721e-04 9.99954009e-01 -9.53945429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.904860624 meters 0.08959773809568572 Centerline is valid? [True, True] Translation: X:32.81, Y:-2.61, Z:-0.95 [[ 9.99874075e-01 1.20535915e-02 -1.03221080e-02 3.28064397e+01] [-1.20446878e-02 9.99927033e-01 9.24317085e-04 -2.60640809e+00] [ 1.03324962e-02 -7.99874122e-04 9.99946298e-01 -9.54646473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.934860624 meters 0.09016121354281825 Centerline is valid? [True, True] Translation: X:32.84, Y:-2.61, Z:-0.95 [[ 9.99887159e-01 1.05907184e-02 -1.06538706e-02 3.28358095e+01] [-1.05811561e-02 9.99943563e-01 9.53508659e-04 -2.60963058e+00] [ 1.06633677e-02 -8.40670797e-04 9.99942791e-01 -9.54908927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.964860624 meters 0.0923491315984744 Centerline is valid? [True, True] Translation: X:32.86, Y:-2.62, Z:-0.96 [[ 9.99908014e-01 9.00906908e-03 -1.01390599e-02 3.28634652e+01] [-9.00034009e-03 9.99959085e-01 9.06227027e-04 -2.61539829e+00] [ 1.01468093e-02 -8.14888679e-04 9.99948188e-01 -9.56344631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.994860624 meters 0.09094447782178783 Centerline is valid? [True, True] Translation: X:32.89, Y:-2.61, Z:-0.95 [[ 9.99933652e-01 5.74535867e-03 -9.98415629e-03 3.28938676e+01] [-5.73672459e-03 9.99983146e-01 8.93202638e-04 -2.61444470e+00] [ 9.98911979e-03 -8.35867021e-04 9.99949758e-01 -9.54382466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024860624 meters 0.09379376779855238 Centerline is valid? [True, True] Translation: X:32.92, Y:-2.62, Z:-0.96 [[ 9.99939607e-01 4.26577001e-03 -1.01284805e-02 3.29211853e+01] [-4.25682370e-03 9.99990530e-01 9.04676458e-04 -2.62301370e+00] [ 1.01322437e-02 -8.61506666e-04 9.99948296e-01 -9.56225858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.054860624 meters 0.09545708231111855 Centerline is valid? [True, True] Translation: X:32.95, Y:-2.63, Z:-0.96 [[ 9.99955365e-01 2.18101575e-03 -9.19302387e-03 3.29513356e+01] [-2.17355163e-03 9.99997300e-01 8.21845260e-04 -2.62930964e+00] [ 9.19479151e-03 -8.01827064e-04 9.99957406e-01 -9.57311225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.084860624 meters 0.09590916034884892 Centerline is valid? [True, True] Translation: X:32.98, Y:-2.63, Z:-0.96 [[ 9.99953880e-01 8.77505019e-05 -9.60363868e-03 3.29811041e+01] [-7.95133939e-05 9.99999629e-01 8.58085445e-04 -2.63314783e+00] [ 9.60371041e-03 -8.57282252e-04 9.99953516e-01 -9.57391574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.114860624 meters 0.09863011274273764 Centerline is valid? [True, True] Translation: X:33.01, Y:-2.64, Z:-0.96 [[ 9.99939589e-01 -4.34082445e-03 -1.00982982e-02 3.30108952e+01] [ 4.35015540e-03 9.99990131e-01 9.02231201e-04 -2.64066331e+00] [ 1.00942821e-02 -9.46105863e-04 9.99948604e-01 -9.58115425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.144860624 meters 0.1003000119156246 Centerline is valid? [True, False] Translation: X:33.01, Y:-2.64, Z:-0.96 [[ 9.99941471e-01 -4.38097602e-03 -9.89248734e-03 3.30107278e+01] [ 4.39198280e-03 9.99989760e-01 1.09119057e-03 -2.64081869e+00] [ 9.88760556e-03 -1.13457434e-03 9.99950473e-01 -9.58554852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.174860624 meters 0.1015463128450266 Centerline is valid? [False, False] Translation: X:33.01, Y:-2.64, Z:-0.96 [[ 9.99943548e-01 -4.47412949e-03 -9.63758141e-03 3.30102919e+01] [ 4.48605110e-03 9.99989199e-01 1.21572953e-03 -2.64107848e+00] [ 9.63203798e-03 -1.25889559e-03 9.99952818e-01 -9.58752993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.204860624 meters 0.10103461088891826 Centerline is valid? [False, False] Translation: X:33.01, Y:-2.64, Z:-0.96 [[ 9.99945419e-01 -4.41496057e-03 -9.46929290e-03 3.30102132e+01] [ 4.42948093e-03 9.99989045e-01 1.51299147e-03 -2.64164769e+00] [ 9.46250937e-03 -1.55485295e-03 9.99954021e-01 -9.59193637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.234860624 meters 0.10580878303945532 Centerline is valid? [False, False] Translation: X:33.01, Y:-2.64, Z:-0.96 [[ 9.99951040e-01 -4.40069892e-03 -8.86293049e-03 3.30095074e+01] [ 4.42053857e-03 9.99987765e-01 2.22015325e-03 -2.64371207e+00] [ 8.85305182e-03 -2.25922347e-03 9.99958259e-01 -9.60072867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.264860624 meters 0.10356185968101088 Centerline is valid? [False, False] Translation: X:33.01, Y:-2.64, Z:-0.96 [[ 9.99952987e-01 -4.38841565e-03 -8.64666922e-03 3.30092238e+01] [ 4.40999480e-03 9.99987205e-01 2.47817672e-03 -2.64454783e+00] [ 8.63568332e-03 -2.51619198e-03 9.99959546e-01 -9.60349935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.294860624 meters 0.10504254813358833 Centerline is valid? [False, False] Translation: X:33.01, Y:-2.65, Z:-0.96 [[ 9.99954824e-01 -4.43623462e-03 -8.40652907e-03 3.30088803e+01] [ 4.45877826e-03 9.99986509e-01 2.66484094e-03 -2.64508424e+00] [ 8.39459379e-03 -2.70220340e-03 9.99961114e-01 -9.60626933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.324860624 meters 0.10717009127671355 Centerline is valid? [False, False] Translation: X:33.01, Y:-2.65, Z:-0.96 [[ 9.99956625e-01 -4.41677642e-03 -8.19995670e-03 3.30087576e+01] [ 4.44086435e-03 9.99985871e-01 2.92168725e-03 -2.64544202e+00] [ 8.18693640e-03 -2.95797542e-03 9.99962112e-01 -9.61126619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.354860624 meters 0.10854795433470771 Centerline is valid? [False, False] Translation: X:33.01, Y:-2.65, Z:-0.96 [[ 9.99957418e-01 -4.32908246e-03 -8.14993457e-03 3.30088646e+01] [ 4.35463337e-03 9.99985651e-01 3.11997594e-03 -2.64582327e+00] [ 8.13631099e-03 -3.15533306e-03 9.99961921e-01 -9.61395389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.384860624 meters 0.10883715000846009 Centerline is valid? [False, False] Translation: X:33.01, Y:-2.65, Z:-0.96 [[ 9.99957669e-01 -4.45248670e-03 -8.05207870e-03 3.30084951e+01] [ 4.47703157e-03 9.99985379e-01 3.03281357e-03 -2.64591625e+00] [ 8.03845741e-03 -3.06873459e-03 9.99962982e-01 -9.61186858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.414860624 meters 0.11068754091377472 Centerline is valid? [False, False] Translation: X:33.01, Y:-2.65, Z:-0.96 [[ 9.99959057e-01 -4.26530970e-03 -7.98072137e-03 3.30086058e+01] [ 4.29250605e-03 9.99985028e-01 3.39373622e-03 -2.64672244e+00] [ 7.96612655e-03 -3.42785457e-03 9.99962395e-01 -9.61541966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.444860624 meters 0.1067676902038158 Centerline is valid? [False, False] Translation: X:33.01, Y:-2.65, Z:-0.96 [[ 9.99959342e-01 -4.35727872e-03 -7.89484101e-03 3.30082241e+01] [ 4.38376920e-03 9.99984809e-01 3.34122437e-03 -2.64702495e+00] [ 7.88016243e-03 -3.37569769e-03 9.99963253e-01 -9.61252489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.474860624 meters 0.11115220187942387 Centerline is valid? [False, False] Translation: X:33.01, Y:-2.65, Z:-0.96 [[ 9.99960502e-01 -4.24400459e-03 -7.80915876e-03 3.30081515e+01] [ 4.27228698e-03 9.99984363e-01 3.60858389e-03 -2.64788967e+00] [ 7.79372180e-03 -3.64180433e-03 9.99962997e-01 -9.61361366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.504860624 meters 0.11245056967618546 Centerline is valid? [False, False] Translation: X:33.01, Y:-2.65, Z:-0.96 [[ 9.99959993e-01 -4.30024407e-03 -7.84350004e-03 3.30079881e+01] [ 4.32790496e-03 9.99984464e-01 3.51304200e-03 -2.64798622e+00] [ 7.82827124e-03 -3.54684737e-03 9.99963068e-01 -9.61011730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.534860624 meters 0.11440089435435832 Centerline is valid? [False, False] Translation: X:33.01, Y:-2.65, Z:-0.96 [[ 9.99960913e-01 -4.26705696e-03 -7.74369105e-03 3.30079034e+01] [ 4.29548148e-03 9.99984085e-01 3.65775653e-03 -2.64833810e+00] [ 7.72795995e-03 -3.69087644e-03 9.99963327e-01 -9.61180231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.564860624 meters 0.11051137134675054 Centerline is valid? [False, False] Translation: X:33.01, Y:-2.65, Z:-0.96 [[ 9.99962138e-01 -4.11962493e-03 -7.66499151e-03 3.30079115e+01] [ 4.15010449e-03 9.99983528e-01 3.96481643e-03 -2.64918208e+00] [ 7.64853170e-03 -3.99647682e-03 9.99962763e-01 -9.61417084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.594860624 meters 0.10803094359109004 Centerline is valid? [False, False] Translation: X:33.01, Y:-2.65, Z:-0.96 [[ 9.99964986e-01 -3.86980668e-03 -7.41969713e-03 3.30075186e+01] [ 3.90417138e-03 9.99981694e-01 4.62267334e-03 -2.65175522e+00] [ 7.40167245e-03 -4.65147924e-03 9.99961789e-01 -9.61528845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.624860624 meters 0.1192866682065995 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.65, Z:-0.97 [[ 9.99999733e-01 -6.29250623e-04 3.72744115e-04 3.29975138e+01] [ 6.28657713e-04 9.99998540e-01 1.58864955e-03 -2.65403105e+00] [-3.73743230e-04 -1.58841480e-03 9.99998669e-01 -9.65923111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.654860624 meters 0.11180535051249177 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.66, Z:-0.97 [[ 9.99999639e-01 -4.88419954e-04 6.94715617e-04 3.29969219e+01] [ 4.86850145e-04 9.99997332e-01 2.25801962e-03 -2.65676145e+00] [-6.95816625e-04 -2.25768059e-03 9.99997209e-01 -9.65974965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.684860624 meters 0.11244251735111908 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.66, Z:-0.97 [[ 9.99999619e-01 -4.01803522e-04 7.74392492e-04 3.29966867e+01] [ 3.99821080e-04 9.99996647e-01 2.55845304e-03 -2.65797449e+00] [-7.75417891e-04 -2.55814245e-03 9.99996427e-01 -9.65884411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.714860624 meters 0.11297594977999367 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.66, Z:-0.97 [[ 9.99999702e-01 -1.51154413e-04 7.56854302e-04 3.29966752e+01] [ 1.48889470e-04 9.99995514e-01 2.99173764e-03 -2.65959787e+00] [-7.57303121e-04 -2.99162406e-03 9.99995238e-01 -9.65772159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.744860624 meters 0.11363018831205869 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.66, Z:-0.97 [[ 9.99999647e-01 5.25419875e-06 8.39649526e-04 3.29964025e+01] [-8.07758322e-06 9.99994346e-01 3.36260695e-03 -2.66113031e+00] [-8.39627111e-04 -3.36261255e-03 9.99993994e-01 -9.65595316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.774860624 meters 0.11377292132228811 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.66, Z:-0.97 [[ 9.99999582e-01 1.47724347e-04 9.02706412e-04 3.29961076e+01] [-1.51045605e-04 9.99993216e-01 3.68026297e-03 -2.66264105e+00] [-9.02156624e-04 -3.68039778e-03 9.99992820e-01 -9.65320270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.804860624 meters 0.11442926198822125 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.67, Z:-0.96 [[ 9.99999242e-01 2.28323947e-04 1.21022852e-03 3.29949760e+01] [-2.33466335e-04 9.99990939e-01 4.25066839e-03 -2.66584324e+00] [-1.20924703e-03 -4.25094771e-03 9.99990234e-01 -9.64483949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.834860624 meters 0.11077312691626003 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.67, Z:-0.96 [[ 9.99999079e-01 2.14011529e-04 1.34033462e-03 3.29943330e+01] [-2.19919172e-04 9.99990256e-01 4.40899261e-03 -2.66714224e+00] [-1.33937798e-03 -4.40928332e-03 9.99989382e-01 -9.63928731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.864860624 meters 0.11566306407295085 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.67, Z:-0.96 [[ 9.99998920e-01 2.89024424e-04 1.44108315e-03 3.29938538e+01] [-2.95766984e-04 9.99989001e-01 4.68079864e-03 -2.66863994e+00] [-1.43971443e-03 -4.68121981e-03 9.99988007e-01 -9.63511197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.894860624 meters 0.11453736061530183 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.67, Z:-0.96 [[ 9.99998754e-01 4.13420533e-04 1.52382687e-03 3.29934953e+01] [-4.21082397e-04 9.99987255e-01 5.03115456e-03 -2.67020565e+00] [-1.52172747e-03 -5.03178995e-03 9.99986183e-01 -9.63229570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.924860624 meters 0.11059905075892382 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.67, Z:-0.96 [[ 9.99994020e-01 -3.36551676e-03 7.95714265e-04 3.29949388e+01] [ 3.36474655e-03 9.99993871e-01 9.67310594e-04 -2.67053010e+00] [-7.98964889e-04 -9.64627433e-04 9.99999216e-01 -9.63054549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.954860624 meters 0.1199362754212954 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.67, Z:-0.96 [[ 9.99995755e-01 -2.78120423e-03 8.68316131e-04 3.29947907e+01] [ 2.77940819e-03 9.99994010e-01 2.06281484e-03 -2.67447959e+00] [-8.74048039e-04 -2.06039268e-03 9.99997495e-01 -9.62954715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.984860624 meters 0.11235408792363485 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.68, Z:-0.96 [[ 9.99996545e-01 -2.50931841e-03 7.83334435e-04 3.29948230e+01] [ 2.50737747e-03 9.99993808e-01 2.46902070e-03 -2.67609591e+00] [-7.89525144e-04 -2.46704805e-03 9.99996645e-01 -9.62675193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.014860624 meters 0.11269218164358127 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.68, Z:-0.96 [[ 9.99997264e-01 -2.23442463e-03 6.91690056e-04 3.29948478e+01] [ 2.23243806e-03 9.99993419e-01 2.85961998e-03 -2.67771367e+00] [-6.98075110e-04 -2.85806800e-03 9.99995672e-01 -9.62345206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.044860624 meters 0.11309252932795516 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.68, Z:-0.96 [[ 9.99997800e-01 -1.99261726e-03 6.55100560e-04 3.29946601e+01] [ 1.99046528e-03 9.99992675e-01 3.26936123e-03 -2.67947473e+00] [-6.61610347e-04 -3.26805009e-03 9.99994441e-01 -9.61921239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.074860624 meters 0.11377994797993725 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.68, Z:-0.96 [[ 9.99998625e-01 -1.48893892e-03 7.29618135e-04 3.29943075e+01] [ 1.48580435e-03 9.99989745e-01 4.27805170e-03 -2.68335012e+00] [-7.35980411e-04 -4.27696175e-03 9.99990583e-01 -9.61532773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.104860624 meters 0.11500569579434188 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.69, Z:-0.96 [[ 9.99999003e-01 -1.19029033e-03 7.59791220e-04 3.29941198e+01] [ 1.18660772e-03 9.99987636e-01 4.82905513e-03 -2.68549785e+00] [-7.65529804e-04 -4.82814874e-03 9.99988051e-01 -9.61317989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.134860624 meters 0.1164695919847451 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.69, Z:-0.96 [[ 9.99999293e-01 -8.54651239e-04 8.27261490e-04 3.29939622e+01] [ 8.50090960e-04 9.99984529e-01 5.49724409e-03 -2.68775922e+00] [-8.31946917e-04 -5.49653695e-03 9.99984548e-01 -9.61250948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.164860624 meters 0.11604832808507747 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.69, Z:-0.96 [[ 9.99990472e-01 -4.35326303e-03 3.25474092e-04 3.29948861e+01] [ 4.35254316e-03 9.99988150e-01 2.18069838e-03 -2.69066924e+00] [-3.34963388e-04 -2.17926096e-03 9.99997569e-01 -9.60949151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.194860624 meters 0.11357740863901683 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.69, Z:-0.96 [[ 9.99991963e-01 -3.99892638e-03 2.86345434e-04 3.29949024e+01] [ 3.99810915e-03 9.99988088e-01 2.79984918e-03 -2.69279702e+00] [-2.97538414e-04 -2.79868184e-03 9.99996039e-01 -9.60824582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.224860624 meters 0.11111653424340312 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.70, Z:-0.96 [[ 9.99993514e-01 -3.58864094e-03 3.04569909e-04 3.29949204e+01] [ 3.58754445e-03 9.99987343e-01 3.52738643e-03 -2.69515559e+00] [-3.17224577e-04 -3.52627089e-03 9.99993732e-01 -9.60861355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.254860624 meters 0.10930978905990578 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.70, Z:-0.96 [[ 9.99994491e-01 -3.30284932e-03 3.29376198e-04 3.29947565e+01] [ 3.30148338e-03 9.99986289e-01 4.06478061e-03 -2.69717301e+00] [-3.42797039e-04 -4.06367078e-03 9.99991685e-01 -9.60671523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.284860624 meters 0.1130733604321873 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.70, Z:-0.96 [[ 9.99996039e-01 -2.79034582e-03 3.68632558e-04 3.29945129e+01] [ 2.78844207e-03 9.99983271e-01 5.06771157e-03 -2.70085636e+00] [-3.82767059e-04 -5.06666358e-03 9.99987091e-01 -9.60346560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.314860624 meters 0.11146660095978776 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.70, Z:-0.96 [[ 9.99997107e-01 -2.38520718e-03 3.11454032e-04 3.29947305e+01] [ 2.38340145e-03 9.99981058e-01 5.67482504e-03 -2.70274017e+00] [-3.24983766e-04 -5.67406630e-03 9.99983850e-01 -9.60415066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.344860624 meters 0.11186272042483116 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.70, Z:-0.96 [[ 9.99997716e-01 -2.12460265e-03 2.32556818e-04 3.29947744e+01] [ 2.12314962e-03 9.99979266e-01 6.07948739e-03 -2.70419915e+00] [-2.45468491e-04 -6.07897976e-03 9.99981493e-01 -9.60221216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.374860624 meters 0.11120564062151826 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.71, Z:-0.96 [[ 9.99998156e-01 -1.91350019e-03 1.60472082e-04 3.29947684e+01] [ 1.91243281e-03 9.99977647e-01 6.40692441e-03 -2.70549292e+00] [-1.72728146e-04 -6.40660571e-03 9.99979463e-01 -9.59950553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.404860624 meters 0.11255772243693417 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.71, Z:-0.96 [[ 9.99998989e-01 -1.41193869e-03 1.67725919e-04 3.29944298e+01] [ 1.41066607e-03 9.99971923e-01 7.35962415e-03 -2.70904996e+00] [-1.78112548e-04 -7.35938011e-03 9.99972904e-01 -9.59411011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.434860624 meters 0.11342515373830789 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.71, Z:-0.96 [[ 9.99999392e-01 -1.09945999e-03 8.77819979e-05 3.29944515e+01] [ 1.09873405e-03 9.99968341e-01 7.88094320e-03 -2.71083804e+00] [-9.64440005e-05 -7.88084196e-03 9.99968941e-01 -9.59183639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.464860624 meters 0.11361124386655869 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.71, Z:-0.96 [[ 9.99987663e-01 -4.92024038e-03 -6.81515211e-04 3.29957989e+01] [ 4.92272456e-03 9.99981065e-01 3.69266805e-03 -2.71064122e+00] [ 6.63333493e-04 -3.69597740e-03 9.99992950e-01 -9.58867811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.494860624 meters 0.11394270844568291 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.71, Z:-0.96 [[ 9.99988329e-01 -4.77775111e-03 -7.18022362e-04 3.29956710e+01] [ 4.78054941e-03 9.99980782e-01 3.94740123e-03 -2.71173402e+00] [ 6.99148862e-04 -3.95078770e-03 9.99991951e-01 -9.58562539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524860624 meters 0.11392569888254617 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.71, Z:-0.96 [[ 9.99990183e-01 -4.36710438e-03 -7.49258837e-04 3.29956257e+01] [ 4.37058347e-03 9.99979374e-01 4.70632207e-03 -2.71429650e+00] [ 7.28690384e-04 -4.70955057e-03 9.99988645e-01 -9.58355866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.554860624 meters 0.11392569888254617 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.71, Z:-0.96 [[ 9.99990183e-01 -4.36710438e-03 -7.49258837e-04 3.29956257e+01] [ 4.37058347e-03 9.99979374e-01 4.70632207e-03 -2.71429650e+00] [ 7.28690384e-04 -4.70955057e-03 9.99988645e-01 -9.58355866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.584860624 meters 0.10537932024294414 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.72, Z:-0.96 [[ 9.99991306e-01 -4.11342654e-03 -6.83536779e-04 3.29954571e+01] [ 4.11692398e-03 9.99978023e-01 5.19656988e-03 -2.71604244e+00] [ 6.62146049e-04 -5.19933877e-03 9.99986264e-01 -9.58284197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.614860624 meters 0.11425856489646971 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.72, Z:-0.96 [[ 9.99992645e-01 -3.76830831e-03 -7.14467452e-04 3.29954687e+01] [ 3.77240272e-03 9.99975956e-01 5.81869887e-03 -2.71809236e+00] [ 6.92523622e-04 -5.82135133e-03 9.99982816e-01 -9.58181040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.644860624 meters 0.10175877572403297 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.72, Z:-0.96 [[ 9.99994168e-01 -3.38742274e-03 -4.35628133e-04 3.29947646e+01] [ 3.39030902e-03 9.99971099e-01 6.80490314e-03 -2.72193167e+00] [ 4.12564460e-04 -6.80634036e-03 9.99976751e-01 -9.57892358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.674860624 meters 0.10291613731158962 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.72, Z:-0.96 [[ 9.99994520e-01 -3.28131285e-03 -4.39467235e-04 3.29945562e+01] [ 3.28432890e-03 9.99969771e-01 7.04772317e-03 -2.72307472e+00] [ 4.16328165e-04 -7.04912790e-03 9.99975068e-01 -9.57571052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.704860624 meters 0.10499158592575221 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.72, Z:-0.96 [[ 9.99994841e-01 -3.16859721e-03 -5.27766078e-04 3.29946614e+01] [ 3.17233072e-03 9.99968829e-01 7.23030471e-03 -2.72372010e+00] [ 5.04839704e-04 -7.23194165e-03 9.99973722e-01 -9.57467914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.734860624 meters 0.10357463581260766 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.72, Z:-0.96 [[ 9.99995211e-01 -3.05181783e-03 -5.14066166e-04 3.29945606e+01] [ 3.05557292e-03 9.99967434e-01 7.46952875e-03 -2.72460104e+00] [ 4.91253784e-04 -7.47106375e-03 9.99971971e-01 -9.57357703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.764860624 meters 0.10420662010338369 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.73, Z:-0.96 [[ 9.99995763e-01 -2.85963837e-03 -5.44695210e-04 3.29946227e+01] [ 2.86378556e-03 9.99965700e-01 7.77158326e-03 -2.72557666e+00] [ 5.22452610e-04 -7.77311022e-03 9.99969652e-01 -9.57362046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.794860624 meters 0.10470204971282605 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.73, Z:-0.96 [[ 9.99979233e-01 -6.28732699e-03 -1.41529522e-03 3.29965163e+01] [ 6.29300320e-03 9.99972028e-01 4.04254574e-03 -2.72595199e+00] [ 1.38983882e-03 -4.05136825e-03 9.99990827e-01 -9.57580453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.824860624 meters 0.10049294817199615 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.73, Z:-0.96 [[ 9.99980022e-01 -6.16361472e-03 -1.40179248e-03 3.29964165e+01] [ 6.16955716e-03 9.99971830e-01 4.27511080e-03 -2.72678766e+00] [ 1.37540286e-03 -4.28367383e-03 9.99989879e-01 -9.57457712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.854860624 meters 0.10507856349989952 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.73, Z:-0.96 [[ 9.99981590e-01 -5.87677580e-03 -1.51099684e-03 3.29967481e+01] [ 5.88377484e-03 9.99971785e-01 4.67011909e-03 -2.72776284e+00] [ 1.48350897e-03 -4.67892348e-03 9.99987953e-01 -9.57596745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.884860624 meters 0.10236579641373324 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.73, Z:-0.96 [[ 9.99982334e-01 -5.74726238e-03 -1.51694702e-03 3.29966274e+01] [ 5.75466411e-03 9.99971334e-01 4.92095366e-03 -2.72874244e+00] [ 1.48862152e-03 -4.92959624e-03 9.99986741e-01 -9.57387385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.914860624 meters 0.10355751582295289 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.73, Z:-0.96 [[ 9.99983791e-01 -5.52418261e-03 -1.37904303e-03 3.29963281e+01] [ 5.53170415e-03 9.99969513e-01 5.51127890e-03 -2.73076380e+00] [ 1.34855568e-03 -5.51881802e-03 9.99983862e-01 -9.57316627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.944860624 meters 0.10151708285005331 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.73, Z:-0.96 [[ 9.99984309e-01 -5.44506994e-03 -1.31645130e-03 3.29961080e+01] [ 5.45253027e-03 9.99968710e-01 5.73142829e-03 -2.73171737e+00] [ 1.28520208e-03 -5.73851635e-03 9.99982709e-01 -9.57150983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.974860624 meters 0.11058304766150807 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.73, Z:-0.96 [[ 9.99985104e-01 -5.32719714e-03 -1.18881032e-03 3.29957766e+01] [ 5.33431278e-03 9.99967381e-01 6.06484258e-03 -2.73302272e+00] [ 1.15646293e-03 -6.07109372e-03 9.99980902e-01 -9.57000142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.004860624 meters 0.11277447375694392 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.73, Z:-0.96 [[ 9.99986867e-01 -4.97473060e-03 -1.23165304e-03 3.29959566e+01] [ 4.98279749e-03 9.99965570e-01 6.63558015e-03 -2.73462937e+00] [ 1.19860041e-03 -6.64163009e-03 9.99977226e-01 -9.57112158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.034860624 meters 0.10279798133995004 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.74, Z:-0.96 [[ 9.99987396e-01 -4.94900382e-03 -8.45789501e-04 3.29949645e+01] [ 4.95492567e-03 9.99962169e-01 7.14908261e-03 -2.73706552e+00] [ 8.10376667e-04 -7.15318333e-03 9.99974087e-01 -9.56683359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.064860624 meters 0.1075996187188703 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.74, Z:-0.96 [[ 9.99987239e-01 -4.99850044e-03 -7.32765198e-04 3.29945500e+01] [ 5.00363753e-03 9.99961670e-01 7.18488305e-03 -2.73756376e+00] [ 6.96823470e-04 -7.18845785e-03 9.99973920e-01 -9.56405159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.094860624 meters 0.10844195839425784 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.74, Z:-0.96 [[ 9.99986593e-01 -5.13847384e-03 -6.40194473e-04 3.29940950e+01] [ 5.14287709e-03 9.99961729e-01 7.07746042e-03 -2.73773520e+00] [ 6.03802628e-04 -7.08065797e-03 9.99974750e-01 -9.56002644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.124860624 meters 0.1056674665897507 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.74, Z:-0.96 [[ 9.99988237e-01 -4.79454344e-03 -7.34025180e-04 3.29946881e+01] [ 4.79996385e-03 9.99959827e-01 7.56997159e-03 -2.73884861e+00] [ 6.97701134e-04 -7.57340583e-03 9.99971078e-01 -9.56560698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.154860624 meters 0.10586307531486996 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.74, Z:-0.96 [[ 9.99988394e-01 -4.75817673e-03 -7.56229214e-04 3.29948552e+01] [ 4.76377474e-03 9.99959912e-01 7.58165299e-03 -2.73890682e+00] [ 7.20124053e-04 -7.58516750e-03 9.99970973e-01 -9.56720397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.184860624 meters 0.10682835332570875 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.74, Z:-0.96 [[ 9.99988119e-01 -4.81779549e-03 -7.42146792e-04 3.29948269e+01] [ 4.82321844e-03 9.99960337e-01 7.48738530e-03 -2.73871906e+00] [ 7.06044665e-04 -7.49087588e-03 9.99971694e-01 -9.56719024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.214860624 meters 0.12130152147883244 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.74, Z:-0.96 [[ 9.99988727e-01 -4.66164158e-03 -9.03226065e-04 3.29954104e+01] [ 4.66837045e-03 9.99960247e-01 7.59671350e-03 -2.73857072e+00] [ 8.67777003e-04 -7.60084446e-03 9.99970737e-01 -9.57095696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.244860624 meters 0.12203080485707082 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.74, Z:-0.96 [[ 9.99987205e-01 -4.96562708e-03 -9.65210367e-04 3.29950717e+01] [ 4.97229276e-03 9.99962922e-01 7.03077725e-03 -2.73754143e+00] [ 9.30262361e-04 -7.03548660e-03 9.99974818e-01 -9.56437367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.274860624 meters 0.1229578807275672 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.74, Z:-0.96 [[ 9.99986046e-01 -5.20305562e-03 -9.14671800e-04 3.29947723e+01] [ 5.20900633e-03 9.99964464e-01 6.62851556e-03 -2.73685086e+00] [ 8.80150761e-04 -6.63318759e-03 9.99977613e-01 -9.56091289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.304860624 meters 0.12351120958584945 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.74, Z:-0.96 [[ 9.99985779e-01 -5.24007082e-03 -9.91458198e-04 3.29948860e+01] [ 5.24640720e-03 9.99965111e-01 6.50011238e-03 -2.73645532e+00] [ 9.57362558e-04 -6.50522154e-03 9.99978383e-01 -9.56024331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.334860624 meters 0.10120882318367923 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.74, Z:-0.96 [[ 9.99984390e-01 -5.49184720e-03 -1.02951745e-03 3.29946587e+01] [ 5.49802165e-03 9.99966319e-01 6.09372922e-03 -2.73574000e+00] [ 9.96016947e-04 -6.09929441e-03 9.99980903e-01 -9.55600023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.364860624 meters 0.10244041333419962 Centerline is valid? [False, False] Translation: X:32.99, Y:-2.73, Z:-0.96 [[ 9.99983033e-01 -5.73451664e-03 -1.02436137e-03 3.29946859e+01] [ 5.74020266e-03 9.99967637e-01 5.63688425e-03 -2.73437032e+00] [ 9.92003413e-04 -5.64266865e-03 9.99983588e-01 -9.55677203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.394860624 meters 0.10371824493066752 Centerline is valid? [False, False] Translation: X:33.00, Y:-2.73, Z:-0.96 [[ 9.99983013e-01 -5.69900196e-03 -1.22246487e-03 3.29951457e+01] [ 5.70571267e-03 9.99968276e-01 5.55810675e-03 -2.73400656e+00] [ 1.19075042e-03 -5.56498737e-03 9.99983806e-01 -9.55763550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.424860624 meters 0.09856179166270643 Centerline is valid? [False, True] Translation: X:33.00, Y:-2.73, Z:-0.96 [[ 9.99982906e-01 -5.69329803e-03 -1.33175145e-03 3.29953932e+01] [ 5.70045655e-03 9.99968984e-01 5.43469515e-03 -2.73370312e+00] [ 1.30076881e-03 -5.44219385e-03 9.99984345e-01 -9.55759275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.454860624 meters 0.09788646436579194 Centerline is valid? [True, True] Translation: X:33.03, Y:-2.73, Z:-0.95 [[ 9.99986580e-01 -4.91822441e-03 -1.62840325e-03 3.30266658e+01] [ 4.91852604e-03 9.99987888e-01 1.81276063e-04 -2.73355338e+00] [ 1.62749197e-03 -1.89282974e-04 9.99998658e-01 -9.54754986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.484860624 meters 0.09956585006339107 Centerline is valid? [True, True] Translation: X:33.06, Y:-2.74, Z:-0.96 [[ 9.99988246e-01 -4.37251281e-03 -2.09489241e-03 3.30563931e+01] [ 4.37301066e-03 9.99990411e-01 2.33130909e-04 -2.73963773e+00] [ 2.09385296e-03 -2.42289156e-04 9.99997779e-01 -9.55499040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.514860624 meters 0.10022675496628022 Centerline is valid? [True, False] Translation: X:33.06, Y:-2.74, Z:-0.96 [[ 9.99988307e-01 -4.33729872e-03 -2.13844507e-03 3.30564089e+01] [ 4.33785440e-03 9.99990559e-01 2.55283123e-04 -2.73953656e+00] [ 2.13731764e-03 -2.64556401e-04 9.99997681e-01 -9.55417776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.544860624 meters 0.09895004626825331 Centerline is valid? [False, True] Translation: X:33.06, Y:-2.74, Z:-0.96 [[ 9.99988983e-01 -4.12613373e-03 -2.23785927e-03 3.30568754e+01] [ 4.12735810e-03 9.99991335e-01 5.42771155e-04 -2.73989639e+00] [ 2.23560033e-03 -5.52001622e-04 9.99997349e-01 -9.55804275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.574860624 meters 0.09918268413783321 Centerline is valid? [True, True] Translation: X:33.09, Y:-2.74, Z:-0.96 [[ 9.99988040e-01 -3.94891735e-03 -2.88541860e-03 3.30873253e+01] [ 3.94985277e-03 9.99992149e-01 3.18561954e-04 -2.74374976e+00] [ 2.88413797e-03 -3.29955123e-04 9.99995786e-01 -9.56334230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.604860624 meters 0.09819073827724105 Centerline is valid? [True, True] Translation: X:33.12, Y:-2.75, Z:-0.96 [[ 9.99990236e-01 -3.19278104e-03 -3.05518566e-03 3.31173815e+01] [ 3.19382509e-03 9.99994843e-01 3.36911576e-04 -2.74545296e+00] [ 3.05409422e-03 -3.46666015e-04 9.99995276e-01 -9.56028709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.634860624 meters 0.09944812956578772 Centerline is valid? [True, True] Translation: X:33.15, Y:-2.75, Z:-0.96 [[ 9.99993539e-01 -2.49038324e-03 -2.59233233e-03 3.31469748e+01] [ 2.49113333e-03 9.99996856e-01 2.86160717e-04 -2.75123422e+00] [ 2.59161153e-03 -2.92616714e-04 9.99996599e-01 -9.57517360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.664860624 meters 0.09902996888671747 Centerline is valid? [True, True] Translation: X:33.18, Y:-2.75, Z:-0.96 [[ 9.99989469e-01 -2.82146982e-03 -3.61952762e-03 3.31768741e+01] [ 2.82293281e-03 9.99995936e-01 3.99150052e-04 -2.75352422e+00] [ 3.61838672e-03 -4.09363532e-04 9.99993370e-01 -9.57848543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.694860624 meters 0.10045457859315533 Centerline is valid? [True, False] Translation: X:33.18, Y:-2.75, Z:-0.96 [[ 9.99989509e-01 -2.79616712e-03 -3.62820076e-03 3.31768951e+01] [ 2.79783667e-03 9.99995982e-01 4.55165592e-04 -2.75376364e+00] [ 3.62691347e-03 -4.65311929e-04 9.99993314e-01 -9.57868865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.724860624 meters 0.09763107085611612 Centerline is valid? [False, True] Translation: X:33.18, Y:-2.75, Z:-0.96 [[ 9.99990395e-01 -2.51188970e-03 -3.59160153e-03 3.31770672e+01] [ 2.51530591e-03 9.99996388e-01 9.46965118e-04 -2.75497463e+00] [ 3.58920988e-03 -9.55990000e-04 9.99993102e-01 -9.58203690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.754860624 meters 0.10057113382909821 Centerline is valid? [True, False] Translation: X:33.18, Y:-2.76, Z:-0.96 [[ 9.99990828e-01 -2.27069519e-03 -3.63139041e-03 3.31774233e+01] [ 2.27541716e-03 9.99996570e-01 1.29671680e-03 -2.75552005e+00] [ 3.62843350e-03 -1.30496783e-03 9.99992566e-01 -9.58585799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.784860624 meters 0.09869986350641355 Centerline is valid? [False, True] Translation: X:33.18, Y:-2.76, Z:-0.96 [[ 9.99990803e-01 -2.21514027e-03 -3.67236589e-03 3.31775283e+01] [ 2.22015516e-03 9.99996608e-01 1.36205994e-03 -2.75568884e+00] [ 3.66933628e-03 -1.37020063e-03 9.99992329e-01 -9.58592832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.814860624 meters 0.10553439944298393 Centerline is valid? [True, False] Translation: X:33.18, Y:-2.76, Z:-0.96 [[ 9.99990323e-01 -2.44007603e-03 -3.66048369e-03 3.31772509e+01] [ 2.44378224e-03 9.99996506e-01 1.00836058e-03 -2.75507920e+00] [ 3.65801042e-03 -1.01729624e-03 9.99992792e-01 -9.58216792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.844860624 meters 0.10588445196182837 Centerline is valid? [False, False] Translation: X:33.18, Y:-2.75, Z:-0.96 [[ 9.99989784e-01 -2.25311927e-03 -3.91858595e-03 3.31779592e+01] [ 2.25728526e-03 9.99996892e-01 1.05903851e-03 -2.75464329e+00] [ 3.91618763e-03 -1.06787305e-03 9.99991762e-01 -9.58490245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.874860624 meters 0.0975258107551684 Centerline is valid? [False, True] Translation: X:33.18, Y:-2.75, Z:-0.96 [[ 9.99989758e-01 -2.03520922e-03 -4.04245184e-03 3.31785009e+01] [ 2.04045152e-03 9.99997082e-01 1.29311062e-03 -2.75486376e+00] [ 4.03980829e-03 -1.30134580e-03 9.99990993e-01 -9.58888449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.904860624 meters 0.09803742182443778 Centerline is valid? [True, True] Translation: X:33.21, Y:-2.76, Z:-0.96 [[ 9.99988989e-01 -1.54469890e-03 -4.43117897e-03 3.32079236e+01] [ 1.54683679e-03 9.99998689e-01 4.79079224e-04 -2.75842186e+00] [ 4.43043312e-03 -4.85928260e-04 9.99990068e-01 -9.59880405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.934860624 meters 0.09852312070529777 Centerline is valid? [True, True] Translation: X:33.24, Y:-2.76, Z:-0.96 [[ 9.99988665e-01 -2.78207726e-04 -4.75315329e-03 3.32362190e+01] [ 2.80651000e-04 9.99999829e-01 5.13373109e-04 -2.76241820e+00] [ 4.75300966e-03 -5.14701268e-04 9.99988572e-01 -9.60901545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.964860624 meters 0.09889435337324849 Centerline is valid? [True, True] Translation: X:33.27, Y:-2.77, Z:-0.96 [[ 9.99984463e-01 5.63618285e-04 -5.54573645e-03 3.32654375e+01] [-5.60314983e-04 9.99999665e-01 5.97182753e-04 -2.76566198e+00] [ 5.54607117e-03 -5.94066115e-04 9.99984444e-01 -9.61229499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.994860624 meters 0.09911818583993696 Centerline is valid? [True, True] Translation: X:33.29, Y:-2.77, Z:-0.96 [[ 9.99985026e-01 1.34742702e-03 -5.30404416e-03 3.32937208e+01] [-1.34441326e-03 9.99998933e-01 5.71723309e-04 -2.76894112e+00] [ 5.30480885e-03 -5.64583920e-04 9.99985770e-01 -9.62518079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.024860624 meters 0.10037293404507283 Centerline is valid? [True, False] Translation: X:33.29, Y:-2.77, Z:-0.96 [[ 9.99984575e-01 1.16361161e-03 -5.43095948e-03 3.32936696e+01] [-1.16239502e-03 9.99999299e-01 2.27160270e-04 -2.76831129e+00] [ 5.43122000e-03 -2.20843845e-04 9.99985226e-01 -9.62089304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.054860624 meters 0.10026456680649021 Centerline is valid? [False, False] Translation: X:33.29, Y:-2.77, Z:-0.96 [[ 9.99983848e-01 1.21330081e-03 -5.55269220e-03 3.32941142e+01] [-1.21217125e-03 9.99999244e-01 2.06786235e-04 -2.76779227e+00] [ 5.55293890e-03 -2.00052081e-04 9.99984562e-01 -9.62351934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.084860624 meters 0.1008320681731395 Centerline is valid? [False, False] Translation: X:33.29, Y:-2.77, Z:-0.96 [[ 9.99983415e-01 9.35005469e-04 -5.68290884e-03 3.32941976e+01] [-9.37290799e-04 9.99999481e-01 -3.99490862e-04 -2.76613918e+00] [ 5.68253236e-03 4.04810775e-04 9.99983772e-01 -9.62086386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.114860624 meters 0.10184946064483677 Centerline is valid? [False, False] Translation: X:33.29, Y:-2.77, Z:-0.96 [[ 9.99982367e-01 1.19151506e-03 -5.81772247e-03 3.32948853e+01] [-1.19219650e-03 9.99999283e-01 -1.13665117e-04 -2.76632533e+00] [ 5.81758287e-03 1.20598981e-04 9.99983070e-01 -9.62642689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.144860624 meters 0.10257627076539823 Centerline is valid? [False, False] Translation: X:33.29, Y:-2.77, Z:-0.96 [[ 9.99982289e-01 1.07107884e-03 -5.85447796e-03 3.32947637e+01] [-1.07292052e-03 9.99999376e-01 -3.11445380e-04 -2.76612416e+00] [ 5.85414072e-03 3.17721253e-04 9.99982814e-01 -9.62376554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.174860624 meters 0.10323745563043675 Centerline is valid? [False, False] Translation: X:33.29, Y:-2.77, Z:-0.96 [[ 9.99982740e-01 1.07550585e-03 -5.77609755e-03 3.32947509e+01] [-1.07704110e-03 9.99999385e-01 -2.62689847e-04 -2.76627713e+00] [ 5.77581148e-03 2.68906407e-04 9.99983284e-01 -9.62573032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.204860624 meters 0.10351705644167167 Centerline is valid? [False, False] Translation: X:33.30, Y:-2.77, Z:-0.96 [[ 9.99981903e-01 1.32080149e-03 -5.86941633e-03 3.32953444e+01] [-1.32048013e-03 9.99999126e-01 5.86265612e-05 -2.76663089e+00] [ 5.86948863e-03 -5.08750526e-05 9.99982773e-01 -9.63134891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.234860624 meters 0.09208781816214989 Centerline is valid? [False, True] Translation: X:33.30, Y:-2.77, Z:-0.96 [[ 9.99981897e-01 1.01059054e-03 -5.93167243e-03 3.32953046e+01] [-1.01351821e-03 9.99999366e-01 -4.90580375e-04 -2.76531389e+00] [ 5.93117290e-03 4.96583352e-04 9.99982287e-01 -9.62894090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.264860624 meters 0.09445625689867061 Centerline is valid? [True, True] Translation: X:33.32, Y:-2.77, Z:-0.97 [[ 9.99980137e-01 9.83856173e-04 -6.22553608e-03 3.33216652e+01] [-9.79862382e-04 9.99999312e-01 6.44535193e-04 -2.77219022e+00] [ 6.22616592e-03 -6.38422222e-04 9.99980413e-01 -9.65447806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.294860624 meters 0.09804352601131906 Centerline is valid? [True, True] Translation: X:33.35, Y:-2.78, Z:-0.97 [[ 9.99985892e-01 1.06314576e-03 -5.20443721e-03 3.33486326e+01] [-1.06035607e-03 9.99999293e-01 5.38751666e-04 -2.78165829e+00] [ 5.20500630e-03 -5.33225509e-04 9.99986312e-01 -9.67476700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.324860624 meters 0.09524426572679424 Centerline is valid? [True, True] Translation: X:33.38, Y:-2.78, Z:-0.97 [[ 9.99984581e-01 5.15572048e-04 -5.52914331e-03 3.33777338e+01] [-5.12414411e-04 9.99999705e-01 5.72491077e-04 -2.77816474e+00] [ 5.52943683e-03 -5.69649037e-04 9.99984550e-01 -9.65662522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.354860624 meters 0.09435504284309593 Centerline is valid? [True, True] Translation: X:33.41, Y:-2.78, Z:-0.97 [[ 9.99984445e-01 2.51040383e-04 -5.57195306e-03 3.34063725e+01] [-2.47831673e-04 9.99999803e-01 5.76551103e-04 -2.77911954e+00] [ 5.57209670e-03 -5.75161228e-04 9.99984310e-01 -9.65877629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.384860624 meters 0.09336814752319318 Centerline is valid? [True, True] Translation: X:33.44, Y:-2.78, Z:-0.97 [[ 9.99985945e-01 3.71323929e-04 -5.28877603e-03 3.34358754e+01] [-3.68445801e-04 9.99999784e-01 5.45159456e-04 -2.77877859e+00] [ 5.28897731e-03 -5.43203167e-04 9.99985866e-01 -9.66014661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.414860624 meters 0.09817370297016265 Centerline is valid? [True, True] Translation: X:33.46, Y:-2.79, Z:-0.97 [[ 9.99989212e-01 1.33599980e-03 -4.44862766e-03 3.34631999e+01] [-1.33396826e-03 9.99999005e-01 4.59602509e-04 -2.79021986e+00] [ 4.44923726e-03 -4.53663223e-04 9.99989999e-01 -9.68856041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.444860624 meters 0.09817370297016265 Centerline is valid? [True, True] Translation: X:33.49, Y:-2.79, Z:-0.97 [[ 9.99989295e-01 1.27238439e-03 -4.44868961e-03 3.34915154e+01] [-1.27035486e-03 9.99999088e-01 4.59003774e-04 -2.79308009e+00] [ 4.44926959e-03 -4.53347446e-04 9.99989999e-01 -9.69503451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.474860624 meters 0.09437289763916296 Centerline is valid? [True, True] Translation: X:33.52, Y:-2.79, Z:-0.97 [[ 9.99990955e-01 1.09816598e-03 -4.10910227e-03 3.35212456e+01] [-1.09643481e-03 9.99999309e-01 4.23528703e-04 -2.78764956e+00] [ 4.10956454e-03 -4.19019509e-04 9.99991468e-01 -9.68435970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.504860624 meters 0.09485422020834995 Centerline is valid? [True, True] Translation: X:33.55, Y:-2.79, Z:-0.97 [[ 9.99984367e-01 1.05709063e-03 -5.49068987e-03 3.35499061e+01] [-1.05399818e-03 9.99999284e-01 5.66079332e-04 -2.79039545e+00] [ 5.49128434e-03 -5.60283306e-04 9.99984766e-01 -9.69677899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.534860624 meters 0.09471446081201196 Centerline is valid? [True, True] Translation: X:33.58, Y:-2.79, Z:-0.97 [[ 9.99983328e-01 8.08257724e-04 -5.71747495e-03 3.35782604e+01] [-8.04902357e-04 9.99999503e-01 5.89138443e-04 -2.79196696e+00] [ 5.71794828e-03 -5.84526612e-04 9.99983482e-01 -9.70332798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.564860624 meters 0.09620320942104982 Centerline is valid? [True, True] Translation: X:33.61, Y:-2.80, Z:-0.97 [[ 9.99985610e-01 8.35977344e-04 -5.29919228e-03 3.36057679e+01] [-8.33100641e-04 9.99999504e-01 5.45041119e-04 -2.79650924e+00] [ 5.29964530e-03 -5.40618515e-04 9.99985811e-01 -9.72584193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.594860624 meters 0.0959524981953718 Centerline is valid? [True, True] Translation: X:33.63, Y:-2.80, Z:-0.97 [[ 9.99985502e-01 1.35249139e-03 -5.21224419e-03 3.36349524e+01] [-1.34973625e-03 9.99998948e-01 5.32071133e-04 -2.79889396e+00] [ 5.21295833e-03 -5.25028264e-04 9.99986275e-01 -9.72852665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.624860624 meters 0.09841617439208727 Centerline is valid? [True, True] Translation: X:33.66, Y:-2.81, Z:-0.97 [[ 9.99988339e-01 8.16794188e-04 -4.75965844e-03 3.36623662e+01] [-8.14480375e-04 9.99999549e-01 4.88048177e-04 -2.80554889e+00] [ 4.76005493e-03 -4.84165837e-04 9.99988554e-01 -9.74279780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.654860624 meters 0.09591633865831722 Centerline is valid? [True, True] Translation: X:33.69, Y:-2.80, Z:-0.97 [[ 9.99990874e-01 1.21497751e-03 -4.09573803e-03 3.36917020e+01] [-1.21326817e-03 9.99999176e-01 4.19805031e-04 -2.80249876e+00] [ 4.09624470e-03 -4.14831972e-04 9.99991524e-01 -9.73302988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.684860624 meters 0.09445509281614828 Centerline is valid? [True, True] Translation: X:33.72, Y:-2.80, Z:-0.97 [[ 9.99987182e-01 2.49564595e-03 -4.40548982e-03 3.37224489e+01] [-2.49367913e-03 9.99996789e-01 4.51883521e-04 -2.80018434e+00] [ 4.40660341e-03 -4.40891851e-04 9.99990194e-01 -9.73516637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.714860624 meters 0.09530037159741807 Centerline is valid? [True, True] Translation: X:33.75, Y:-2.80, Z:-0.97 [[ 9.99984139e-01 3.74029492e-03 -4.21092435e-03 3.37513015e+01] [-3.73850837e-03 9.99992918e-01 4.32057524e-04 -2.80364966e+00] [ 4.21251056e-03 -4.16308095e-04 9.99991041e-01 -9.74262478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.744860624 meters 0.09360415262256343 Centerline is valid? [True, True] Translation: X:33.78, Y:-2.80, Z:-0.97 [[ 9.99981163e-01 4.57146013e-03 -4.09572154e-03 3.37803491e+01] [-4.56978115e-03 9.99989471e-01 4.19199431e-04 -2.80173587e+00] [ 4.09759477e-03 -4.00474984e-04 9.99991525e-01 -9.74688841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.774860624 meters 0.0916265401580503 Centerline is valid? [True, True] Translation: X:33.81, Y:-2.80, Z:-0.97 [[ 9.99983349e-01 4.43699210e-03 -3.68974530e-03 3.38099982e+01] [-4.43563014e-03 9.99990091e-01 3.77223499e-04 -2.79973769e+00] [ 3.69138248e-03 -3.60850873e-04 9.99993122e-01 -9.74640097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.804860624 meters 0.09401673957752733 Centerline is valid? [True, True] Translation: X:33.84, Y:-2.81, Z:-0.98 [[ 9.99976119e-01 6.44957509e-03 -2.48265975e-03 3.38392325e+01] [-6.44896343e-03 9.99979173e-01 2.54298312e-04 -2.80596075e+00] [ 2.48424815e-03 -2.38281657e-04 9.99996886e-01 -9.76620548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.834860624 meters 0.09226120262070127 Centerline is valid? [True, True] Translation: X:33.87, Y:-2.80, Z:-0.98 [[ 9.99973131e-01 7.05723991e-03 -1.98316595e-03 3.38681630e+01] [-7.05685325e-03 9.99975080e-01 2.01903925e-04 -2.80433115e+00] [ 1.98454141e-03 -1.87903589e-04 9.99998013e-01 -9.77237908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.864860624 meters 0.09273823916945372 Centerline is valid? [True, True] Translation: X:33.90, Y:-2.81, Z:-0.98 [[ 9.99967354e-01 7.90017721e-03 -1.69627500e-03 3.38955267e+01] [-7.89989638e-03 9.99968781e-01 1.72193531e-04 -2.80722405e+00] [ 1.69758240e-03 -1.58787513e-04 9.99998546e-01 -9.78157852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.894860624 meters 0.0913451000466985 Centerline is valid? [True, True] Translation: X:33.93, Y:-2.80, Z:-0.98 [[ 9.99967392e-01 7.82658722e-03 -1.98962676e-03 3.39250382e+01] [-7.82620010e-03 9.99969354e-01 2.02283363e-04 -2.80361442e+00] [ 1.99114898e-03 -1.86705550e-04 9.99998000e-01 -9.77683779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.924860624 meters 0.0899373189685928 Centerline is valid? [True, True] Translation: X:33.95, Y:-2.80, Z:-0.98 [[ 9.99966022e-01 7.97205100e-03 -2.09778964e-03 3.39537129e+01] [-7.97162113e-03 9.99968203e-01 2.13197382e-04 -2.80200564e+00] [ 2.09942256e-03 -1.96467354e-04 9.99997777e-01 -9.77692258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.954860624 meters 0.09176357285158977 Centerline is valid? [True, True] Translation: X:33.98, Y:-2.81, Z:-0.98 [[ 9.99965540e-01 8.28450019e-03 -5.34159568e-04 3.39809966e+01] [-8.28447316e-03 9.99965682e-01 5.28016280e-05 -2.80715092e+00] [ 5.34578671e-04 -4.83745779e-05 9.99999856e-01 -9.79576803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.984860624 meters 0.09200275107377451 Centerline is valid? [True, True] Translation: X:34.01, Y:-2.81, Z:-0.98 [[ 9.99967062e-01 8.09580898e-03 -5.76541021e-04 3.40098447e+01] [-8.09577720e-03 9.99967227e-01 5.74440975e-05 -2.80896682e+00] [ 5.76987183e-04 -5.27746577e-05 9.99999832e-01 -9.81357941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.014860624 meters 0.09154128090957835 Centerline is valid? [True, True] Translation: X:34.04, Y:-2.81, Z:-0.98 [[ 9.99973730e-01 7.21765572e-03 -6.67632245e-04 3.40394109e+01] [-7.21761227e-03 9.99973950e-01 6.74664969e-05 -2.81009523e+00] [ 6.68101804e-04 -6.26460138e-05 9.99999775e-01 -9.82669354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.044860624 meters 0.09469476150105992 Centerline is valid? [True, True] Translation: X:34.07, Y:-2.82, Z:-0.98 [[ 9.99974263e-01 7.10237298e-03 -1.01493917e-03 3.40667967e+01] [-7.10227332e-03 9.99974773e-01 1.01755909e-04 -2.81802523e+00] [ 1.01563627e-03 -9.45449146e-05 9.99999480e-01 -9.84793816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.074860624 meters 0.09276621016001631 Centerline is valid? [True, True] Translation: X:34.10, Y:-2.82, Z:-0.98 [[ 9.99974837e-01 7.06094081e-03 -6.84750542e-04 3.40956900e+01] [-7.06089563e-03 9.99975069e-01 6.83710224e-05 -2.81603761e+00] [ 6.85216234e-04 -6.35343498e-05 9.99999763e-01 -9.83674978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.104860624 meters 0.0944279278399299 Centerline is valid? [True, True] Translation: X:34.12, Y:-2.82, Z:-0.99 [[ 9.99979288e-01 6.41271830e-03 -5.48365289e-04 3.41229162e+01] [-6.41268961e-03 9.99979437e-01 5.40495124e-05 -2.81986841e+00] [ 5.48700617e-04 -5.05318965e-05 9.99999848e-01 -9.85092594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.134860624 meters 0.09215662208934995 Centerline is valid? [True, True] Translation: X:34.15, Y:-2.81, Z:-0.98 [[ 9.99976234e-01 6.89394872e-03 -6.67057687e-05 3.41525497e+01] [-6.89394838e-03 9.99976236e-01 5.30754399e-06 -2.81495532e+00] [ 6.67407735e-05 -4.84755173e-06 9.99999998e-01 -9.83403204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.164860624 meters 0.09665714071783221 Centerline is valid? [True, True] Translation: X:34.18, Y:-2.83, Z:-0.99 [[ 9.99978130e-01 6.58667010e-03 5.95339274e-04 3.41794337e+01] [-6.58663408e-03 9.99978306e-01 -6.24453008e-05 -2.82553731e+00] [-5.95737665e-04 5.85226532e-05 9.99999821e-01 -9.85293136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.194860624 meters 0.09477842832402543 Centerline is valid? [True, True] Translation: X:34.21, Y:-2.82, Z:-0.99 [[ 9.99981543e-01 6.01159675e-03 8.80104735e-04 3.42080821e+01] [-6.01151867e-03 9.99981926e-01 -9.13370827e-05 -2.82437958e+00] [-8.80637910e-04 8.60446308e-05 9.99999609e-01 -9.85266165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.224860624 meters 0.09386028878182784 Centerline is valid? [True, True] Translation: X:34.24, Y:-2.82, Z:-0.99 [[ 9.99986391e-01 5.21590967e-03 -1.07058268e-04 3.42374165e+01] [-5.21590865e-03 9.99986397e-01 9.77682726e-06 -2.82477538e+00] [ 1.07107806e-04 -9.21828807e-06 9.99999994e-01 -9.86973814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.254860624 meters 0.09415843117915024 Centerline is valid? [True, True] Translation: X:34.27, Y:-2.83, Z:-0.99 [[ 9.99992702e-01 3.78091514e-03 -5.48437693e-04 3.42671241e+01] [-3.78088532e-03 9.99992851e-01 5.53898901e-05 -2.82685269e+00] [ 5.48643197e-04 -5.33159058e-05 9.99999848e-01 -9.87399254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.284860624 meters 0.09872748454079291 Centerline is valid? [True, True] Translation: X:34.29, Y:-2.84, Z:-0.99 [[ 9.99995974e-01 2.83204119e-03 -1.76082196e-04 3.42948255e+01] [-2.83203828e-03 9.99995990e-01 1.67711753e-05 -2.83730596e+00] [ 1.76128986e-04 -1.62724363e-05 9.99999984e-01 -9.89682887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.314860624 meters 0.10068556176773295 Centerline is valid? [True, False] Translation: X:34.29, Y:-2.84, Z:-0.99 [[ 9.99996772e-01 2.53894958e-03 -9.81154211e-05 3.42945169e+01] [-2.53898469e-03 9.99996712e-01 -3.59354050e-04 -2.83636581e+00] [ 9.72027167e-05 3.59602004e-04 9.99999931e-01 -9.89479264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.344860624 meters 0.09892281324582573 Centerline is valid? [False, True] Translation: X:34.29, Y:-2.84, Z:-0.99 [[ 9.99997026e-01 2.43894997e-03 -4.37033078e-06 3.42945235e+01] [-2.43895163e-03 9.99996933e-01 -4.30513634e-04 -2.83576954e+00] [ 3.32031616e-06 4.30523013e-04 9.99999907e-01 -9.89783619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.374860624 meters 0.09900103445963965 Centerline is valid? [True, True] Translation: X:34.32, Y:-2.84, Z:-0.99 [[ 9.99998397e-01 1.74904384e-03 -3.83730323e-04 3.43239394e+01] [-1.74902894e-03 9.99998470e-01 3.91763074e-05 -2.83908157e+00] [ 3.83798256e-04 -3.85050892e-05 9.99999926e-01 -9.90257375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.404860624 meters 0.09843844736868103 Centerline is valid? [True, True] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999635e-01 3.90346365e-04 -7.60343666e-04 3.43539857e+01] [-3.90286548e-04 9.99999921e-01 7.88173347e-05 -2.84065787e+00] [ 7.60374372e-04 -7.85205540e-05 9.99999708e-01 -9.90714395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.434860624 meters 0.1017481144988194 Centerline is valid? [True, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999738e-01 4.53302510e-04 -5.64619101e-04 3.43540877e+01] [-4.53091915e-04 9.99999828e-01 3.73058400e-04 -2.84081082e+00] [ 5.64788112e-04 -3.72802478e-04 9.99999771e-01 -9.91467027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.464860624 meters 0.10060708605299781 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999692e-01 5.54329353e-04 -5.55879811e-04 3.43543515e+01] [-5.54022624e-04 9.99999694e-01 5.51792948e-04 -2.84088556e+00] [ 5.56185516e-04 -5.51484807e-04 9.99999693e-01 -9.91852341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.494860624 meters 0.10254571661593291 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999800e-01 4.44602868e-04 -4.49008233e-04 3.43542496e+01] [-4.44381085e-04 9.99999779e-01 4.93918119e-04 -2.84056601e+00] [ 4.49227731e-04 -4.93718490e-04 9.99999777e-01 -9.92043769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.524860624 meters 0.10381910634793892 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999846e-01 3.93569049e-04 -3.90817923e-04 3.43542654e+01] [-3.93374813e-04 9.99999799e-01 4.96949730e-04 -2.84036489e+00] [ 3.91013429e-04 -4.96795915e-04 9.99999800e-01 -9.92260135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.554860624 meters 0.10502893313553828 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999922e-01 2.78074907e-04 -2.80183619e-04 3.43540078e+01] [-2.77947539e-04 9.99999858e-01 4.54524053e-04 -2.84030563e+00] [ 2.80309971e-04 -4.54446142e-04 9.99999857e-01 -9.92233151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.584860624 meters 0.10796696642781628 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999996e-01 8.55650809e-05 3.65080500e-05 3.43533054e+01] [-8.55803842e-05 9.99999908e-01 4.19380971e-04 -2.84096243e+00] [-3.64721622e-05 -4.19384093e-04 9.99999911e-01 -9.92102485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.614860624 meters 0.10899682801159512 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999930e-01 3.70822934e-04 4.38809652e-05 3.43537901e+01] [-3.70861505e-04 9.99999542e-01 8.82268774e-04 -2.84162624e+00] [-4.35537796e-05 -8.82284986e-04 9.99999610e-01 -9.92820384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.644860624 meters 0.11048805957995424 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999967e-01 2.46468087e-04 6.52959766e-05 3.43537345e+01] [-2.46516508e-04 9.99999694e-01 7.42590730e-04 -2.84120620e+00] [-6.51129317e-05 -7.42606802e-04 9.99999722e-01 -9.92828754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.674860624 meters 0.11139685680095522 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999987e-01 -1.28803288e-04 9.47508950e-05 3.43532760e+01] [ 1.28781600e-04 9.99999966e-01 2.28867507e-04 -2.84028419e+00] [-9.47803706e-05 -2.28855302e-04 9.99999969e-01 -9.92270770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.704860624 meters 0.10896341212117128 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999965e-01 -2.63515027e-04 -2.03802261e-05 3.43534421e+01] [ 2.63514317e-04 9.99999965e-01 -3.48492501e-05 -2.83923854e+00] [ 2.03894087e-05 3.48438784e-05 9.99999999e-01 -9.92200677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.734860624 meters 0.10384974400745324 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999988e-01 -6.92665946e-05 -1.39918843e-04 3.43539571e+01] [ 6.92927267e-05 9.99999980e-01 1.86769728e-04 -2.83932210e+00] [ 1.39905904e-04 -1.86779421e-04 9.99999973e-01 -9.92585925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.764860624 meters 0.10453119793387596 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999989e-01 -1.35534507e-04 -6.58012663e-05 3.43538567e+01] [ 1.35544493e-04 9.99999979e-01 1.51778475e-04 -2.83914846e+00] [ 6.57806938e-05 -1.51787392e-04 9.99999986e-01 -9.92673954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.794860624 meters 0.10585562154013808 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999994e-01 2.69616117e-06 -1.11228915e-04 3.43541405e+01] [-2.66311068e-06 9.99999956e-01 2.97138471e-04 -2.83949993e+00] [ 1.11229711e-04 -2.97138173e-04 9.99999950e-01 -9.92902355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.824860624 meters 0.10610412494998236 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999994e-01 -1.04922618e-04 -3.38559969e-06 3.43539001e+01] [ 1.04923302e-04 9.99999974e-01 2.02553139e-04 -2.83951320e+00] [ 3.36434720e-06 -2.02553493e-04 9.99999979e-01 -9.92867044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.854860624 meters 0.10763723160386221 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999982e-01 1.00720411e-04 -1.62776691e-04 3.43544918e+01] [-1.00657262e-04 9.99999920e-01 3.87908717e-04 -2.83953725e+00] [ 1.62815748e-04 -3.87892325e-04 9.99999912e-01 -9.93221590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.884860624 meters 0.10877341852812125 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999982e-01 3.22683122e-06 -1.88719372e-04 3.43544831e+01] [-3.18035932e-06 9.99999970e-01 2.46248462e-04 -2.83902040e+00] [ 1.88720161e-04 -2.46247857e-04 9.99999952e-01 -9.93137329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.914860624 meters 0.10996602817139547 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999949e-01 -2.65678908e-04 -1.78609878e-04 3.43539914e+01] [ 2.65652897e-04 9.99999954e-01 -1.45636989e-04 -2.83854244e+00] [ 1.78648562e-04 1.45589534e-04 9.99999973e-01 -9.92466740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.944860624 meters 0.10648626013229953 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999959e-01 -1.68455841e-04 -2.32377820e-04 3.43541754e+01] [ 1.68445207e-04 9.99999985e-01 -4.57802269e-05 -2.83887750e+00] [ 2.32385529e-04 4.57410820e-05 9.99999972e-01 -9.92546271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.974860624 meters 0.10835143686427369 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999941e-01 1.07845061e-04 -3.25479287e-04 3.43547288e+01] [-1.07744113e-04 9.99999946e-01 3.10153905e-04 -2.83936394e+00] [ 3.25512718e-04 -3.10118818e-04 9.99999899e-01 -9.93047507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.004860624 meters 0.10744429726024998 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999931e-01 -3.20042382e-06 -3.72472107e-04 3.43547652e+01] [ 3.24033412e-06 9.99999994e-01 1.07149222e-04 -2.83891138e+00] [ 3.72471762e-04 -1.07150421e-04 9.99999925e-01 -9.92970780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.034860624 meters 0.10309290144975591 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.84, Z:-0.99 [[ 9.99999837e-01 2.90391333e-04 -4.91882960e-04 3.43555216e+01] [-2.90175748e-04 9.99999862e-01 4.38299114e-04 -2.83911031e+00] [ 4.92010170e-04 -4.38156310e-04 9.99999783e-01 -9.93665493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.064860624 meters 0.10361173462711962 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.84, Z:-0.99 [[ 9.99999860e-01 2.10042122e-04 -4.85486098e-04 3.43553502e+01] [-2.09889778e-04 9.99999929e-01 3.13826347e-04 -2.83905357e+00] [ 4.85551980e-04 -3.13724404e-04 9.99999833e-01 -9.93433129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.094860624 meters 0.10600736389485885 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.84, Z:-0.99 [[ 9.99999748e-01 4.59222178e-04 -5.40594735e-04 3.43557773e+01] [-4.58851753e-04 9.99999660e-01 6.85142179e-04 -2.83960222e+00] [ 5.40909184e-04 -6.84893954e-04 9.99999619e-01 -9.93884422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.124860624 meters 0.10803201594991595 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.84, Z:-0.99 [[ 9.99999833e-01 4.02093016e-04 -4.15433043e-04 3.43552124e+01] [-4.01775499e-04 9.99999627e-01 7.64103477e-04 -2.84044765e+00] [ 4.15740129e-04 -7.63936438e-04 9.99999622e-01 -9.93460722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.154860624 meters 0.10845234363157602 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.84, Z:-0.99 [[ 9.99999721e-01 5.90007984e-04 -4.57592111e-04 3.43554294e+01] [-5.89537230e-04 9.99999298e-01 1.02821533e-03 -2.84111929e+00] [ 4.58198445e-04 -1.02794528e-03 9.99999367e-01 -9.93624457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.184860624 meters 0.10415549534120368 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.84, Z:-0.99 [[ 9.99999737e-01 5.97803665e-04 -4.09573518e-04 3.43552851e+01] [-5.97356537e-04 9.99999227e-01 1.09094539e-03 -2.84151161e+00] [ 4.10225372e-04 -1.09070044e-03 9.99999321e-01 -9.93550608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.214860624 meters 0.11064515446013214 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.84, Z:-0.99 [[ 9.99999626e-01 8.03851406e-04 -3.19564670e-04 3.43552239e+01] [-8.03353025e-04 9.99998466e-01 1.55664232e-03 -2.84286900e+00] [ 3.20815488e-04 -1.55638502e-03 9.99998737e-01 -9.93702690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.244860624 meters 0.10862912904648467 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999741e-01 7.02508210e-04 -1.53345596e-04 3.43546855e+01] [-7.02265108e-04 9.99998506e-01 1.57965368e-03 -2.84344241e+00] [ 1.54455087e-04 -1.57954558e-03 9.99998741e-01 -9.93404909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.274860624 meters 0.10445012541878809 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.84, Z:-0.99 [[ 9.99999617e-01 8.71095263e-04 -8.70763874e-05 3.43546511e+01] [-8.70925187e-04 9.99997750e-01 1.93449184e-03 -2.84442789e+00] [ 8.87613181e-05 -1.93441526e-03 9.99998125e-01 -9.93555621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.304860624 meters 0.10376768280506773 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.85, Z:-0.99 [[ 9.99999538e-01 9.60840648e-04 -2.75543875e-05 3.43545060e+01] [-9.60779820e-04 9.99997273e-01 2.12858779e-03 -2.84532699e+00] [ 2.95995461e-05 -2.12856034e-03 9.99997734e-01 -9.93480810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.334860624 meters 0.10938084676585404 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.85, Z:-0.99 [[ 9.99999456e-01 1.01949772e-03 2.22729382e-04 3.43537020e+01] [-1.02005633e-03 9.99996298e-01 2.52249002e-03 -2.84738243e+00] [-2.20156885e-04 -2.52271584e-03 9.99996794e-01 -9.93036992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.364860624 meters 0.10938084676585404 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.85, Z:-0.99 [[ 9.99999456e-01 1.01949772e-03 2.22729382e-04 3.43537020e+01] [-1.02005633e-03 9.99996298e-01 2.52249002e-03 -2.84738243e+00] [-2.20156885e-04 -2.52271584e-03 9.99996794e-01 -9.93036992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.394860624 meters 0.10836986566976907 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.85, Z:-0.99 [[ 9.99999331e-01 1.10821890e-03 3.31029163e-04 3.43533550e+01] [-1.10912994e-03 9.99995563e-01 2.76475685e-03 -2.84863747e+00] [-3.27963738e-04 -2.76512215e-03 9.99996123e-01 -9.92820464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.424860624 meters 0.11005352022016808 Centerline is valid? [False, False] Translation: X:34.35, Y:-2.85, Z:-0.99 [[ 9.99999156e-01 1.23062993e-03 4.15711608e-04 3.43530936e+01] [-1.23189290e-03 9.99994585e-01 3.05161976e-03 -2.84985466e+00] [-4.11953943e-04 -3.05212930e-03 9.99995257e-01 -9.92679240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.454860624 meters 0.11022131432634523 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.85, Z:-0.99 [[ 9.99997606e-01 -2.15136957e-03 -4.00023345e-04 3.43554750e+01] [ 2.15113494e-03 9.99997515e-01 -5.86044898e-04 -2.84960688e+00] [ 4.01283150e-04 5.85182991e-04 9.99999748e-01 -9.93755492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.484860624 meters 0.10856729045096206 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.85, Z:-0.99 [[ 9.99997809e-01 -2.04935235e-03 -4.26457552e-04 3.43552613e+01] [ 2.04919523e-03 9.99997832e-01 -3.68538554e-04 -2.85067808e+00] [ 4.27211893e-04 3.67663852e-04 9.99999841e-01 -9.93365272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.514860624 meters 0.10745850384404175 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.85, Z:-0.99 [[ 9.99998341e-01 -1.74227547e-03 -5.30794362e-04 3.43556494e+01] [ 1.74231569e-03 9.99998479e-01 7.53106018e-05 -2.85165092e+00] [ 5.30662343e-04 -7.62352882e-05 9.99999856e-01 -9.93593614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.544860624 meters 0.10602045598228715 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.85, Z:-0.99 [[ 9.99998728e-01 -1.48809477e-03 -5.74326140e-04 3.43557702e+01] [ 1.48835640e-03 9.99998789e-01 4.55367575e-04 -2.85278511e+00] [ 5.73647814e-04 -4.56221797e-04 9.99999731e-01 -9.93614386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.574860624 meters 0.10836064957894494 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.85, Z:-0.99 [[ 9.99999278e-01 -9.77224582e-04 -6.99399804e-04 3.43563982e+01] [ 9.78031882e-04 9.99998855e-01 1.15486499e-03 -2.85436136e+00] [ 6.98270440e-04 -1.15554819e-03 9.99999089e-01 -9.94102321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.604860624 meters 0.10364251954635763 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.86, Z:-0.99 [[ 9.99999569e-01 -6.83012683e-04 -6.29645574e-04 3.43560978e+01] [ 6.84109906e-04 9.99998245e-01 1.74403850e-03 -2.85660228e+00] [ 6.28453268e-04 -1.74446849e-03 9.99998281e-01 -9.93865843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.634860624 meters 0.10379531986673343 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.86, Z:-0.99 [[ 9.99999624e-01 -4.48903221e-04 -7.42097298e-04 3.43564042e+01] [ 4.50410546e-04 9.99997834e-01 2.03225167e-03 -2.85745934e+00] [ 7.41183406e-04 -2.03258515e-03 9.99997660e-01 -9.93929208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.664860624 meters 0.10648724680561206 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.86, Z:-0.99 [[ 9.99999645e-01 -4.41063917e-04 -7.18186329e-04 3.43562196e+01] [ 4.42548729e-04 9.99997763e-01 2.06860112e-03 -2.85789520e+00] [ 7.17272336e-04 -2.06891822e-03 9.99997603e-01 -9.93720509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.694860624 meters 0.11301815813110776 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.86, Z:-0.99 [[ 9.99999592e-01 -4.11154234e-04 -8.04576953e-04 3.43562819e+01] [ 4.12825850e-04 9.99997755e-01 2.07857146e-03 -2.85819091e+00] [ 8.03720533e-04 -2.07890276e-03 9.99997516e-01 -9.93532097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.724860624 meters 0.1133430900110959 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.86, Z:-0.99 [[ 9.99999552e-01 -9.86263948e-05 -9.41672198e-04 3.43568709e+01] [ 1.00925732e-04 9.99997013e-01 2.44202439e-03 -2.85893489e+00] [ 9.41428537e-04 -2.44211833e-03 9.99996575e-01 -9.93901543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.754860624 meters 0.10204353389228085 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.86, Z:-0.99 [[ 9.99999463e-01 1.85835356e-04 -1.01905138e-03 3.43569646e+01] [-1.82932774e-04 9.99995929e-01 2.84767129e-03 -2.86043804e+00] [ 1.01957643e-03 -2.84748334e-03 9.99995426e-01 -9.93786663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.784860624 meters 0.10259085991889792 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.86, Z:-0.99 [[ 9.99999410e-01 1.68714668e-04 -1.07320429e-03 3.43567929e+01] [-1.65681950e-04 9.99995995e-01 2.82531513e-03 -2.86081699e+00] [ 1.07367667e-03 -2.82513565e-03 9.99995433e-01 -9.93377809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.814860624 meters 0.1025736609132843 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.86, Z:-0.99 [[ 9.99999346e-01 2.71608046e-04 -1.11092968e-03 3.43568354e+01] [-2.68302918e-04 9.99995541e-01 2.97416867e-03 -2.86139889e+00] [ 1.11173253e-03 -2.97386866e-03 9.99994960e-01 -9.93306845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.844860624 meters 0.10597143229155176 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.86, Z:-0.99 [[ 9.99999137e-01 3.08660134e-04 -1.27670122e-03 3.43569256e+01] [-3.04955375e-04 9.99995746e-01 2.90099921e-03 -2.86155775e+00] [ 1.27759121e-03 -2.90060738e-03 9.99994977e-01 -9.92894240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.874860624 meters 0.10422258118272545 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.86, Z:-0.99 [[ 9.99999079e-01 1.85101477e-04 -1.34427766e-03 3.43567063e+01] [-1.81482231e-04 9.99996360e-01 2.69195795e-03 -2.86145320e+00] [ 1.34477106e-03 -2.69171151e-03 9.99995473e-01 -9.92385708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.904860624 meters 0.09855033603620743 Centerline is valid? [False, True] Translation: X:34.36, Y:-2.86, Z:-0.99 [[ 9.99998904e-01 4.05012395e-04 -1.42433237e-03 3.43570577e+01] [-4.00784158e-04 9.99995516e-01 2.96760807e-03 -2.86203125e+00] [ 1.42552790e-03 -2.96703396e-03 9.99994582e-01 -9.92624558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.934860624 meters 0.10163523666498224 Centerline is valid? [True, False] Translation: X:34.36, Y:-2.86, Z:-0.99 [[ 9.99998858e-01 4.75981228e-04 -1.43412490e-03 3.43569119e+01] [-4.71514872e-04 9.99995043e-01 3.11307243e-03 -2.86276169e+00] [ 1.43559956e-03 -3.11239267e-03 9.99994126e-01 -9.92399048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.964860624 meters 0.10123725566906691 Centerline is valid? [False, False] Translation: X:34.36, Y:-2.86, Z:-0.99 [[ 9.99998845e-01 5.87649150e-04 -1.40135045e-03 3.43566276e+01] [-5.82952660e-04 9.99994221e-01 3.34945984e-03 -2.86388418e+00] [ 1.40331066e-03 -3.34863905e-03 9.99993409e-01 -9.92069161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.994860624 meters 0.09865126222679457 Centerline is valid? [False, True] Translation: X:34.36, Y:-2.86, Z:-0.99 [[ 9.99998895e-01 5.07869393e-04 -1.39709570e-03 3.43564449e+01] [-5.03281058e-04 9.99994486e-01 3.28258855e-03 -2.86394671e+00] [ 1.39875512e-03 -3.28188179e-03 9.99993636e-01 -9.91818474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.024860624 meters 0.09812181042826054 Centerline is valid? [True, True] Translation: X:34.39, Y:-2.87, Z:-0.99 [[ 9.99996511e-01 6.84377456e-04 -2.55147261e-03 3.43859853e+01] [-6.83633972e-04 9.99999724e-01 2.92254776e-04 -2.86548095e+00] [ 2.55167191e-03 -2.90509483e-04 9.99996702e-01 -9.91431827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.054860624 meters 0.1034936780172449 Centerline is valid? [True, False] Translation: X:34.39, Y:-2.87, Z:-0.99 [[ 9.99996513e-01 8.02801457e-04 -2.51588306e-03 3.43860290e+01] [-8.01491063e-04 9.99999543e-01 5.21813466e-04 -2.86604658e+00] [ 2.51630082e-03 -5.19795189e-04 9.99996699e-01 -9.91576184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.084860624 meters 0.10349302231630414 Centerline is valid? [False, False] Translation: X:34.39, Y:-2.87, Z:-0.99 [[ 9.99996211e-01 1.28278472e-03 -2.43563694e-03 3.43860598e+01] [-1.27946430e-03 9.99998251e-01 1.36433416e-03 -2.86857217e+00] [ 2.43738283e-03 -1.36121268e-03 9.99996103e-01 -9.91801348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.114860624 meters 0.09900997616179037 Centerline is valid? [False, True] Translation: X:34.39, Y:-2.87, Z:-0.99 [[ 9.99996307e-01 1.43895415e-03 -2.30533020e-03 3.43857626e+01] [-1.43491566e-03 9.99997435e-01 1.75250246e-03 -2.87000433e+00] [ 2.30784605e-03 -1.74918803e-03 9.99995807e-01 -9.91755007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.144860624 meters 0.09777502146816765 Centerline is valid? [True, True] Translation: X:34.42, Y:-2.87, Z:-0.99 [[ 9.99995794e-01 7.06487786e-04 -2.81311664e-03 3.44155472e+01] [-7.05579189e-04 9.99999699e-01 3.23965380e-04 -2.87186929e+00] [ 2.81334467e-03 -3.21979141e-04 9.99995991e-01 -9.91440974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.174860624 meters 0.09788549624056433 Centerline is valid? [True, True] Translation: X:34.44, Y:-2.88, Z:-0.99 [[ 9.99995979e-01 3.13110228e-04 -2.81856490e-03 3.44447778e+01] [-3.12196828e-04 9.99999899e-01 3.24499692e-04 -2.87710573e+00] [ 2.81866622e-03 -3.23618441e-04 9.99995975e-01 -9.92311330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.204860624 meters 0.10091094194220564 Centerline is valid? [True, False] Translation: X:34.44, Y:-2.88, Z:-0.99 [[ 9.99995959e-01 6.56763306e-04 -2.76590885e-03 3.44449254e+01] [-6.54138287e-04 9.99999335e-01 9.49859610e-04 -2.87876939e+00] [ 2.76653084e-03 -9.48046485e-04 9.99995724e-01 -9.92608839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.234860624 meters 0.09808694902318064 Centerline is valid? [False, True] Translation: X:34.44, Y:-2.88, Z:-0.99 [[ 9.99995880e-01 6.76230239e-04 -2.78989273e-03 3.44448887e+01] [-6.73456554e-04 9.99999278e-01 9.95010015e-04 -2.87902543e+00] [ 2.79056357e-03 -9.93127044e-04 9.99995613e-01 -9.92487693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.264860624 meters 0.09890716388178929 Centerline is valid? [True, True] Translation: X:34.47, Y:-2.88, Z:-0.99 [[ 9.99994983e-01 6.47653583e-04 -3.10079896e-03 3.44727438e+01] [-6.46552827e-04 9.99999728e-01 3.55980368e-04 -2.88462690e+00] [ 3.10102867e-03 -3.53973752e-04 9.99995129e-01 -9.94154719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.294860624 meters 0.099497879559354 Centerline is valid? [True, True] Translation: X:34.50, Y:-2.89, Z:-0.99 [[ 9.99994495e-01 6.13787933e-04 -3.26072976e-03 3.45014518e+01] [-6.12570918e-04 9.99999742e-01 3.74219625e-04 -2.89001736e+00] [ 3.26095862e-03 -3.72220137e-04 9.99994614e-01 -9.94687047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.324860624 meters 0.09903299419513843 Centerline is valid? [True, True] Translation: X:34.53, Y:-2.89, Z:-1.00 [[ 9.99994733e-01 -5.56632209e-04 -3.19749476e-03 3.45305191e+01] [ 5.57809067e-04 9.99999777e-01 3.67176131e-04 -2.89431568e+00] [ 3.19728967e-03 -3.68957788e-04 9.99994821e-01 -9.95478617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.354860624 meters 0.10412083333647025 Centerline is valid? [True, False] Translation: X:34.53, Y:-2.89, Z:-1.00 [[ 9.99994992e-01 -5.76073603e-04 -3.11192053e-03 3.45302817e+01] [ 5.77482746e-04 9.99999731e-01 4.51941275e-04 -2.89476020e+00] [ 3.11165934e-03 -4.53736092e-04 9.99995056e-01 -9.95396640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.384860624 meters 0.10159326854238822 Centerline is valid? [False, False] Translation: X:34.53, Y:-2.89, Z:-1.00 [[ 9.99983990e-01 -4.17940437e-03 -3.81471406e-03 3.45323931e+01] [ 4.16644331e-03 9.99985543e-01 -3.39929367e-03 -2.89404287e+00] [ 3.82886593e-03 3.38334546e-03 9.99986946e-01 -9.96397206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.414860624 meters 0.10043212361515902 Centerline is valid? [False, False] Translation: X:34.53, Y:-2.90, Z:-1.00 [[ 9.99995256e-01 -7.75822368e-04 -2.98110057e-03 3.45301187e+01] [ 7.77221175e-04 9.99999588e-01 4.68095223e-04 -2.89563413e+00] [ 2.98073619e-03 -4.70409976e-04 9.99995447e-01 -9.95365584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.444860624 meters 0.10052864939357077 Centerline is valid? [False, False] Translation: X:34.53, Y:-2.90, Z:-1.00 [[ 9.99995649e-01 -6.97471116e-04 -2.86613055e-03 3.45301608e+01] [ 6.99491431e-04 9.99999508e-01 7.03950687e-04 -2.89604776e+00] [ 2.86563815e-03 -7.05952458e-04 9.99995645e-01 -9.95743731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.474860624 meters 0.10357814204022399 Centerline is valid? [False, False] Translation: X:34.53, Y:-2.90, Z:-1.00 [[ 9.99996240e-01 -6.63200297e-04 -2.66097202e-03 3.45299679e+01] [ 6.65655619e-04 9.99999353e-01 9.21936646e-04 -2.89663667e+00] [ 2.66035887e-03 -9.23704470e-04 9.99996035e-01 -9.96041570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.504860624 meters 0.10320437407738145 Centerline is valid? [False, False] Translation: X:34.53, Y:-2.90, Z:-1.00 [[ 9.99996906e-01 -7.67823340e-04 -2.36622651e-03 3.45293107e+01] [ 7.70424488e-04 9.99999100e-01 1.09856578e-03 -2.89776355e+00] [ 2.36538088e-03 -1.10038538e-03 9.99996597e-01 -9.95917650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.534860624 meters 0.10585797717833678 Centerline is valid? [False, False] Translation: X:34.53, Y:-2.90, Z:-1.00 [[ 9.99997113e-01 -7.35755281e-04 -2.28739297e-03 3.45293778e+01] [ 7.38452004e-04 9.99999033e-01 1.17832964e-03 -2.89788586e+00] [ 2.28652380e-03 -1.18001537e-03 9.99996690e-01 -9.96216321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.564860624 meters 0.10428687211305569 Centerline is valid? [False, False] Translation: X:34.53, Y:-2.90, Z:-1.00 [[ 9.99997206e-01 -6.15537632e-04 -2.28250429e-03 3.45295934e+01] [ 6.18643541e-04 9.99998883e-01 1.36028974e-03 -2.89807550e+00] [ 2.28166443e-03 -1.36169800e-03 9.99996470e-01 -9.96504401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.594860624 meters 0.10627020006384472 Centerline is valid? [False, False] Translation: X:34.53, Y:-2.90, Z:-1.00 [[ 9.99997008e-01 -8.79564799e-04 -2.28274344e-03 3.45294830e+01] [ 8.81567211e-04 9.99999227e-01 8.76337297e-04 -2.89690864e+00] [ 2.28197088e-03 -8.78347066e-04 9.99997011e-01 -9.96258855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.624860624 meters 0.10178074412454588 Centerline is valid? [False, False] Translation: X:34.53, Y:-2.90, Z:-1.00 [[ 9.99996817e-01 -9.44154317e-04 -2.33956890e-03 3.45296416e+01] [ 9.45884613e-04 9.99999280e-01 7.38582911e-04 -2.89635842e+00] [ 2.33886988e-03 -7.40793523e-04 9.99996990e-01 -9.96305515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.654860624 meters 0.10203389402013775 Centerline is valid? [False, False] Translation: X:34.53, Y:-2.90, Z:-1.00 [[ 9.99996631e-01 -9.18293707e-04 -2.42810001e-03 3.45299605e+01] [ 9.19995508e-04 9.99999332e-01 6.99853681e-04 -2.89598051e+00] [ 2.42745572e-03 -7.02085164e-04 9.99996807e-01 -9.96486959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.684860624 meters 0.10369465828328601 Centerline is valid? [False, False] Translation: X:34.53, Y:-2.90, Z:-1.00 [[ 9.99996746e-01 -9.37077258e-04 -2.37293108e-03 3.45298690e+01] [ 9.38678092e-04 9.99999333e-01 6.73599462e-04 -2.89598949e+00] [ 2.37229828e-03 -6.75824688e-04 9.99996958e-01 -9.96497725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.714860624 meters 0.10065060962002081 Centerline is valid? [False, False] Translation: X:34.53, Y:-2.90, Z:-1.00 [[ 9.99996924e-01 -7.66798143e-04 -2.35882738e-03 3.45300403e+01] [ 7.69014980e-04 9.99999263e-01 9.39041465e-04 -2.89671618e+00] [ 2.35810559e-03 -9.40852550e-04 9.99996777e-01 -9.96738038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.744860624 meters 0.10114393350449337 Centerline is valid? [False, False] Translation: X:34.53, Y:-2.90, Z:-1.00 [[ 9.99996656e-01 -9.32064935e-04 -2.41221261e-03 3.45300700e+01] [ 9.33580161e-04 9.99999368e-01 6.27098183e-04 -2.89599896e+00] [ 2.41162658e-03 -6.29348080e-04 9.99996894e-01 -9.96632069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.774860624 meters 0.10139036906079088 Centerline is valid? [False, False] Translation: X:34.53, Y:-2.90, Z:-1.00 [[ 9.99995989e-01 -7.67414276e-04 -2.72634529e-03 3.45310407e+01] [ 7.69034234e-04 9.99999528e-01 5.93188061e-04 -2.89508158e+00] [ 2.72588878e-03 -5.95282335e-04 9.99996108e-01 -9.97110566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.804860624 meters 0.09895661371569471 Centerline is valid? [False, True] Translation: X:34.53, Y:-2.89, Z:-1.00 [[ 9.99995216e-01 -9.13200117e-04 -2.95528307e-03 3.45314703e+01] [ 9.13591714e-04 9.99999574e-01 1.31160226e-04 -2.89359304e+00] [ 2.95516204e-03 -1.33859520e-04 9.99995625e-01 -9.97085320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.834860624 meters 0.10004300284015985 Centerline is valid? [True, False] Translation: X:34.53, Y:-2.89, Z:-1.00 [[ 9.99994534e-01 -8.68997786e-04 -3.18999112e-03 3.45322393e+01] [ 8.68776853e-04 9.99999620e-01 -7.06431492e-05 -2.89235600e+00] [ 3.19005129e-03 6.78713726e-05 9.99994909e-01 -9.97504308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.864860624 meters 0.09844321700902332 Centerline is valid? [False, True] Translation: X:34.53, Y:-2.89, Z:-1.00 [[ 9.99992007e-01 -3.25542568e-04 -3.98501003e-03 3.45342875e+01] [ 3.24535450e-04 9.99999915e-01 -2.53370711e-04 -2.88984146e+00] [ 3.98509218e-03 2.52075409e-04 9.99992028e-01 -9.98370931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.894860624 meters 0.0968057615075449 Centerline is valid? [True, True] Translation: X:34.57, Y:-2.89, Z:-1.00 [[ 9.99987879e-01 2.34017932e-03 -4.33196255e-03 3.45655363e+01] [-2.33811527e-03 9.99997151e-01 4.81471256e-04 -2.88909109e+00] [ 4.33307694e-03 -4.71336792e-04 9.99990501e-01 -9.99228614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.924860624 meters 0.09499753811845582 Centerline is valid? [True, True] Translation: X:34.60, Y:-2.89, Z:-1.00 [[ 9.99973370e-01 5.45797583e-03 -4.84462047e-03 3.45966779e+01] [-5.45543039e-03 9.99984974e-01 5.38475563e-04 -2.88790405e+00] [ 4.84748667e-03 -5.12031733e-04 9.99988120e-01 -1.00014614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.954860624 meters 0.09441216477619149 Centerline is valid? [True, True] Translation: X:34.63, Y:-2.89, Z:-1.00 [[ 9.99967850e-01 6.92954661e-03 -4.03494710e-03 3.46263669e+01] [-6.92779776e-03 9.99975903e-01 4.47241048e-04 -2.88824746e+00] [ 4.03794905e-03 -4.19273371e-04 9.99991760e-01 -9.99879155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.984860624 meters 0.09396546591646901 Centerline is valid? [True, True] Translation: X:34.66, Y:-2.89, Z:-1.00 [[ 9.99957284e-01 8.24268191e-03 -4.18192330e-03 3.46566780e+01] [-8.24081313e-03 9.99965936e-01 4.63905080e-04 -2.88728870e+00] [ 4.18560467e-03 -4.29422816e-04 9.99991148e-01 -9.99519995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.014860624 meters 0.09389405385582775 Centerline is valid? [True, True] Translation: X:34.69, Y:-2.89, Z:-1.00 [[ 9.99953186e-01 8.67145368e-03 -4.29332463e-03 3.46855873e+01] [-8.66949437e-03 9.99962307e-01 4.74761494e-04 -2.88871108e+00] [ 4.29727968e-03 -4.37518314e-04 9.99990671e-01 -1.00026650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.044860624 meters 0.09759688251161658 Centerline is valid? [True, True] Translation: X:34.71, Y:-2.90, Z:-1.00 [[ 9.99952338e-01 8.39499426e-03 -4.98446040e-03 3.47129772e+01] [-8.39235266e-03 9.99964632e-01 5.50648869e-04 -2.89709641e+00] [ 4.98890680e-03 -5.08791275e-04 9.99987426e-01 -1.00301470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.074860624 meters 0.09654627987185964 Centerline is valid? [True, True] Translation: X:34.74, Y:-2.90, Z:-1.00 [[ 9.99957622e-01 8.30099341e-03 -3.98091162e-03 3.47421271e+01] [-8.29930863e-03 9.99965464e-01 4.39546404e-04 -2.89798303e+00] [ 3.98442281e-03 -4.06488962e-04 9.99991980e-01 -1.00370784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.104860624 meters 0.09955936488908745 Centerline is valid? [True, True] Translation: X:34.77, Y:-2.90, Z:-1.01 [[ 9.99970665e-01 6.27037928e-03 -4.39899701e-03 3.47704352e+01] [-6.26829829e-03 9.99980236e-01 4.86688523e-04 -2.90372011e+00] [ 4.40196179e-03 -4.59100020e-04 9.99990206e-01 -1.00591295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.134860624 meters 0.10194586790422959 Centerline is valid? [True, False] Translation: X:34.77, Y:-2.90, Z:-1.01 [[ 9.99973715e-01 5.81789165e-03 -4.32692327e-03 3.47702883e+01] [-5.81878180e-03 9.99983052e-01 -1.93161926e-04 -2.90173012e+00] [ 4.32572614e-03 2.18334271e-04 9.99990620e-01 -1.00590366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.164860624 meters 0.09350535194036233 Centerline is valid? [False, True] Translation: X:34.77, Y:-2.90, Z:-1.01 [[ 9.99976772e-01 5.26590033e-03 -4.32730951e-03 3.47699922e+01] [-5.27049018e-03 9.99985560e-01 -1.04995235e-03 -2.89942176e+00] [ 4.32171808e-03 1.07273501e-03 9.99990086e-01 -1.00550095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.194860624 meters 0.09873834727201092 Centerline is valid? [True, True] Translation: X:34.80, Y:-2.91, Z:-1.01 [[ 9.99983122e-01 4.24913161e-03 -3.96247170e-03 3.47972446e+01] [-4.24743444e-03 9.99990884e-01 4.36626982e-04 -2.90986084e+00] [ 3.96429087e-03 -4.19789274e-04 9.99992054e-01 -1.00779163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.224860624 meters 0.0957670075063548 Centerline is valid? [True, True] Translation: X:34.83, Y:-2.90, Z:-1.01 [[ 9.99988937e-01 3.01498819e-03 -3.61055588e-03 3.48275063e+01] [-3.01356919e-03 9.99995380e-01 3.98390095e-04 -2.90496383e+00] [ 3.61174034e-03 -3.87505028e-04 9.99993403e-01 -1.00581528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.254860624 meters 0.0957670075063548 Centerline is valid? [True, True] Translation: X:34.86, Y:-2.91, Z:-1.01 [[ 9.99989134e-01 2.94883534e-03 -3.61067042e-03 3.48558134e+01] [-2.94741962e-03 9.99995577e-01 3.97353533e-04 -2.90802259e+00] [ 3.61182618e-03 -3.86707055e-04 9.99993403e-01 -1.00650432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.284860624 meters 0.10168859737913367 Centerline is valid? [True, False] Translation: X:34.86, Y:-2.91, Z:-1.01 [[ 9.99989015e-01 2.93762515e-03 -3.65245170e-03 3.48561240e+01] [-2.93642276e-03 9.99995633e-01 3.34520995e-04 -2.90746755e+00] [ 3.65341845e-03 -3.23792178e-04 9.99993274e-01 -1.00681631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.314860624 meters 0.0977770751410981 Centerline is valid? [False, True] Translation: X:34.86, Y:-2.91, Z:-1.01 [[ 9.99990685e-01 2.60441322e-03 -3.44196925e-03 3.48556993e+01] [-2.60455315e-03 9.99996607e-01 -3.61728405e-05 -2.90648692e+00] [ 3.44186337e-03 4.51372954e-05 9.99994076e-01 -1.00685111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.344860624 meters 0.10402106781248911 Centerline is valid? [True, False] Translation: X:34.86, Y:-2.91, Z:-1.01 [[ 9.99991336e-01 2.42787644e-03 -3.38120611e-03 3.48556947e+01] [-2.42879205e-03 9.99997015e-01 -2.66715693e-04 -2.90564712e+00] [ 3.38054846e-03 2.74925629e-04 9.99994248e-01 -1.00702902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.374860624 meters 0.09882938323145919 Centerline is valid? [False, True] Translation: X:34.86, Y:-2.90, Z:-1.01 [[ 9.99993050e-01 1.93045497e-03 -3.18945663e-03 3.48552707e+01] [-1.93317593e-03 9.99997770e-01 -8.50246247e-04 -2.90383739e+00] [ 3.18780816e-03 8.56406119e-04 9.99994552e-01 -1.00704067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.404860624 meters 0.1014575287893555 Centerline is valid? [True, False] Translation: X:34.86, Y:-2.90, Z:-1.01 [[ 9.99993644e-01 1.74270544e-03 -3.11054713e-03 3.48552033e+01] [-1.74597463e-03 9.99997926e-01 -1.04859574e-03 -2.90303028e+00] [ 3.10871329e-03 1.05402001e-03 9.99994612e-01 -1.00718894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.434860624 meters 0.10301072502209406 Centerline is valid? [False, False] Translation: X:34.86, Y:-2.90, Z:-1.01 [[ 9.99993925e-01 1.67845981e-03 -3.05487819e-03 3.48552917e+01] [-1.68183359e-03 9.99997978e-01 -1.10215599e-03 -2.90254355e+00] [ 3.05302209e-03 1.10728709e-03 9.99994726e-01 -1.00747580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.464860624 meters 0.1038977328847041 Centerline is valid? [False, False] Translation: X:34.85, Y:-2.90, Z:-1.01 [[ 9.99994737e-01 1.43477524e-03 -2.90981757e-03 3.48549680e+01] [-1.43877625e-03 9.99998022e-01 -1.37337621e-03 -2.90187571e+00] [ 2.90784133e-03 1.37755555e-03 9.99994823e-01 -1.00744845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.494860624 meters 0.10624723263692683 Centerline is valid? [False, False] Translation: X:34.86, Y:-2.90, Z:-1.01 [[ 9.99994750e-01 1.62426341e-03 -2.80390385e-03 3.48553150e+01] [-1.62716864e-03 9.99998141e-01 -1.03416833e-03 -2.90237926e+00] [ 2.80221888e-03 1.03872533e-03 9.99995534e-01 -1.00823997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.524860624 meters 0.10741459253934708 Centerline is valid? [False, False] Translation: X:34.86, Y:-2.90, Z:-1.01 [[ 9.99995026e-01 1.62624569e-03 -2.70244299e-03 3.48552801e+01] [-1.62880045e-03 9.99998228e-01 -9.43419189e-04 -2.90250895e+00] [ 2.70090397e-03 9.47816237e-04 9.99995903e-01 -1.00849971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.554860624 meters 0.1077833962921194 Centerline is valid? [False, False] Translation: X:34.86, Y:-2.90, Z:-1.01 [[ 9.99995352e-01 1.54867399e-03 -2.62647275e-03 3.48552554e+01] [-1.55134841e-03 9.99998280e-01 -1.01652206e-03 -2.90218011e+00] [ 2.62489397e-03 1.02059191e-03 9.99996034e-01 -1.00869058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.584860624 meters 0.10862829935572287 Centerline is valid? [False, False] Translation: X:34.86, Y:-2.90, Z:-1.01 [[ 9.99995218e-01 1.58594948e-03 -2.65499084e-03 3.48555390e+01] [-1.58856939e-03 9.99998253e-01 -9.84971985e-04 -2.90183606e+00] [ 2.65342409e-03 9.89184912e-04 9.99995990e-01 -1.00899434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.614860624 meters 0.10364680637342487 Centerline is valid? [False, False] Translation: X:34.86, Y:-2.90, Z:-1.01 [[ 9.99995770e-01 1.21754008e-03 -2.64155264e-03 3.48552209e+01] [-1.22156236e-03 9.99998096e-01 -1.52161853e-03 -2.90071940e+00] [ 2.63969498e-03 1.52483892e-03 9.99995353e-01 -1.00857035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.644860624 meters 0.10328506531118235 Centerline is valid? [False, False] Translation: X:34.86, Y:-2.90, Z:-1.01 [[ 9.99995548e-01 1.36860960e-03 -2.65154915e-03 3.48555751e+01] [-1.37207692e-03 9.99998206e-01 -1.30628058e-03 -2.90090985e+00] [ 2.64975660e-03 1.30991289e-03 9.99995631e-01 -1.00902177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.674860624 meters 0.10397227831132748 Centerline is valid? [False, False] Translation: X:34.86, Y:-2.90, Z:-1.01 [[ 9.99995940e-01 1.27997287e-03 -2.54585776e-03 3.48553800e+01] [-1.28352340e-03 9.99998205e-01 -1.39348711e-03 -2.90079348e+00] [ 2.54406957e-03 1.39674912e-03 9.99995788e-01 -1.00904265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.704860624 meters 0.1037703652338723 Centerline is valid? [False, False] Translation: X:34.86, Y:-2.90, Z:-1.01 [[ 9.99995286e-01 1.52755718e-03 -2.66347758e-03 3.48559618e+01] [-1.53052655e-03 9.99998209e-01 -1.11316536e-03 -2.90101823e+00] [ 2.66177239e-03 1.11723663e-03 9.99995833e-01 -1.00951147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.734860624 meters 0.10495887132487865 Centerline is valid? [False, False] Translation: X:34.86, Y:-2.90, Z:-1.01 [[ 9.99995564e-01 1.14819157e-03 -2.74828377e-03 3.48558559e+01] [-1.15318290e-03 9.99997687e-01 -1.81527070e-03 -2.89918618e+00] [ 2.74619313e-03 1.81843192e-03 9.99994576e-01 -1.00912660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.764860624 meters 0.1030235329317658 Centerline is valid? [False, False] Translation: X:34.86, Y:-2.90, Z:-1.01 [[ 9.99995240e-01 1.10517171e-03 -2.88063856e-03 3.48562120e+01] [-1.11106563e-03 9.99997291e-01 -2.04525076e-03 -2.89819837e+00] [ 2.87837040e-03 2.04844160e-03 9.99993759e-01 -1.00922364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.794860624 meters 0.10456207230875457 Centerline is valid? [False, False] Translation: X:34.86, Y:-2.90, Z:-1.01 [[ 9.99994956e-01 9.90469714e-04 -3.01769166e-03 3.48565191e+01] [-9.97639489e-04 9.99996681e-01 -2.37533550e-03 -2.89697498e+00] [ 3.01532895e-03 2.37833409e-03 9.99992626e-01 -1.00926820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.824860624 meters 0.10463286193556007 Centerline is valid? [False, False] Translation: X:34.86, Y:-2.90, Z:-1.01 [[ 9.99993657e-01 1.28708220e-03 -3.32093395e-03 3.48575495e+01] [-1.29448006e-03 9.99996684e-01 -2.22645821e-03 -2.89655310e+00] [ 3.31805730e-03 2.23074297e-03 9.99992007e-01 -1.00982251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.854860624 meters 0.10051525581723944 Centerline is valid? [False, False] Translation: X:34.86, Y:-2.90, Z:-1.01 [[ 9.99992695e-01 1.47364605e-03 -3.52672921e-03 3.48582764e+01] [-1.48126549e-03 9.99996573e-01 -2.15884768e-03 -2.89603045e+00] [ 3.52353575e-03 2.16405593e-03 9.99991451e-01 -1.01026895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.884860624 meters 0.10507274402488555 Centerline is valid? [False, False] Translation: X:34.86, Y:-2.89, Z:-1.01 [[ 9.99991791e-01 1.38664671e-03 -3.80714832e-03 3.48587375e+01] [-1.39668552e-03 9.99995552e-01 -2.63543844e-03 -2.89442743e+00] [ 3.80347696e-03 2.64073420e-03 9.99989280e-01 -1.01014156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.914860624 meters 0.10442151934110985 Centerline is valid? [False, False] Translation: X:34.86, Y:-2.89, Z:-1.01 [[ 9.99990158e-01 1.62100281e-03 -4.13001402e-03 3.48597206e+01] [-1.63163488e-03 9.99995361e-01 -2.57227360e-03 -2.89385261e+00] [ 4.12582519e-03 2.57898696e-03 9.99988163e-01 -1.01057887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.944860624 meters 0.10422746233653178 Centerline is valid? [False, False] Translation: X:34.86, Y:-2.89, Z:-1.01 [[ 9.99989879e-01 1.60364098e-03 -4.20364642e-03 3.48600148e+01] [-1.61497686e-03 9.99995065e-01 -2.69467218e-03 -2.89311763e+00] [ 4.19930439e-03 2.70143370e-03 9.99987534e-01 -1.01079174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.974860624 meters 0.09993848414899777 Centerline is valid? [False, True] Translation: X:34.86, Y:-2.89, Z:-1.01 [[ 9.99988328e-01 1.88702076e-03 -4.44780128e-03 3.48609994e+01] [-1.89822163e-03 9.99995035e-01 -2.51541929e-03 -2.89268204e+00] [ 4.44303255e-03 2.52383284e-03 9.99986945e-01 -1.01146681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.004860624 meters 0.10182853294368466 Centerline is valid? [True, False] Translation: X:34.86, Y:-2.89, Z:-1.01 [[ 9.99987818e-01 1.90044648e-03 -4.55547881e-03 3.48613588e+01] [-1.91233310e-03 9.99994775e-01 -2.60636645e-03 -2.89208286e+00] [ 4.55050175e-03 2.61504630e-03 9.99986227e-01 -1.01164736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.034860624 meters 0.09769966385057388 Centerline is valid? [False, True] Translation: X:34.86, Y:-2.89, Z:-1.01 [[ 9.99987349e-01 1.94066756e-03 -4.64072604e-03 3.48617841e+01] [-1.95301920e-03 9.99994559e-01 -2.65852503e-03 -2.89137576e+00] [ 4.63554147e-03 2.66755482e-03 9.99985698e-01 -1.01203476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.064860624 meters 0.09813012782549328 Centerline is valid? [True, True] Translation: X:34.89, Y:-2.90, Z:-1.01 [[ 9.99986481e-01 2.29431302e-03 -4.66615684e-03 3.48904533e+01] [-2.29213545e-03 9.99997262e-01 4.71967852e-04 -2.89694377e+00] [ 4.66722690e-03 -4.61266009e-04 9.99989002e-01 -1.01400296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.094860624 meters 0.0929454274941337 Centerline is valid? [True, True] Translation: X:34.92, Y:-2.89, Z:-1.01 [[ 9.99986430e-01 2.55934868e-03 -4.53762481e-03 3.49197252e+01] [-2.55728193e-03 9.99996624e-01 4.61213987e-04 -2.89039992e+00] [ 4.53878990e-03 -4.49603742e-04 9.99989599e-01 -1.01260417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.124860624 meters 0.09819338928641143 Centerline is valid? [True, True] Translation: X:34.95, Y:-2.90, Z:-1.02 [[ 9.99988835e-01 2.68744952e-03 -3.88675484e-03 3.49467453e+01] [-2.68593579e-03 9.99996315e-01 3.94626661e-04 -2.90326429e+00] [ 3.88780105e-03 -3.84182682e-04 9.99992369e-01 -1.01508547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.154860624 meters 0.09817362343065257 Centerline is valid? [True, True] Translation: X:34.97, Y:-2.91, Z:-1.02 [[ 9.99988088e-01 3.08825124e-03 -3.77976638e-03 3.49742376e+01] [-3.08682464e-03 9.99995162e-01 3.83208409e-04 -2.90670691e+00] [ 3.78093153e-03 -3.71536369e-04 9.99992783e-01 -1.01558836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.184860624 meters 0.09386045717312379 Centerline is valid? [True, True] Translation: X:35.00, Y:-2.90, Z:-1.01 [[ 9.99989730e-01 2.97116875e-03 -3.42237606e-03 3.50034004e+01] [-2.96999895e-03 9.99995529e-01 3.46840104e-04 -2.90179821e+00] [ 3.42339128e-03 -3.36672089e-04 9.99994084e-01 -1.01470436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.214860624 meters 0.09448512863856573 Centerline is valid? [True, True] Translation: X:35.03, Y:-2.91, Z:-1.02 [[ 9.99992396e-01 2.62248648e-03 -2.88625907e-03 3.50314355e+01] [-2.62165415e-03 9.99996521e-01 2.92120954e-04 -2.90632149e+00] [ 2.88701511e-03 -2.84551960e-04 9.99995792e-01 -1.01527703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.244860624 meters 0.09551741482400773 Centerline is valid? [True, True] Translation: X:35.06, Y:-2.91, Z:-1.02 [[ 9.99992317e-01 2.04518781e-03 -3.34410230e-03 3.50587373e+01] [-2.04406856e-03 9.99997854e-01 3.38076934e-04 -2.91157826e+00] [ 3.34478656e-03 -3.31238762e-04 9.99994351e-01 -1.01593399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.274860624 meters 0.09398225588774305 Centerline is valid? [True, True] Translation: X:35.09, Y:-2.91, Z:-1.02 [[ 9.99993888e-01 1.18684076e-03 -3.28855855e-03 3.50880298e+01] [-1.18575242e-03 9.99999242e-01 3.32876824e-04 -2.91287364e+00] [ 3.28895113e-03 -3.28975374e-04 9.99994537e-01 -1.01598264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.304860624 meters 0.09528933185256479 Centerline is valid? [True, True] Translation: X:35.12, Y:-2.92, Z:-1.02 [[ 9.99994189e-01 9.76644688e-04 -3.26617828e-03 3.51159834e+01] [-9.75570534e-04 9.99999470e-01 3.30448744e-04 -2.91958327e+00] [ 3.26649928e-03 -3.27260436e-04 9.99994611e-01 -1.01693262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.334860624 meters 0.09572439575121018 Centerline is valid? [True, True] Translation: X:35.15, Y:-2.92, Z:-1.02 [[ 9.99995502e-01 1.93132780e-04 -2.99304668e-03 3.51451831e+01] [-1.92226886e-04 9.99999936e-01 3.02950897e-04 -2.92428793e+00] [ 2.99310500e-03 -3.02374191e-04 9.99995475e-01 -1.01843445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.364860624 meters 0.09958686022627838 Centerline is valid? [True, True] Translation: X:35.17, Y:-2.94, Z:-1.02 [[ 9.99995667e-01 -1.07622208e-03 -2.74005343e-03 3.51727881e+01] [ 1.07698465e-03 9.99999382e-01 2.76846182e-04 -2.93531218e+00] [ 2.73975379e-03 -2.79795978e-04 9.99996208e-01 -1.01956622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.394860624 meters 0.09774987182131033 Centerline is valid? [True, True] Translation: X:35.20, Y:-2.94, Z:-1.02 [[ 9.99989267e-01 -3.40244587e-03 -3.14467109e-03 3.52029780e+01] [ 3.40346465e-03 9.99994157e-01 3.18678007e-04 -2.93656779e+00] [ 3.14356844e-03 -3.29377364e-04 9.99995005e-01 -1.01881116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.424860624 meters 0.10037892742459174 Centerline is valid? [True, False] Translation: X:35.20, Y:-2.94, Z:-1.02 [[ 9.99989308e-01 -3.45403652e-03 -3.07471143e-03 3.52026005e+01] [ 3.45515880e-03 9.99993966e-01 3.59766863e-04 -2.93719222e+00] [ 3.07345023e-03 -3.70386633e-04 9.99995208e-01 -1.01846861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.454860624 meters 0.10281375279866123 Centerline is valid? [False, False] Translation: X:35.20, Y:-2.94, Z:-1.02 [[ 9.99990546e-01 -3.01968121e-03 -3.12890738e-03 3.52031483e+01] [ 3.02286313e-03 9.99994918e-01 1.01271474e-03 -2.93851648e+00] [ 3.12583341e-03 -1.02216343e-03 9.99994592e-01 -1.01907793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.484860624 meters 0.09610656798189261 Centerline is valid? [False, True] Translation: X:35.20, Y:-2.94, Z:-1.02 [[ 9.99991581e-01 -2.64885190e-03 -3.13393995e-03 3.52033997e+01] [ 2.65399909e-03 9.99995134e-01 1.63938473e-03 -2.94013688e+00] [ 3.12958221e-03 -1.64768840e-03 9.99993745e-01 -1.01939818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.514860624 meters 0.09634342234313766 Centerline is valid? [True, True] Translation: X:35.23, Y:-2.94, Z:-1.02 [[ 9.99983325e-01 -3.90381351e-03 -4.25561157e-03 3.52331060e+01] [ 3.90573653e-03 9.99992274e-01 4.43661959e-04 -2.94426912e+00] [ 4.25384672e-03 -4.60275859e-04 9.99990846e-01 -1.01937132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.544860624 meters 0.09727469361465096 Centerline is valid? [True, True] Translation: X:35.26, Y:-2.95, Z:-1.02 [[ 9.99977813e-01 -4.81401169e-03 -4.60416890e-03 3.52631946e+01] [ 4.81627371e-03 9.99988286e-01 4.80337101e-04 -2.95034647e+00] [ 4.60180262e-03 -5.02501381e-04 9.99989285e-01 -1.02077035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.574860624 meters 0.0992875047619486 Centerline is valid? [True, True] Translation: X:35.29, Y:-2.96, Z:-1.02 [[ 9.99968821e-01 -6.03667549e-03 -5.09066211e-03 3.52913311e+01] [ 6.03945245e-03 9.99981622e-01 5.30303942e-04 -2.95919712e+00] [ 5.08736728e-03 -5.61032220e-04 9.99986902e-01 -1.02141184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.604860624 meters 0.10014348594278506 Centerline is valid? [True, False] Translation: X:35.29, Y:-2.96, Z:-1.02 [[ 9.99969894e-01 -5.81963097e-03 -5.13263474e-03 3.52914012e+01] [ 5.82436720e-03 9.99982626e-01 9.08302749e-04 -2.96035015e+00] [ 5.12725958e-03 -9.38169752e-04 9.99986415e-01 -1.02136195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.634860624 meters 0.10080368371905497 Centerline is valid? [False, False] Translation: X:35.29, Y:-2.96, Z:-1.02 [[ 9.99972272e-01 -5.32292549e-03 -5.20792318e-03 3.52919860e+01] [ 5.33166795e-03 9.99984398e-01 1.66624221e-03 -2.96187463e+00] [ 5.19897264e-03 -1.69396292e-03 9.99985050e-01 -1.02194264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.664860624 meters 0.10167474775994673 Centerline is valid? [False, False] Translation: X:35.29, Y:-2.96, Z:-1.02 [[ 9.99974180e-01 -5.00956439e-03 -5.15209272e-03 3.52920650e+01] [ 5.02121784e-03 9.99984859e-01 2.25144324e-03 -2.96345757e+00] [ 5.14073596e-03 -2.27725488e-03 9.99984193e-01 -1.02220181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.694860624 meters 0.10023624937700892 Centerline is valid? [False, False] Translation: X:35.28, Y:-2.97, Z:-1.03 [[ 9.99997906e-01 -2.25333745e-04 2.03411536e-03 3.52820657e+01] [ 2.25795590e-04 9.99999949e-01 -2.26822501e-04 -2.96778875e+00] [-2.03406415e-03 2.27281320e-04 9.99997905e-01 -1.02578740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.724860624 meters 0.11021032508009695 Centerline is valid? [False, False] Translation: X:35.28, Y:-2.97, Z:-1.03 [[ 9.99998043e-01 2.92666595e-04 1.95646214e-03 3.52825794e+01] [-2.93794783e-04 9.99999791e-01 5.76384736e-04 -2.96954931e+00] [-1.95629304e-03 -5.76958407e-04 9.99997920e-01 -1.02627208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.754860624 meters 0.09913443722705657 Centerline is valid? [False, True] Translation: X:35.28, Y:-2.97, Z:-1.03 [[ 9.99998050e-01 4.57169739e-04 1.92126742e-03 3.52824007e+01] [-4.58855220e-04 9.99999510e-01 8.76926446e-04 -2.97087796e+00] [-1.92086557e-03 -8.77806320e-04 9.99997770e-01 -1.02589272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.784860624 meters 0.09817222159963919 Centerline is valid? [True, True] Translation: X:35.31, Y:-2.97, Z:-1.03 [[ 9.99997983e-01 5.22685468e-04 1.93924586e-03 3.53134523e+01] [-5.22261187e-04 9.99999840e-01 -2.19286368e-04 -2.97391181e+00] [-1.93936017e-03 2.18273133e-04 9.99998096e-01 -1.02532487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.814860624 meters 0.10427189596053431 Centerline is valid? [True, False] Translation: X:35.31, Y:-2.98, Z:-1.03 [[ 9.99997930e-01 7.98863082e-04 1.87115672e-03 3.53135115e+01] [-7.99289537e-04 9.99999655e-01 2.27173329e-04 -2.97544918e+00] [-1.87097460e-03 -2.28668455e-04 9.99998224e-01 -1.02517680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.844860624 meters 0.09855720336837784 Centerline is valid? [False, True] Translation: X:35.31, Y:-2.98, Z:-1.02 [[ 9.99997776e-01 9.26558742e-04 1.89461099e-03 3.53133152e+01] [-9.27611423e-04 9.99999416e-01 5.54814962e-04 -2.97672859e+00] [-1.89409581e-03 -5.56571191e-04 9.99998051e-01 -1.02496205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.874860624 meters 0.10225180349263265 Centerline is valid? [True, False] Translation: X:35.31, Y:-2.98, Z:-1.03 [[ 9.99997154e-01 1.41575327e-03 1.92015904e-03 3.53134789e+01] [-1.41854124e-03 9.99997941e-01 1.45136158e-03 -2.97936611e+00] [-1.91810032e-03 -1.45408127e-03 9.99997103e-01 -1.02522533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.904860624 meters 0.09733479078447241 Centerline is valid? [False, True] Translation: X:35.31, Y:-2.98, Z:-1.03 [[ 9.99996882e-01 1.54163007e-03 1.96447229e-03 3.53133137e+01] [-1.54508948e-03 9.99997256e-01 1.76068455e-03 -2.98052622e+00] [-1.96175257e-03 -1.76371434e-03 9.99996520e-01 -1.02511113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.934860624 meters 0.09710063214365107 Centerline is valid? [True, True] Translation: X:35.34, Y:-2.99, Z:-1.02 [[ 9.99998064e-01 1.21872732e-03 1.54508834e-03 3.53434384e+01] [-1.21845201e-03 9.99999242e-01 -1.79110991e-04 -2.98543568e+00] [-1.54530546e-03 1.77228028e-04 9.99998790e-01 -1.02494143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.964860624 meters 0.09891054054237154 Centerline is valid? [True, True] Translation: X:35.37, Y:-2.99, Z:-1.03 [[ 9.99998727e-01 1.25032181e-03 9.91151796e-04 3.53732909e+01] [-1.25020906e-03 9.99999212e-01 -1.14368063e-04 -2.99326316e+00] [-9.91294012e-04 1.13128770e-04 9.99999502e-01 -1.02703409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.994860624 meters 0.09774186456194954 Centerline is valid? [True, True] Translation: X:35.40, Y:-3.00, Z:-1.03 [[ 9.99997550e-01 1.46034183e-03 1.66367425e-03 3.54037176e+01] [-1.46002292e-03 9.99998916e-01 -1.92885608e-04 -2.99543954e+00] [-1.66395412e-03 1.90456133e-04 9.99998597e-01 -1.02745499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.024860624 meters 0.09897850167655173 Centerline is valid? [True, True] Translation: X:35.43, Y:-3.00, Z:-1.03 [[ 9.99997024e-01 1.96325870e-03 1.44861752e-03 3.54338277e+01] [-1.96301818e-03 9.99998059e-01 -1.67433518e-04 -3.00162098e+00] [-1.44894342e-03 1.64589357e-04 9.99998937e-01 -1.02884940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.054860624 meters 0.09408544839959779 Centerline is valid? [True, True] Translation: X:35.46, Y:-3.00, Z:-1.03 [[ 9.99996970e-01 2.16391476e-03 1.17363009e-03 3.54647232e+01] [-2.16375652e-03 9.99997650e-01 -1.36089626e-04 -2.99674982e+00] [-1.17392181e-03 1.33549763e-04 9.99999302e-01 -1.02693052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.084860624 meters 0.09727366182545322 Centerline is valid? [True, True] Translation: X:35.49, Y:-3.01, Z:-1.03 [[ 9.99995078e-01 2.94657040e-03 1.07738768e-03 3.54936688e+01] [-2.94643749e-03 9.99995651e-01 -1.24929727e-04 -3.00695404e+00] [-1.07775111e-03 1.21754657e-04 9.99999412e-01 -1.03000862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.114860624 meters 0.09518225630994202 Centerline is valid? [True, True] Translation: X:35.52, Y:-3.01, Z:-1.03 [[ 9.99990103e-01 4.12820265e-03 1.65862885e-03 3.55237453e+01] [-4.12788701e-03 9.99991461e-01 -1.93674688e-04 -3.00806635e+00] [-1.65941421e-03 1.86826139e-04 9.99998606e-01 -1.03033534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.144860624 meters 0.09586374884556842 Centerline is valid? [True, True] Translation: X:35.55, Y:-3.01, Z:-1.03 [[ 9.99987066e-01 4.42128045e-03 2.51379677e-03 3.55526948e+01] [-4.42055922e-03 9.99990187e-01 -2.92392041e-04 -3.01273396e+00] [-2.51506485e-03 2.81275872e-04 9.99996798e-01 -1.03157149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.174860624 meters 0.09564807873991815 Centerline is valid? [True, True] Translation: X:35.58, Y:-3.02, Z:-1.03 [[ 9.99982247e-01 5.27578212e-03 2.76963239e-03 3.55827473e+01] [-5.27491181e-03 9.99986036e-01 -3.21442295e-04 -3.01639464e+00] [-2.77128957e-03 3.06827022e-04 9.99996113e-01 -1.03220609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.204860624 meters 0.09564807873991815 Centerline is valid? [True, True] Translation: X:35.61, Y:-3.02, Z:-1.03 [[ 9.99982421e-01 5.24279060e-03 2.76958056e-03 3.56118850e+01] [-5.24191895e-03 9.99986209e-01 -3.21889791e-04 -3.01973570e+00] [-2.77122997e-03 3.07366216e-04 9.99996113e-01 -1.03317113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.234860624 meters 0.10198935461910295 Centerline is valid? [True, False] Translation: X:35.61, Y:-3.02, Z:-1.03 [[ 9.99982624e-01 5.22035375e-03 2.73844349e-03 3.56118990e+01] [-5.21928146e-03 9.99986300e-01 -3.98571042e-04 -3.01962349e+00] [-2.74048666e-03 3.84271409e-04 9.99996171e-01 -1.03308894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.264860624 meters 0.09618306323555847 Centerline is valid? [False, True] Translation: X:35.61, Y:-3.02, Z:-1.03 [[ 9.99983621e-01 5.05313268e-03 2.68762915e-03 3.56117333e+01] [-5.05118447e-03 9.99986975e-01 -7.31175609e-04 -3.01911986e+00] [-2.69128887e-03 7.17587922e-04 9.99996121e-01 -1.03268472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.294860624 meters 0.09732993785331655 Centerline is valid? [True, True] Translation: X:35.64, Y:-3.02, Z:-1.04 [[ 9.99983072e-01 5.26598123e-03 2.47500838e-03 3.56408572e+01] [-5.26530005e-03 9.99986099e-01 -2.81659725e-04 -3.02459475e+00] [-2.47645719e-03 2.68623295e-04 9.99996897e-01 -1.03506435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.324860624 meters 0.10186923452960284 Centerline is valid? [True, False] Translation: X:35.64, Y:-3.02, Z:-1.04 [[ 9.99982625e-01 5.39282023e-03 2.38060124e-03 3.56412028e+01] [-5.39242589e-03 9.99985446e-01 -1.72036974e-04 -3.02469965e+00] [-2.38149436e-03 1.59196769e-04 9.99997152e-01 -1.03527471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.354860624 meters 0.09808007523698103 Centerline is valid? [False, True] Translation: X:35.64, Y:-3.02, Z:-1.04 [[ 9.99983213e-01 5.30770610e-03 2.32427113e-03 3.56411628e+01] [-5.30692234e-03 9.99985859e-01 -3.43244961e-04 -3.02446054e+00] [-2.32606010e-03 3.30904473e-04 9.99997240e-01 -1.03506359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.384860624 meters 0.09748320945197267 Centerline is valid? [True, True] Translation: X:35.67, Y:-3.03, Z:-1.04 [[ 9.99978138e-01 6.19651777e-03 2.30795629e-03 3.56711901e+01] [-6.19593646e-03 9.99980771e-01 -2.58937317e-04 -3.02714624e+00] [-2.30951643e-03 2.44631705e-04 9.99997303e-01 -1.03565693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.414860624 meters 0.09884844874145526 Centerline is valid? [True, True] Translation: X:35.70, Y:-3.03, Z:-1.04 [[ 9.99972200e-01 6.77692326e-03 3.11013712e-03 3.57000922e+01] [-6.77587359e-03 9.99976983e-01 -3.47909761e-04 -3.03306631e+00] [-3.11242329e-03 3.26826193e-04 9.99995103e-01 -1.03802089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.444860624 meters 0.10002820821226545 Centerline is valid? [True, False] Translation: X:35.70, Y:-3.03, Z:-1.04 [[ 9.99972794e-01 6.68598871e-03 3.11583847e-03 3.56998256e+01] [-6.68456732e-03 9.99977549e-01 -4.66372688e-04 -3.03309729e+00] [-3.11888668e-03 4.45531968e-04 9.99995037e-01 -1.03765244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.474860624 meters 0.10024717132279466 Centerline is valid? [False, False] Translation: X:35.70, Y:-3.03, Z:-1.04 [[ 9.99973390e-01 6.58683499e-03 3.13587675e-03 3.56996283e+01] [-6.58498769e-03 9.99978139e-01 -5.99044240e-04 -3.03304694e+00] [-3.13975400e-03 5.78378590e-04 9.99994904e-01 -1.03742957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.504860624 meters 0.10113931595699194 Centerline is valid? [False, False] Translation: X:35.70, Y:-3.03, Z:-1.04 [[ 9.99972872e-01 6.65024328e-03 3.16691327e-03 3.56996737e+01] [-6.64869782e-03 9.99977773e-01 -4.98280197e-04 -3.03332009e+00] [-3.17015656e-03 4.77210831e-04 9.99994861e-01 -1.03753685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.534860624 meters 0.10200546214865397 Centerline is valid? [False, False] Translation: X:35.70, Y:-3.03, Z:-1.04 [[ 9.99972509e-01 6.68151216e-03 3.21529906e-03 3.56995731e+01] [-6.68027515e-03 9.99977609e-01 -3.95312598e-04 -3.03376482e+00] [-3.21786835e-03 3.73822649e-04 9.99994753e-01 -1.03754694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.564860624 meters 0.09298830065420556 Centerline is valid? [False, True] Translation: X:35.70, Y:-3.03, Z:-1.04 [[ 9.99992174e-01 2.94396065e-03 2.64281887e-03 3.57009875e+01] [-2.93260210e-03 9.99986491e-01 -4.29152673e-03 -3.03346590e+00] [-2.65541725e-03 4.28374281e-03 9.99987299e-01 -1.03804083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.594860624 meters 0.09422403619315811 Centerline is valid? [True, True] Translation: X:35.73, Y:-3.04, Z:-1.04 [[ 9.99994787e-01 1.59367043e-03 2.80813976e-03 3.57306997e+01] [-1.59282308e-03 9.99998685e-01 -3.03959659e-04 -3.04116916e+00] [-2.80862048e-03 2.99485205e-04 9.99996011e-01 -1.04077408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.624860624 meters 0.09435826253541135 Centerline is valid? [True, True] Translation: X:35.76, Y:-3.05, Z:-1.04 [[ 9.99995881e-01 4.12193732e-04 2.84034985e-03 3.57613324e+01] [-4.11323390e-04 9.99999868e-01 -3.06997970e-04 -3.04519911e+00] [-2.84047602e-03 3.05828403e-04 9.99995919e-01 -1.04185753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.654860624 meters 0.09668662835639612 Centerline is valid? [True, True] Translation: X:35.79, Y:-3.05, Z:-1.04 [[ 9.99992313e-01 -7.50783240e-04 3.84836486e-03 3.57907813e+01] [ 7.52390406e-04 9.99999630e-01 -4.16192144e-04 -3.05369758e+00] [-3.84805097e-03 4.19084418e-04 9.99992508e-01 -1.04371856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.684860624 meters 0.09770522489137817 Centerline is valid? [True, True] Translation: X:35.82, Y:-3.06, Z:-1.05 [[ 9.99988616e-01 -2.56931652e-03 4.02075989e-03 3.58209548e+01] [ 2.57108580e-03 9.99996600e-01 -4.34928387e-04 -3.05934866e+00] [-4.01962875e-03 4.45261154e-04 9.99991822e-01 -1.04505913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.714860624 meters 0.09878799929414411 Centerline is valid? [True, True] Translation: X:35.85, Y:-3.07, Z:-1.05 [[ 9.99975294e-01 -5.51907754e-03 4.35326313e-03 3.58514093e+01] [ 5.52117876e-03 9.99984647e-01 -4.70808447e-04 -3.06563894e+00] [-4.35059787e-03 4.94831959e-04 9.99990414e-01 -1.04730496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.744860624 meters 0.1025995419419491 Centerline is valid? [True, False] Translation: X:35.85, Y:-3.07, Z:-1.05 [[ 9.99977235e-01 -5.10633859e-03 4.41078951e-03 3.58517129e+01] [ 5.10518997e-03 9.99986932e-01 2.71631978e-04 -3.06723139e+00] [-4.41211891e-03 -2.49107876e-04 9.99990236e-01 -1.04791102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.774860624 meters 0.10261675448789517 Centerline is valid? [False, False] Translation: X:35.85, Y:-3.07, Z:-1.05 [[ 9.99978209e-01 -4.84618438e-03 4.48294873e-03 3.58517912e+01] [ 4.84267610e-03 9.99987960e-01 7.93108163e-04 -3.06857354e+00] [-4.48673830e-03 -7.71381411e-04 9.99989637e-01 -1.04823873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.804860624 meters 0.09968008094444988 Centerline is valid? [False, True] Translation: X:35.85, Y:-3.07, Z:-1.05 [[ 9.99980353e-01 -4.42873210e-03 4.43631277e-03 3.58522194e+01] [ 4.42204689e-03 9.99989074e-01 1.51560658e-03 -3.07013219e+00] [-4.44297652e-03 -1.49595922e-03 9.99989011e-01 -1.04875334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.834860624 meters 0.10093064808337147 Centerline is valid? [True, False] Translation: X:35.85, Y:-3.07, Z:-1.05 [[ 9.99978912e-01 -4.48283343e-03 4.69883757e-03 3.58514845e+01] [ 4.47444289e-03 9.99988379e-01 1.79465555e-03 -3.07153221e+00] [-4.70682811e-03 -1.77359302e-03 9.99987350e-01 -1.04840524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.864860624 meters 0.1009376694194718 Centerline is valid? [False, False] Translation: X:35.85, Y:-3.07, Z:-1.05 [[ 9.99980115e-01 -4.27361995e-03 4.63743387e-03 3.58517613e+01] [ 4.26373297e-03 9.99988621e-01 2.13979119e-03 -3.07223757e+00] [-4.64652575e-03 -2.11997586e-03 9.99986958e-01 -1.04863361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.894860624 meters 0.10224671803905834 Centerline is valid? [False, False] Translation: X:35.85, Y:-3.07, Z:-1.05 [[ 9.99981171e-01 -4.08997197e-03 4.57498954e-03 3.58520800e+01] [ 4.07888906e-03 9.99988731e-01 2.42921202e-03 -3.07270494e+00] [-4.58487339e-03 -2.41050540e-03 9.99986584e-01 -1.04892163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.924860624 meters 0.10129716372915473 Centerline is valid? [False, False] Translation: X:35.85, Y:-3.07, Z:-1.05 [[ 9.99980527e-01 -4.14264521e-03 4.66730934e-03 3.58516139e+01] [ 4.13111450e-03 9.99988398e-01 2.47746452e-03 -3.07347539e+00] [-4.67751845e-03 -2.45813509e-03 9.99986039e-01 -1.04850183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.954860624 meters 0.1038749931659815 Centerline is valid? [False, False] Translation: X:35.85, Y:-3.07, Z:-1.05 [[ 9.99982427e-01 -3.88456957e-03 4.47841988e-03 3.58521359e+01] [ 3.87219093e-03 9.99988668e-01 2.76943007e-03 -3.07403033e+00] [-4.48912717e-03 -2.75204011e-03 9.99986137e-01 -1.04873022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.984860624 meters 0.10059251664538307 Centerline is valid? [False, False] Translation: X:35.85, Y:-3.07, Z:-1.05 [[ 9.99983859e-01 -3.68787834e-03 4.32213987e-03 3.58526196e+01] [ 3.67510587e-03 9.99988868e-01 2.95935231e-03 -3.07424988e+00] [-4.33300549e-03 -2.94342022e-03 9.99986281e-01 -1.04897811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.014860624 meters 0.10444721553251021 Centerline is valid? [False, False] Translation: X:35.85, Y:-3.07, Z:-1.05 [[ 9.99984448e-01 -3.66178876e-03 4.20652367e-03 3.58528191e+01] [ 3.64964821e-03 9.99989163e-01 2.89018326e-03 -3.07408211e+00] [-4.21706132e-03 -2.87478598e-03 9.99986976e-01 -1.04893334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.044860624 meters 0.10114493288765665 Centerline is valid? [False, False] Translation: X:35.85, Y:-3.07, Z:-1.05 [[ 9.99985304e-01 -3.58932285e-03 4.06314370e-03 3.58531582e+01] [ 3.57758906e-03 9.99989420e-01 2.89145467e-03 -3.07391130e+00] [-4.07347907e-03 -2.87687592e-03 9.99987565e-01 -1.04900215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.074860624 meters 0.09915785035437281 Centerline is valid? [False, True] Translation: X:35.85, Y:-3.07, Z:-1.05 [[ 9.99986943e-01 -3.42099222e-03 3.79616353e-03 3.58537703e+01] [ 3.40968865e-03 9.99989746e-01 2.98011762e-03 -3.07378734e+00] [-3.80631956e-03 -2.96713497e-03 9.99988354e-01 -1.04914792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.104860624 meters 0.09834581352306863 Centerline is valid? [True, True] Translation: X:35.88, Y:-3.07, Z:-1.05 [[ 9.99994197e-01 8.34576604e-05 3.40570865e-03 3.58848184e+01] [-8.21254041e-05 9.99999920e-01 -3.91321262e-04 -3.07420539e+00] [-3.40574104e-03 3.91039296e-04 9.99994124e-01 -1.04872887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.134860624 meters 0.09813483860926071 Centerline is valid? [True, True] Translation: X:35.92, Y:-3.08, Z:-1.05 [[ 9.99990088e-01 2.17447395e-03 3.88519973e-03 3.59150607e+01] [-2.17275456e-03 9.99997540e-01 -4.46713554e-04 -3.07728533e+00] [-3.88616154e-03 4.38267541e-04 9.99992353e-01 -1.04964115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.164860624 meters 0.09837427032807064 Centerline is valid? [True, True] Translation: X:35.94, Y:-3.08, Z:-1.05 [[ 9.99984862e-01 3.95456782e-03 3.82594305e-03 3.59447878e+01] [-3.95291297e-03 9.99992090e-01 -4.39999555e-04 -3.08069544e+00] [-3.82765280e-03 4.24869274e-04 9.99992584e-01 -1.05151111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.194860624 meters 0.09743467982487942 Centerline is valid? [True, True] Translation: X:35.98, Y:-3.08, Z:-1.05 [[ 9.99979953e-01 5.49256891e-03 3.15036651e-03 3.59755499e+01] [-5.49145562e-03 9.99984856e-01 -3.61924273e-04 -3.08270789e+00] [-3.15230669e-03 3.44616920e-04 9.99994972e-01 -1.05234973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.224860624 meters 0.09894543681187255 Centerline is valid? [True, True] Translation: X:36.01, Y:-3.09, Z:-1.05 [[ 9.99958611e-01 8.55804132e-03 3.08792145e-03 3.60051718e+01] [-8.55698466e-03 9.99963325e-01 -3.55241084e-04 -3.08769564e+00] [-3.09084837e-03 3.28803084e-04 9.99995169e-01 -1.05416008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.254860624 meters 0.10060776477623809 Centerline is valid? [True, False] Translation: X:36.00, Y:-3.09, Z:-1.05 [[ 9.99961889e-01 8.19336629e-03 3.01495736e-03 3.60049846e+01] [-8.19029290e-03 9.99965928e-01 -1.03031877e-03 -3.08619421e+00] [-3.02329641e-03 1.00558612e-03 9.99994924e-01 -1.05366906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.284860624 meters 0.09563245944682502 Centerline is valid? [False, True] Translation: X:36.00, Y:-3.08, Z:-1.05 [[ 9.99964387e-01 7.91407565e-03 2.93120402e-03 3.60049484e+01] [-7.90942213e-03 9.99967447e-01 -1.59578232e-03 -3.08486841e+00] [-2.94373774e-03 1.57254136e-03 9.99994431e-01 -1.05337262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.314860624 meters 0.09435295505128656 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.09, Z:-1.05 [[ 9.99954350e-01 9.16405081e-03 2.70526425e-03 3.60345540e+01] [-9.16326336e-03 9.99957970e-01 -3.03334119e-04 -3.08580617e+00] [-2.70793032e-03 2.78531223e-04 9.99996295e-01 -1.05472031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.344860624 meters 0.0921960533553431 Centerline is valid? [True, True] Translation: X:36.06, Y:-3.08, Z:-1.06 [[ 9.99942480e-01 1.06216837e-02 1.48899100e-03 3.60645957e+01] [-1.06214462e-02 9.99943577e-01 -1.67321019e-04 -3.08407838e+00] [-1.49068422e-03 1.51496157e-04 9.99998877e-01 -1.05556865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.374860624 meters 0.09089534161016746 Centerline is valid? [True, True] Translation: X:36.09, Y:-3.08, Z:-1.06 [[ 9.99940734e-01 1.08689372e-02 6.28092552e-04 3.60936507e+01] [-1.08688942e-02 9.99940929e-01 -7.19853664e-05 -3.08388611e+00] [-6.28837854e-04 6.51544286e-05 9.99999800e-01 -1.05665127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.404860624 meters 0.09435488111034424 Centerline is valid? [True, True] Translation: X:36.12, Y:-3.09, Z:-1.06 [[ 9.99934331e-01 1.14372794e-02 7.22038314e-04 3.61210364e+01] [-1.14372228e-02 9.99934589e-01 -8.24145027e-05 -3.09342143e+00] [-7.22933683e-04 7.41509776e-05 9.99999736e-01 -1.05911256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.434860624 meters 0.09190533822294981 Centerline is valid? [True, True] Translation: X:36.15, Y:-3.09, Z:-1.06 [[ 9.99941841e-01 1.07849196e-02 1.18855796e-05 3.61513794e+01] [-1.07849195e-02 9.99941841e-01 -2.23310635e-06 -3.09064037e+00] [-1.19089722e-05 2.10479146e-06 1.00000000e+00 -1.05861494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.464860624 meters 0.0980857191697798 Centerline is valid? [True, True] Translation: X:36.18, Y:-3.10, Z:-1.06 [[ 9.99944902e-01 1.04766964e-02 -6.57758529e-04 3.61777301e+01] [-1.04766519e-02 9.99945116e-01 7.10964789e-05 -3.10397635e+00] [ 6.58467285e-04 -6.42014545e-05 9.99999781e-01 -1.06278527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.494860624 meters 0.09802580791817725 Centerline is valid? [True, True] Translation: X:36.21, Y:-3.11, Z:-1.06 [[ 9.99944276e-01 1.05458014e-02 4.80942612e-04 3.62062781e+01] [-1.05457760e-02 9.99944390e-01 -5.53139641e-05 -3.10656560e+00] [-4.81499197e-04 5.02389687e-05 9.99999883e-01 -1.06283713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.524860624 meters 0.09295676992600542 Centerline is valid? [True, True] Translation: X:36.24, Y:-3.10, Z:-1.06 [[ 9.99965191e-01 8.33904809e-03 2.78673458e-04 3.62372433e+01] [-8.33903967e-03 9.99965229e-01 -3.13755592e-05 -3.10031568e+00] [-2.78925411e-04 2.90505980e-05 9.99999961e-01 -1.06135741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.554860624 meters 0.09133006653930337 Centerline is valid? [True, True] Translation: X:36.27, Y:-3.10, Z:-1.06 [[ 9.99974143e-01 7.19035487e-03 -1.11574686e-04 3.62668125e+01] [-7.19035363e-03 9.99974149e-01 1.15080101e-05 -3.10093099e+00] [ 1.11654549e-04 -1.07054510e-05 9.99999994e-01 -1.06117262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.584860624 meters 0.09450144306079364 Centerline is valid? [True, True] Translation: X:36.29, Y:-3.11, Z:-1.06 [[ 9.99978956e-01 6.33350346e-03 1.40527705e-03 3.62940926e+01] [-6.33328720e-03 9.99979932e-01 -1.58285022e-04 -3.11017659e+00] [-1.40625135e-03 1.49381668e-04 9.99999000e-01 -1.06308417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.614860624 meters 0.09435950279459031 Centerline is valid? [True, True] Translation: X:36.32, Y:-3.11, Z:-1.06 [[ 9.99986952e-01 5.07976542e-03 5.39580407e-04 3.63240847e+01] [-5.07973349e-03 9.99987096e-01 -6.05172671e-05 -3.11325576e+00] [-5.39880858e-04 5.77755528e-05 9.99999853e-01 -1.06368897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.644860624 meters 0.09597161160648889 Centerline is valid? [True, True] Translation: X:36.35, Y:-3.12, Z:-1.06 [[ 9.99996876e-01 2.43186948e-03 5.78603014e-04 3.63544897e+01] [-2.43183261e-03 9.99997041e-01 -6.44194652e-05 -3.11964127e+00] [-5.78757962e-04 6.30121982e-05 9.99999831e-01 -1.06461747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.674860624 meters 0.09473735301939581 Centerline is valid? [True, True] Translation: X:36.38, Y:-3.12, Z:-1.06 [[ 9.99999434e-01 6.84969803e-04 8.14202317e-04 3.63847802e+01] [-6.84895871e-04 9.99999761e-01 -9.10779293e-05 -3.12049206e+00] [-8.14264508e-04 9.05202340e-05 9.99999664e-01 -1.06397191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.704860624 meters 0.0979960289943067 Centerline is valid? [True, True] Translation: X:36.41, Y:-3.13, Z:-1.07 [[ 9.99999719e-01 -1.60693265e-04 7.32147781e-04 3.64142552e+01] [ 1.60752644e-04 9.99999984e-01 -8.10451120e-05 -3.12954292e+00] [-7.32134746e-04 8.11627839e-05 9.99999729e-01 -1.06603135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.734860624 meters 0.09680281362124338 Centerline is valid? [True, True] Translation: X:36.44, Y:-3.13, Z:-1.07 [[ 9.99999029e-01 -1.25864535e-03 -5.97457707e-04 3.64448907e+01] [ 1.25868530e-03 9.99999206e-01 6.65066439e-05 -3.12998762e+00] [ 5.97373524e-04 -6.72585906e-05 9.99999819e-01 -1.06602745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.764860624 meters 0.09695985535606579 Centerline is valid? [True, True] Translation: X:36.48, Y:-3.13, Z:-1.07 [[ 9.99996698e-01 -1.45401528e-03 -2.11876356e-03 3.64756425e+01] [ 1.45451925e-03 9.99998914e-01 2.36341004e-04 -3.13274698e+00] [ 2.11841762e-03 -2.39422006e-04 9.99997727e-01 -1.06683362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.794860624 meters 0.09624511252481394 Centerline is valid? [True, True] Translation: X:36.51, Y:-3.13, Z:-1.07 [[ 9.99996308e-01 -1.23622481e-03 -2.41997005e-03 3.65062293e+01] [ 1.23688038e-03 9.99999199e-01 2.69422257e-04 -3.13406794e+00] [ 2.41963505e-03 -2.72414476e-04 9.99997036e-01 -1.06712527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.824860624 meters 0.09709496456107612 Centerline is valid? [True, True] Translation: X:36.53, Y:-3.14, Z:-1.07 [[ 9.99998166e-01 3.08301972e-04 -1.89007067e-03 3.65349809e+01] [-3.07906508e-04 9.99999931e-01 2.09519729e-04 -3.13797046e+00] [ 1.89013513e-03 -2.08937380e-04 9.99998192e-01 -1.06829507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.854860624 meters 0.09800496111903598 Centerline is valid? [True, True] Translation: X:36.56, Y:-3.14, Z:-1.07 [[ 9.99994545e-01 2.04848109e-03 -2.59116820e-03 3.65635781e+01] [-2.04774313e-03 9.99997862e-01 2.87420393e-04 -3.14140516e+00] [ 2.59175144e-03 -2.82112779e-04 9.99996602e-01 -1.06951801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.884860624 meters 0.09689125887014315 Centerline is valid? [True, True] Translation: X:36.59, Y:-3.14, Z:-1.07 [[ 9.99987364e-01 4.00348609e-03 -3.04030371e-03 3.65933291e+01] [-4.00247885e-03 9.99991933e-01 3.37307110e-04 -3.14127406e+00] [ 3.04162958e-03 -3.25134097e-04 9.99995321e-01 -1.07009045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.914860624 meters 0.09431574563594868 Centerline is valid? [True, True] Translation: X:36.62, Y:-3.14, Z:-1.07 [[ 9.99973257e-01 6.49167526e-03 -3.36813718e-03 3.66244275e+01] [-6.49045008e-03 9.99978867e-01 3.74561134e-04 -3.13772177e+00] [ 3.37049753e-03 -3.52690390e-04 9.99994258e-01 -1.06975028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.944860624 meters 0.0932526033330679 Centerline is valid? [True, True] Translation: X:36.65, Y:-3.13, Z:-1.07 [[ 9.99892562e-01 1.39530260e-02 -4.49199099e-03 3.66542742e+01] [-1.39509221e-02 9.99902556e-01 4.99364696e-04 -3.13441028e+00] [ 4.49852093e-03 -4.36643629e-04 9.99989786e-01 -1.07083089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.974860624 meters 0.09022215270793824 Centerline is valid? [True, True] Translation: X:36.68, Y:-3.13, Z:-1.07 [[ 9.99828326e-01 1.79064102e-02 -4.76230725e-03 3.66847270e+01] [-1.79040931e-02 9.99839569e-01 5.28751884e-04 -3.12921276e+00] [ 4.77101128e-03 -4.43396319e-04 9.99988520e-01 -1.07006827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.004860624 meters 0.08663334103865723 Centerline is valid? [True, True] Translation: X:36.72, Y:-3.12, Z:-1.07 [[ 9.99748657e-01 2.20435599e-02 -4.08706035e-03 3.67152334e+01] [-2.20418885e-02 9.99756945e-01 4.53564243e-04 -3.12233002e+00] [ 4.09606514e-03 -3.63363715e-04 9.99991545e-01 -1.06950771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.034860624 meters 0.08915882808906443 Centerline is valid? [True, True] Translation: X:36.74, Y:-3.13, Z:-1.07 [[ 9.99632570e-01 2.68160678e-02 -3.95269864e-03 3.67437502e+01] [-2.68145427e-02 9.99640329e-01 4.38339812e-04 -3.12858821e+00] [ 3.96303152e-03 -3.32188946e-04 9.99992092e-01 -1.07333611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.064860624 meters 0.0861227778671853 Centerline is valid? [True, True] Translation: X:36.78, Y:-3.12, Z:-1.07 [[ 9.99390417e-01 3.46680571e-02 -4.11352655e-03 3.67752909e+01] [-3.46664683e-02 9.99398833e-01 4.56934804e-04 -3.12048921e+00] [ 4.12689467e-03 -3.14054827e-04 9.99991435e-01 -1.07440673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.094860624 meters 0.0861227778671853 Centerline is valid? [True, True] Translation: X:36.80, Y:-3.12, Z:-1.08 [[ 9.99393696e-01 3.45733425e-02 -4.11383410e-03 3.68026763e+01] [-3.45717642e-02 9.99402115e-01 4.54165877e-04 -3.12342491e+00] [ 4.12707653e-03 -3.11668012e-04 9.99991435e-01 -1.07515367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.124860624 meters 0.08608187188278708 Centerline is valid? [True, True] Translation: X:36.83, Y:-3.12, Z:-1.08 [[ 9.99283684e-01 3.77150192e-02 -3.11401449e-03 3.68321210e+01] [-3.77141257e-02 9.99288510e-01 3.45179032e-04 -3.12330291e+00] [ 3.12481733e-03 -2.27489441e-04 9.99995092e-01 -1.07682227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.154860624 meters 0.08424711800320067 Centerline is valid? [True, True] Translation: X:36.86, Y:-3.12, Z:-1.08 [[ 9.99157088e-01 4.09643382e-02 -2.65249389e-03 3.68634943e+01] [-4.09637004e-02 9.99160592e-01 2.94358814e-04 -3.11951618e+00] [ 2.66232558e-03 -1.85454730e-04 9.99996439e-01 -1.07597732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.184860624 meters 0.08384572208223354 Centerline is valid? [True, True] Translation: X:36.89, Y:-3.12, Z:-1.08 [[ 9.99081149e-01 4.28186761e-02 -1.84914844e-03 3.68937471e+01] [-4.28183700e-02 9.99082852e-01 2.04809328e-04 -3.11863693e+00] [ 1.85622216e-03 -1.25443616e-04 9.99998269e-01 -1.07649733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.214860624 meters 0.0841180832619816 Centerline is valid? [True, True] Translation: X:36.92, Y:-3.12, Z:-1.08 [[ 9.98972414e-01 4.53198291e-02 -4.79197845e-04 3.69228251e+01] [-4.53198093e-02 9.98972528e-01 5.21328879e-05 -3.11798539e+00] [ 4.81068136e-04 -3.03621619e-05 9.99999884e-01 -1.07843286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.244860624 meters 0.0815469441707858 Centerline is valid? [True, True] Translation: X:36.95, Y:-3.11, Z:-1.08 [[ 9.98972339e-01 4.53134927e-02 -9.76814381e-04 3.69525032e+01] [-4.53134100e-02 9.98972814e-01 1.06552880e-04 -3.11248572e+00] [ 9.80639294e-04 -6.21805888e-05 9.99999517e-01 -1.07728995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.274860624 meters 0.08193106183020518 Centerline is valid? [True, True] Translation: X:36.98, Y:-3.11, Z:-1.08 [[ 9.98991317e-01 4.48965963e-02 -8.02834793e-04 3.69806795e+01] [-4.48965420e-02 9.98991638e-01 8.56362276e-05 -3.11458097e+00] [ 8.05870020e-04 -4.95053418e-05 9.99999674e-01 -1.07858942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.304860624 meters 0.08317289987143721 Centerline is valid? [True, True] Translation: X:37.01, Y:-3.12, Z:-1.08 [[ 9.99024602e-01 4.41538912e-02 -5.27249822e-04 3.70079192e+01] [-4.41538676e-02 9.99024741e-01 5.61786619e-05 -3.11912972e+00] [ 5.29216123e-04 -3.28437465e-05 9.99999859e-01 -1.08122880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.334860624 meters 0.08329767635045913 Centerline is valid? [True, True] Translation: X:37.04, Y:-3.12, Z:-1.08 [[ 9.99094440e-01 4.25347986e-02 -1.04398842e-03 3.70370285e+01] [-4.25347024e-02 9.99094983e-01 1.14199025e-04 -3.12109584e+00] [ 1.04790102e-03 -6.96898739e-05 9.99999449e-01 -1.08215877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.364860624 meters 0.08473096225638763 Centerline is valid? [True, True] Translation: X:37.07, Y:-3.13, Z:-1.08 [[ 9.99256311e-01 3.85582219e-02 -2.96696670e-04 3.70676936e+01] [-3.85582138e-02 9.99256355e-01 3.27834483e-05 -3.12518536e+00] [ 2.97740104e-04 -2.13189740e-05 9.99999955e-01 -1.08238093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.394860624 meters 0.0846846024127645 Centerline is valid? [True, True] Translation: X:37.10, Y:-3.13, Z:-1.08 [[ 9.99338762e-01 3.63598404e-02 2.96270281e-05 3.70983697e+01] [-3.63598403e-02 9.99338762e-01 -3.27774118e-06 -3.12714009e+00] [-2.97266158e-05 2.19833980e-06 1.00000000e+00 -1.08261608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.424860624 meters 0.08614841003753883 Centerline is valid? [True, True] Translation: X:37.13, Y:-3.13, Z:-1.08 [[ 9.99412688e-01 3.42649290e-02 4.40746315e-04 3.71262285e+01] [-3.42649099e-02 9.99412784e-01 -5.07939381e-05 -3.13305769e+00] [-4.42227953e-04 3.56619734e-05 9.99999902e-01 -1.08358192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.454860624 meters 0.08526724338324619 Centerline is valid? [True, True] Translation: X:37.16, Y:-3.13, Z:-1.08 [[ 9.99498522e-01 3.16556087e-02 7.91356387e-04 3.71564320e+01] [-3.16555489e-02 9.99498834e-01 -8.79210728e-05 -3.13379965e+00] [-7.93742981e-04 6.28261616e-05 9.99999683e-01 -1.08317836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.484860624 meters 0.08964458368018202 Centerline is valid? [True, True] Translation: X:37.18, Y:-3.15, Z:-1.09 [[ 9.99630138e-01 2.71414677e-02 1.71107624e-03 3.71842834e+01] [-2.71411843e-02 9.99631592e-01 -1.88636257e-04 -3.14526136e+00] [-1.71556573e-03 1.42125853e-04 9.99998518e-01 -1.08574380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.514860624 meters 0.09149659253750553 Centerline is valid? [True, True] Translation: X:37.21, Y:-3.15, Z:-1.09 [[ 9.99709002e-01 2.41007241e-02 1.03246134e-03 3.72139135e+01] [-2.41006190e-02 9.99709531e-01 -1.14155652e-04 -3.15109667e+00] [-1.03491268e-03 8.92394753e-05 9.99999460e-01 -1.08678409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.544860624 meters 0.09186161116415156 Centerline is valid? [True, True] Translation: X:37.24, Y:-3.15, Z:-1.09 [[ 9.99761131e-01 2.18251107e-02 1.16026126e-03 3.72441617e+01] [-2.18249759e-02 9.99761799e-01 -1.28690652e-04 -3.15465462e+00] [-1.16279357e-03 1.03337238e-04 9.99999319e-01 -1.08731497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.574860624 meters 0.0934989161409162 Centerline is valid? [True, True] Translation: X:37.27, Y:-3.16, Z:-1.09 [[ 9.99854561e-01 1.70540665e-02 1.26875371e-04 3.72742679e+01] [-1.70540648e-02 9.99854569e-01 -1.42611883e-05 -3.16030545e+00] [-1.27100131e-04 1.20953734e-05 9.99999992e-01 -1.08907598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.604860624 meters 0.0949121218086787 Centerline is valid? [True, True] Translation: X:37.30, Y:-3.17, Z:-1.09 [[ 9.99883332e-01 1.52050950e-02 1.45825596e-03 3.73031339e+01] [-1.52048742e-02 9.99884386e-01 -1.62423488e-04 -3.16559020e+00] [-1.46055703e-03 1.40231940e-04 9.99998924e-01 -1.09061424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.634860624 meters 0.09851016185359933 Centerline is valid? [True, True] Translation: X:37.33, Y:-3.18, Z:-1.09 [[ 9.99905661e-01 1.35502127e-02 2.24951780e-03 3.73308889e+01] [-1.35496840e-02 9.99908168e-01 -2.50110500e-04 -3.17532229e+00] [-2.25270027e-03 2.19606650e-04 9.99997439e-01 -1.09266678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.664860624 meters 0.09755946559828954 Centerline is valid? [True, True] Translation: X:37.36, Y:-3.18, Z:-1.09 [[ 9.99928760e-01 1.18140483e-02 1.70403735e-03 3.73610230e+01] [-1.18137437e-02 9.99930197e-01 -1.88684767e-04 -3.17605063e+00] [-1.70614754e-03 1.68540264e-04 9.99998530e-01 -1.09258373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.694860624 meters 0.09632384356355027 Centerline is valid? [True, True] Translation: X:37.39, Y:-3.18, Z:-1.09 [[ 9.99940629e-01 1.07326865e-02 1.88361466e-03 3.73903281e+01] [-1.07323113e-02 9.99942385e-01 -2.09190311e-04 -3.17588288e+00] [-1.88575131e-03 1.88962352e-04 9.99998204e-01 -1.09214461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.724860624 meters 0.09897602630405562 Centerline is valid? [True, True] Translation: X:37.42, Y:-3.18, Z:-1.09 [[ 9.99956174e-01 8.84626367e-03 3.06493564e-03 3.74187758e+01] [-8.84526572e-03 9.99960822e-01 -3.39004812e-04 -3.18241749e+00] [-3.06781449e-03 3.11879784e-04 9.99995246e-01 -1.09335916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.754860624 meters 0.0989313237667454 Centerline is valid? [True, True] Translation: X:37.45, Y:-3.19, Z:-1.09 [[ 9.99962099e-01 7.98173421e-03 3.47754761e-03 3.74483520e+01] [-7.98044509e-03 9.99968082e-01 -3.84415190e-04 -3.18555240e+00] [-3.48050491e-03 3.56648242e-04 9.99993879e-01 -1.09385522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.784860624 meters 0.09810612499173134 Centerline is valid? [True, True] Translation: X:37.48, Y:-3.19, Z:-1.09 [[ 9.99965990e-01 7.17310394e-03 4.07012420e-03 3.74777829e+01] [-7.17133256e-03 9.99974185e-01 -4.49642637e-04 -3.18699243e+00] [-4.07324446e-03 4.20439130e-04 9.99991616e-01 -1.09374367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.814860624 meters 0.09984231939065644 Centerline is valid? [True, True] Translation: X:37.51, Y:-3.19, Z:-1.10 [[ 9.99969906e-01 6.57619174e-03 4.11585880e-03 3.75067716e+01] [-6.57437749e-03 9.99978285e-01 -4.54167715e-04 -3.19389435e+00] [-4.11875612e-03 4.27094838e-04 9.99991427e-01 -1.09550794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.844860624 meters 0.09884825961385622 Centerline is valid? [True, True] Translation: X:37.54, Y:-3.20, Z:-1.10 [[ 9.99976363e-01 5.29408337e-03 4.38695660e-03 3.75367995e+01] [-5.29201212e-03 9.99985880e-01 -4.83611925e-04 -3.19537706e+00] [-4.38945494e-03 4.60384667e-04 9.99990260e-01 -1.09524422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.874860624 meters 0.1018375892237357 Centerline is valid? [True, False] Translation: X:37.54, Y:-3.20, Z:-1.09 [[ 9.99977139e-01 4.75316487e-03 4.80933150e-03 3.75354765e+01] [-4.74918524e-03 9.99988371e-01 -8.38561436e-04 -3.19543150e+00] [-4.81326139e-03 8.15701859e-04 9.99988084e-01 -1.09460343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.904860624 meters 0.1039360477491651 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.20, Z:-1.09 [[ 9.99976385e-01 4.88119229e-03 4.83764570e-03 3.75356570e+01] [-4.87836873e-03 9.99987924e-01 -5.95292032e-04 -3.19585532e+00] [-4.84049301e-03 5.71678155e-04 9.99988121e-01 -1.09492728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.934860624 meters 0.1047004025041646 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.20, Z:-1.09 [[ 9.99976175e-01 4.71198434e-03 5.04443539e-03 3.75350580e+01] [-4.70884050e-03 9.99988712e-01 -6.34925819e-04 -3.19622127e+00] [-5.04737020e-03 6.11157250e-04 9.99987075e-01 -1.09468450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.964860624 meters 0.1066384017450625 Centerline is valid? [False, False] Translation: X:37.53, Y:-3.20, Z:-1.09 [[ 9.99974859e-01 4.77735431e-03 5.24000449e-03 3.75347726e+01] [-4.77567598e-03 9.99988541e-01 -3.32758646e-04 -3.19726557e+00] [-5.24153415e-03 3.07725716e-04 9.99986216e-01 -1.09485750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.994860624 meters 0.10982546514139636 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.20, Z:-1.10 [[ 9.99988041e-01 1.06362002e-03 4.77350442e-03 3.75360031e+01] [-1.04407112e-03 9.99991067e-01 -4.09591700e-03 -3.19817153e+00] [-4.77781828e-03 4.09088414e-03 9.99980218e-01 -1.09521482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.024860624 meters 0.11030155489504394 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.20, Z:-1.10 [[ 9.99987609e-01 1.07616224e-03 4.86043161e-03 3.75357301e+01] [-1.05711386e-03 9.99991758e-01 -3.91994219e-03 -3.19895186e+00] [-4.86461005e-03 3.91475558e-03 9.99980505e-01 -1.09510521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.054860624 meters 0.11280857323545943 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.20, Z:-1.10 [[ 9.99987538e-01 1.32478535e-03 4.81349441e-03 3.75359862e+01] [-1.30787952e-03 9.99992972e-01 -3.51362655e-03 -3.19986747e+00] [-4.81811538e-03 3.50728729e-03 9.99982242e-01 -1.09533978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.084860624 meters 0.10708012782345162 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.20, Z:-1.10 [[ 9.99987607e-01 1.48270371e-03 4.75267672e-03 3.75360766e+01] [-1.46722025e-03 9.99993611e-01 -3.25967198e-03 -3.20068129e+00] [-4.75747948e-03 3.25265836e-03 9.99983393e-01 -1.09527785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.114860624 meters 0.11547435576905418 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.20, Z:-1.10 [[ 9.99987484e-01 1.75969038e-03 4.68356281e-03 3.75363979e+01] [-1.74633227e-03 9.99994401e-01 -2.85468927e-03 -3.20164487e+00] [-4.68855995e-03 2.84647448e-03 9.99984957e-01 -1.09552403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.144860624 meters 0.11567918698089563 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.20, Z:-1.10 [[ 9.99987657e-01 1.93306549e-03 4.57705990e-03 3.75365054e+01] [-1.92108068e-03 9.99994719e-01 -2.62140354e-03 -3.20260339e+00] [-4.58210308e-03 2.61257829e-03 9.99986089e-01 -1.09535700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.174860624 meters 0.11141590691699026 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.20, Z:-1.10 [[ 9.99986684e-01 2.23899703e-03 4.64962866e-03 3.75363414e+01] [-2.22937307e-03 9.99995364e-01 -2.07398601e-03 -3.20460905e+00] [-4.65425075e-03 2.06359263e-03 9.99987040e-01 -1.09528713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.204860624 meters 0.1115234661667155 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.21, Z:-1.10 [[ 9.99986341e-01 2.35739129e-03 4.66473349e-03 3.75362006e+01] [-2.34888838e-03 9.99995572e-01 -1.82744700e-03 -3.20560326e+00] [-4.66902084e-03 1.81646510e-03 9.99987450e-01 -1.09514010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.234860624 meters 0.11927210459109731 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.21, Z:-1.10 [[ 9.99986084e-01 2.68529961e-03 4.54104818e-03 3.75366509e+01] [-2.67890179e-03 9.99995411e-01 -1.41438230e-03 -3.20659522e+00] [-4.54482538e-03 1.40219760e-03 9.99988689e-01 -1.09537903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.264860624 meters 0.10733099827923186 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.21, Z:-1.10 [[ 9.99986026e-01 2.75565498e-03 4.51152451e-03 3.75364602e+01] [-2.75002744e-03 9.99995434e-01 -1.25309874e-03 -3.20746522e+00] [-4.51495702e-03 1.24067441e-03 9.99989038e-01 -1.09501309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.294860624 meters 0.12051712199056581 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.21, Z:-1.10 [[ 9.99986209e-01 2.99181123e-03 4.31625192e-03 3.75369315e+01] [-2.98732800e-03 9.99994992e-01 -1.04476125e-03 -3.20800627e+00] [-4.31935603e-03 1.03185278e-03 9.99990139e-01 -1.09507080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.324860624 meters 0.12054860586347128 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.21, Z:-1.09 [[ 9.99986303e-01 3.09248727e-03 4.22256812e-03 3.75370286e+01] [-3.08852350e-03 9.99994784e-01 -9.44908183e-04 -3.20850022e+00] [-4.22546821e-03 9.31853739e-04 9.99990638e-01 -1.09491715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.354860624 meters 0.12153800633432717 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.21, Z:-1.09 [[ 9.99986393e-01 3.21254872e-03 4.11020859e-03 3.75372494e+01] [-3.20907641e-03 9.99994489e-01 -8.51116371e-04 -3.20891104e+00] [-4.11292019e-03 8.37914817e-04 9.99991191e-01 -1.09489269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.384860624 meters 0.12154904568783842 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.21, Z:-1.09 [[ 9.99986753e-01 3.22891330e-03 4.00853258e-03 3.75373250e+01] [-3.22537952e-03 9.99994404e-01 -8.87716744e-04 -3.20907593e+00] [-4.01137651e-03 8.74775946e-04 9.99991572e-01 -1.09470030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.414860624 meters 0.11606775037767776 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.21, Z:-1.09 [[ 9.99986767e-01 3.44806154e-03 3.81807114e-03 3.75377364e+01] [-3.44546117e-03 9.99993828e-01 -6.87437806e-04 -3.20963795e+00] [-3.82041790e-03 6.74273693e-04 9.99992475e-01 -1.09473300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.444860624 meters 0.10881286199177663 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.21, Z:-1.09 [[ 9.99986781e-01 3.57977792e-03 3.69097781e-03 3.75380279e+01] [-3.57762204e-03 9.99993426e-01 -5.90530768e-04 -3.20999039e+00] [-3.69306751e-03 5.77318038e-04 9.99993014e-01 -1.09474363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.474860624 meters 0.10978041463042065 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.21, Z:-1.10 [[ 9.99986334e-01 3.82692683e-03 3.56177876e-03 3.75385004e+01] [-3.82586152e-03 9.99992635e-01 -3.05860882e-04 -3.21052474e+00] [-3.56292303e-03 2.92229830e-04 9.99993610e-01 -1.09501422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.504860624 meters 0.10955133027922007 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.21, Z:-1.09 [[ 9.99986528e-01 3.88439820e-03 3.44314450e-03 3.75386180e+01] [-3.88347671e-03 9.99992422e-01 -2.74274168e-04 -3.21081923e+00] [-3.44418380e-03 2.60899102e-04 9.99994035e-01 -1.09482538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.534860624 meters 0.10981958374715847 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.21, Z:-1.09 [[ 9.99986216e-01 4.07239836e-03 3.31417187e-03 3.75387439e+01] [-4.07230348e-03 9.99991708e-01 -3.53778578e-05 -3.21184043e+00] [-3.31428846e-03 2.18810566e-05 9.99994507e-01 -1.09461116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.564860624 meters 0.10568934700335783 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.21, Z:-1.09 [[ 9.99986571e-01 4.01029983e-03 3.28260768e-03 3.75384812e+01] [-4.00993691e-03 9.99991953e-01 -1.17132035e-04 -3.21215164e+00] [-3.28305100e-03 1.03967413e-04 9.99994605e-01 -1.09412761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.594860624 meters 0.1083240564138462 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.21, Z:-1.09 [[ 9.99986307e-01 4.00303941e-03 3.37079874e-03 3.75380910e+01] [-4.00299117e-03 9.99991988e-01 -2.10565726e-05 -3.21291723e+00] [-3.37085603e-03 7.56300669e-06 9.99994319e-01 -1.09381506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.624860624 meters 0.11282590506102423 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.21, Z:-1.09 [[ 9.99986238e-01 3.95112966e-03 3.45151597e-03 3.75376575e+01] [-3.95113166e-03 9.99992194e-01 -6.23960838e-06 -3.21353339e+00] [-3.45151368e-03 -7.39787150e-06 9.99994043e-01 -1.09341014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.654860624 meters 0.10247492185680467 Centerline is valid? [False, False] Translation: X:37.54, Y:-3.22, Z:-1.09 [[ 9.99984867e-01 4.04996158e-03 3.72350689e-03 3.75366069e+01] [-4.05189192e-03 9.99991660e-01 5.11021252e-04 -3.21622214e+00] [-3.72140622e-03 -5.26100766e-04 9.99992937e-01 -1.09265387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.684860624 meters 0.09943529763685212 Centerline is valid? [False, True] Translation: X:37.54, Y:-3.22, Z:-1.09 [[ 9.99995384e-01 5.30441508e-04 2.99190526e-03 3.75384461e+01] [-5.20781926e-04 9.99994653e-01 -3.22842774e-03 -3.21638168e+00] [-2.99360175e-03 3.22685471e-03 9.99990313e-01 -1.09324974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.714860624 meters 0.0982825025277322 Centerline is valid? [True, True] Translation: X:37.57, Y:-3.22, Z:-1.09 [[ 9.99992075e-01 3.96607132e-04 3.96134152e-03 3.75696559e+01] [-3.94854991e-04 9.99999824e-01 -4.43082156e-04 -3.22081051e+00] [-3.96151655e-03 4.41514489e-04 9.99992056e-01 -1.09442740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.744860624 meters 0.10011374930353245 Centerline is valid? [True, False] Translation: X:37.57, Y:-3.22, Z:-1.09 [[ 9.99992023e-01 7.68911154e-04 3.91943428e-03 3.75699025e+01] [-7.69598938e-04 9.99999689e-01 1.73975128e-04 -3.22250698e+00] [-3.91929929e-03 -1.76990133e-04 9.99992304e-01 -1.09466758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.774860624 meters 0.0986173189299038 Centerline is valid? [False, True] Translation: X:37.57, Y:-3.22, Z:-1.09 [[ 9.99991710e-01 1.00188488e-03 3.94665107e-03 3.75698511e+01] [-1.00436793e-03 9.99999299e-01 6.27221887e-04 -3.22408131e+00] [-3.94601990e-03 -6.31180577e-04 9.99992015e-01 -1.09466798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.804860624 meters 0.09857037398318286 Centerline is valid? [True, True] Translation: X:37.60, Y:-3.23, Z:-1.10 [[ 9.99998446e-01 5.05775902e-04 1.68894031e-03 3.76008704e+01] [-5.05453513e-04 9.99999854e-01 -1.91303545e-04 -3.23047501e+00] [-1.68903682e-03 1.90449567e-04 9.99998555e-01 -1.09620174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.834860624 meters 0.1021469262674964 Centerline is valid? [True, False] Translation: X:37.60, Y:-3.23, Z:-1.10 [[ 9.99998456e-01 6.96112810e-04 1.61359243e-03 3.76008781e+01] [-6.96373324e-04 9.99999745e-01 1.60893655e-04 -3.23174492e+00] [-1.61348002e-03 -1.62017069e-04 9.99998685e-01 -1.09600845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.864860624 meters 0.10291500570042048 Centerline is valid? [False, False] Translation: X:37.60, Y:-3.23, Z:-1.10 [[ 9.99998231e-01 9.35101552e-04 1.63183650e-03 3.76008055e+01] [-9.36118828e-04 9.99999368e-01 6.22740459e-04 -3.23325327e+00] [-1.63125315e-03 -6.24266951e-04 9.99998475e-01 -1.09595517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.894860624 meters 0.10285360220761079 Centerline is valid? [False, False] Translation: X:37.60, Y:-3.23, Z:-1.10 [[ 9.99997905e-01 1.11061487e-03 1.71922905e-03 3.76005016e+01] [-1.11242724e-03 9.99998826e-01 1.05358113e-03 -3.23490596e+00] [-1.71805691e-03 -1.05549144e-03 9.99997967e-01 -1.09578316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.924860624 meters 0.09789964361067524 Centerline is valid? [False, True] Translation: X:37.60, Y:-3.24, Z:-1.10 [[ 9.99997343e-01 1.30535977e-03 1.89976964e-03 3.75997201e+01] [-1.30856238e-03 9.99997723e-01 1.68552309e-03 -3.23774149e+00] [-1.89756510e-03 -1.68800458e-03 9.99996775e-01 -1.09515914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.954860624 meters 0.09806127748111389 Centerline is valid? [True, True] Translation: X:37.63, Y:-3.24, Z:-1.09 [[ 9.99997669e-01 1.48421867e-03 1.56789305e-03 3.76300986e+01] [-1.48393576e-03 9.99998882e-01 -1.81584851e-04 -3.24222750e+00] [-1.56816081e-03 1.79257775e-04 9.99998754e-01 -1.09480289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.984860624 meters 0.09829977360290267 Centerline is valid? [True, True] Translation: X:37.66, Y:-3.25, Z:-1.10 [[ 9.99997823e-01 1.93614438e-03 7.77609458e-04 3.76606151e+01] [-1.93607492e-03 9.99998122e-01 -9.00585008e-05 -3.24733405e+00] [-7.77782364e-04 8.85527946e-05 9.99999694e-01 -1.09585895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.014860624 meters 0.09829977360290267 Centerline is valid? [True, True] Translation: X:37.69, Y:-3.25, Z:-1.10 [[ 9.99997823e-01 1.93614438e-03 7.77609458e-04 3.76906079e+01] [-1.93607492e-03 9.99998122e-01 -9.00585008e-05 -3.25080765e+00] [-7.77782364e-04 8.85527946e-05 9.99999694e-01 -1.09662405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.044860624 meters 0.09714980341460826 Centerline is valid? [True, True] Translation: X:37.72, Y:-3.25, Z:-1.10 [[ 9.99996267e-01 2.41118578e-03 1.28514693e-03 3.77207432e+01] [-2.41099646e-03 9.99997082e-01 -1.48838732e-04 -3.25344635e+00] [-1.28550206e-03 1.45739692e-04 9.99999163e-01 -1.09725055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.074860624 meters 0.0965151211269338 Centerline is valid? [True, True] Translation: X:37.75, Y:-3.26, Z:-1.10 [[ 9.99985679e-01 5.20128483e-03 1.26000434e-03 3.77508824e+01] [-5.20110495e-03 9.99986464e-01 -1.45993708e-04 -3.25658743e+00] [-1.26074664e-03 1.39438202e-04 9.99999196e-01 -1.09766695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.104860624 meters 0.09492342490674616 Centerline is valid? [True, True] Translation: X:37.78, Y:-3.26, Z:-1.10 [[ 9.99977612e-01 6.64112117e-03 8.19092564e-04 3.77809081e+01] [-6.64104533e-03 9.99977943e-01 -9.52700182e-05 -3.25771723e+00] [-8.19707197e-04 8.98282545e-05 9.99999660e-01 -1.09783450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.134860624 meters 0.09442750387774689 Centerline is valid? [True, True] Translation: X:37.81, Y:-3.26, Z:-1.10 [[ 9.99964397e-01 8.37585456e-03 1.02447412e-03 3.78102756e+01] [-8.37573654e-03 9.99964916e-01 -1.19437113e-04 -3.26133135e+00] [-1.02543857e-03 1.10852135e-04 9.99999468e-01 -1.09831034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.164860624 meters 0.09282452985567684 Centerline is valid? [True, True] Translation: X:37.84, Y:-3.26, Z:-1.10 [[ 9.99959963e-01 8.94224537e-03 3.29995268e-04 3.78395055e+01] [-8.94223269e-03 9.99960017e-01 -3.98797944e-05 -3.26217639e+00] [-3.30338689e-04 3.69273033e-05 9.99999945e-01 -1.09896844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.194860624 meters 0.09436165764049469 Centerline is valid? [True, True] Translation: X:37.87, Y:-3.27, Z:-1.10 [[ 9.99942464e-01 1.07268543e-02 -5.83627247e-05 3.78673427e+01] [-1.07268540e-02 9.99942466e-01 5.48337895e-06 -3.26926848e+00] [ 5.84181862e-05 -4.85701503e-06 9.99999998e-01 -1.09984867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.224860624 meters 0.0935892007101178 Centerline is valid? [True, True] Translation: X:37.90, Y:-3.27, Z:-1.10 [[ 9.99935960e-01 1.13148551e-02 2.25231910e-04 3.78957032e+01] [-1.13148491e-02 9.99935985e-01 -2.77038145e-05 -3.27147654e+00] [-2.25530956e-04 2.51535753e-05 9.99999974e-01 -1.10014296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.254860624 meters 0.09348155058298187 Centerline is valid? [True, True] Translation: X:37.93, Y:-3.28, Z:-1.10 [[ 9.99920478e-01 1.26084403e-02 -2.53183234e-04 3.79252737e+01] [-1.26084335e-02 9.99920510e-01 2.84218394e-05 -3.27537481e+00] [ 2.53521464e-04 -2.52273352e-05 9.99999968e-01 -1.10083883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.284860624 meters 0.09536928191409116 Centerline is valid? [True, True] Translation: X:37.95, Y:-3.28, Z:-1.10 [[ 9.99914811e-01 1.30525223e-02 -4.36026313e-05 3.79522371e+01] [-1.30525222e-02 9.99914812e-01 2.96661687e-06 -3.28193674e+00] [ 4.36376387e-05 -2.39723983e-06 9.99999999e-01 -1.10317721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.314860624 meters 0.09384641612266187 Centerline is valid? [True, True] Translation: X:37.98, Y:-3.28, Z:-1.10 [[ 9.99908078e-01 1.35455207e-02 -5.96074245e-04 3.79816043e+01] [-1.35454828e-02 9.99908253e-01 6.75549266e-05 -3.28286969e+00] [ 5.96934624e-04 -5.94746033e-05 9.99999820e-01 -1.10326222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.344860624 meters 0.09194939804231847 Centerline is valid? [True, True] Translation: X:38.01, Y:-3.28, Z:-1.10 [[ 9.99907291e-01 1.35708042e-02 -1.11487640e-03 3.80100715e+01] [-1.35706718e-02 9.99907906e-01 1.26307817e-04 -3.28299637e+00] [ 1.11648782e-03 -1.11166486e-04 9.99999371e-01 -1.10332343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.374860624 meters 0.09354504573451045 Centerline is valid? [True, True] Translation: X:38.04, Y:-3.29, Z:-1.11 [[ 9.99899746e-01 1.41201439e-02 -1.05845600e-03 3.80372640e+01] [-1.41200249e-02 9.99900300e-01 1.19889239e-04 -3.28998602e+00] [ 1.06004333e-03 -1.04931794e-04 9.99999433e-01 -1.10541342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.404860624 meters 0.09104482870622203 Centerline is valid? [True, True] Translation: X:38.07, Y:-3.29, Z:-1.11 [[ 9.99900542e-01 1.40748580e-02 -8.96563230e-04 3.80668112e+01] [-1.40747725e-02 9.99900940e-01 1.01568197e-04 -3.28880315e+00] [ 8.97903974e-04 -8.89391719e-05 9.99999593e-01 -1.10574121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.434860624 meters 0.09200324177730998 Centerline is valid? [True, True] Translation: X:38.09, Y:-3.29, Z:-1.11 [[ 9.99896988e-01 1.42874150e-02 -1.37198875e-03 3.80939885e+01] [-1.42872146e-02 9.99897920e-01 1.55804439e-04 -3.29362205e+00] [ 1.37407474e-03 -1.36186492e-04 9.99999047e-01 -1.10631945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.464860624 meters 0.09255863582752054 Centerline is valid? [True, True] Translation: X:38.12, Y:-3.30, Z:-1.11 [[ 9.99900078e-01 1.40459980e-02 -1.59529211e-03 3.81219594e+01] [-1.40457263e-02 9.99901337e-01 1.81382652e-04 -3.29766250e+00] [ 1.59768241e-03 -1.58957492e-04 9.99998711e-01 -1.10724849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.494860624 meters 0.09675637702191169 Centerline is valid? [True, True] Translation: X:38.15, Y:-3.31, Z:-1.11 [[ 9.99908032e-01 1.35305071e-02 -9.23628405e-04 3.81489236e+01] [-1.35304167e-02 9.99908454e-01 1.04076712e-04 -3.30787973e+00] [ 9.24952062e-04 -9.15700629e-05 9.99999568e-01 -1.10993209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.524860624 meters 0.09274824102254897 Centerline is valid? [True, True] Translation: X:38.18, Y:-3.30, Z:-1.11 [[ 9.99907959e-01 1.34874551e-02 -1.47020530e-03 3.81786792e+01] [-1.34872237e-02 9.99909029e-01 1.67191796e-04 -3.30416799e+00] [ 1.47232655e-03 -1.47347419e-04 9.99998905e-01 -1.10875079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.554860624 meters 0.09252134587950794 Centerline is valid? [True, True] Translation: X:38.21, Y:-3.31, Z:-1.11 [[ 9.99915363e-01 1.29758570e-02 -9.45227529e-04 3.82069088e+01] [-1.29757625e-02 9.99915806e-01 1.06131592e-04 -3.30676955e+00] [ 9.46525094e-04 -9.38575611e-05 9.99999548e-01 -1.10934687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.584860624 meters 0.09500470764008188 Centerline is valid? [True, True] Translation: X:38.23, Y:-3.31, Z:-1.11 [[ 9.99923376e-01 1.23547572e-02 -7.75368668e-04 3.82343007e+01] [-1.23546935e-02 9.99923674e-01 8.68345199e-05 -3.31457880e+00] [ 7.76382307e-04 -7.72484241e-05 9.99999696e-01 -1.11135883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.614860624 meters 0.0935705303468682 Centerline is valid? [True, True] Translation: X:38.26, Y:-3.32, Z:-1.11 [[ 9.99927432e-01 1.20088188e-02 -9.59132006e-04 3.82631431e+01] [-1.20087205e-02 9.99927887e-01 1.08261560e-04 -3.31563986e+00] [ 9.60362934e-04 -9.67357557e-05 9.99999534e-01 -1.11135487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.644860624 meters 0.09349972918727827 Centerline is valid? [True, True] Translation: X:38.29, Y:-3.32, Z:-1.11 [[ 9.99944566e-01 1.04030304e-02 -1.62535145e-03 3.82930918e+01] [-1.04027419e-02 9.99945873e-01 1.85842558e-04 -3.31843184e+00] [ 1.62719680e-03 -1.68924145e-04 9.99998662e-01 -1.11224359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.674860624 meters 0.09454085777372914 Centerline is valid? [True, True] Translation: X:38.32, Y:-3.32, Z:-1.11 [[ 9.99947384e-01 9.98177227e-03 -2.36515808e-03 3.83210442e+01] [-9.98116419e-03 9.99950151e-01 2.68760937e-04 -3.32315021e+00] [ 2.36772288e-03 -2.45139765e-04 9.99997167e-01 -1.11310654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.704860624 meters 0.0955400730697355 Centerline is valid? [True, True] Translation: X:38.35, Y:-3.33, Z:-1.11 [[ 9.99951810e-01 9.25560040e-03 -3.27287265e-03 3.83490226e+01] [-9.25442886e-03 9.99957107e-01 3.72917783e-04 -3.32734765e+00] [ 3.27618385e-03 -3.42611245e-04 9.99994575e-01 -1.11450905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.734860624 meters 0.09548083133532644 Centerline is valid? [True, True] Translation: X:38.38, Y:-3.33, Z:-1.12 [[ 9.99960974e-01 7.87080826e-03 -4.01254466e-03 3.83797323e+01] [-7.86902815e-03 9.99968933e-01 4.59232806e-04 -3.32903013e+00] [ 4.01603454e-03 -4.27640058e-04 9.99991844e-01 -1.11518094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.764860624 meters 0.0971800327975035 Centerline is valid? [True, True] Translation: X:38.41, Y:-3.33, Z:-1.12 [[ 9.99968767e-01 6.82900835e-03 -3.97865594e-03 3.84074502e+01] [-6.82725766e-03 9.99976591e-01 4.53437174e-04 -3.33487431e+00] [ 3.98165933e-03 -4.26259702e-04 9.99991982e-01 -1.11601237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.794860624 meters 0.0983947441803385 Centerline is valid? [True, True] Translation: X:38.44, Y:-3.34, Z:-1.12 [[ 9.99976953e-01 6.08085828e-03 -3.01941995e-03 3.84357705e+01] [-6.07984838e-03 9.99981459e-01 3.43536772e-04 -3.33978760e+00] [ 3.02145296e-03 -3.25171239e-04 9.99995383e-01 -1.11714673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.824860624 meters 0.10029154563389915 Centerline is valid? [True, False] Translation: X:38.43, Y:-3.34, Z:-1.12 [[ 9.99980457e-01 5.56754484e-03 -2.84407064e-03 3.84349888e+01] [-5.56848595e-03 9.99984444e-01 -3.23089425e-04 -3.33862178e+00] [ 2.84222758e-03 3.38920279e-04 9.99995903e-01 -1.11652377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.854860624 meters 0.1010950257910133 Centerline is valid? [False, False] Translation: X:38.43, Y:-3.34, Z:-1.12 [[ 9.99981969e-01 5.27182577e-03 -2.87571941e-03 3.84347926e+01] [-5.27413294e-03 9.99985775e-01 -7.95301788e-04 -3.33762824e+00] [ 2.87148581e-03 8.10454374e-04 9.99995549e-01 -1.11614664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.884860624 meters 0.10169799864436947 Centerline is valid? [False, False] Translation: X:38.44, Y:-3.34, Z:-1.12 [[ 9.99982468e-01 5.15247468e-03 -2.91817131e-03 3.84350549e+01] [-5.15556657e-03 9.99986156e-01 -1.05299921e-03 -3.33657126e+00] [ 2.91270535e-03 1.06802558e-03 9.99995188e-01 -1.11637737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.914860624 meters 0.09775781284692538 Centerline is valid? [False, True] Translation: X:38.44, Y:-3.34, Z:-1.12 [[ 9.99984092e-01 4.84969423e-03 -2.88018396e-03 3.84350239e+01] [-4.85415268e-03 9.99987028e-01 -1.54300692e-03 -3.33508217e+00] [ 2.87266349e-03 1.55696323e-03 9.99994662e-01 -1.11643283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.944860624 meters 0.09603201433337598 Centerline is valid? [True, True] Translation: X:38.46, Y:-3.34, Z:-1.12 [[ 9.99984129e-01 5.04347150e-03 -2.51110714e-03 3.84636340e+01] [-5.04277181e-03 9.99987245e-01 2.84890566e-04 -3.33511267e+00] [ 2.51251195e-03 -2.72223104e-04 9.99996807e-01 -1.11754406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.974860624 meters 0.0961137432247653 Centerline is valid? [True, True] Translation: X:38.49, Y:-3.34, Z:-1.12 [[ 9.99983387e-01 4.81439491e-03 -3.16960355e-03 3.84918530e+01] [-4.81327979e-03 9.99988352e-01 3.59349000e-04 -3.33709957e+00] [ 3.17129668e-03 -3.44086841e-04 9.99994912e-01 -1.11784752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.004860624 meters 0.0945512410936043 Centerline is valid? [True, True] Translation: X:38.52, Y:-3.34, Z:-1.12 [[ 9.99983852e-01 4.91640323e-03 -2.85042576e-03 3.85213445e+01] [-4.91550183e-03 9.99987867e-01 3.23153604e-04 -3.33636924e+00] [ 2.85197993e-03 -3.09137113e-04 9.99995885e-01 -1.11789366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.034860624 meters 0.09460691690361464 Centerline is valid? [True, True] Translation: X:38.55, Y:-3.34, Z:-1.12 [[ 9.99985452e-01 4.88761858e-03 -2.28168151e-03 3.85494749e+01] [-4.88704202e-03 9.99988025e-01 2.58197050e-04 -3.33973720e+00] [ 2.28291616e-03 -2.47042620e-04 9.99997364e-01 -1.11892165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.064860624 meters 0.0952997186551753 Centerline is valid? [True, True] Translation: X:38.58, Y:-3.34, Z:-1.12 [[ 9.99986366e-01 4.88905675e-03 -1.83428689e-03 3.85776589e+01] [-4.88868494e-03 9.99988029e-01 2.07132294e-04 -3.34410737e+00] [ 1.83527762e-03 -1.98162220e-04 9.99998296e-01 -1.12012515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.094860624 meters 0.09638881774684564 Centerline is valid? [True, True] Translation: X:38.61, Y:-3.35, Z:-1.12 [[ 9.99989384e-01 4.37204754e-03 -1.45501628e-03 3.86057545e+01] [-4.37181366e-03 9.99990430e-01 1.63880290e-04 -3.34847528e+00] [ 1.45571885e-03 -1.57517490e-04 9.99998928e-01 -1.12080768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.124860624 meters 0.09591556099136679 Centerline is valid? [True, True] Translation: X:38.63, Y:-3.35, Z:-1.12 [[ 9.99990229e-01 4.22051572e-03 -1.31506973e-03 3.86344599e+01] [-4.22032488e-03 9.99991083e-01 1.47856599e-04 -3.34988192e+00] [ 1.31568204e-03 -1.42305133e-04 9.99999124e-01 -1.12140307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.154860624 meters 0.09662198011192179 Centerline is valid? [True, True] Translation: X:38.66, Y:-3.35, Z:-1.12 [[ 9.99993841e-01 3.39761867e-03 -8.80126912e-04 3.86633780e+01] [-3.39753303e-03 9.99994223e-01 9.87766969e-05 -3.35254889e+00] [ 8.80457433e-04 -9.57858283e-05 9.99999608e-01 -1.12145144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.184860624 meters 0.09529151079657444 Centerline is valid? [True, True] Translation: X:38.69, Y:-3.35, Z:-1.12 [[ 9.99995718e-01 2.91651997e-03 2.41147473e-04 3.86924798e+01] [-2.91651305e-03 9.99995747e-01 -2.90472277e-05 -3.35313090e+00] [-2.41231164e-04 2.83437935e-05 9.99999971e-01 -1.12246474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.214860624 meters 0.09693609635306787 Centerline is valid? [True, True] Translation: X:38.72, Y:-3.36, Z:-1.12 [[ 9.99997134e-01 2.33278063e-03 -5.38663364e-04 3.87213791e+01] [-2.33274824e-03 9.99997277e-01 6.07544715e-05 -3.35952354e+00] [ 5.38803624e-04 -5.94977313e-05 9.99999853e-01 -1.12417197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.244860624 meters 0.09887898620925024 Centerline is valid? [True, True] Translation: X:38.75, Y:-3.37, Z:-1.13 [[ 9.99998539e-01 1.63325328e-03 -5.04610430e-04 3.87497112e+01] [-1.63322500e-03 9.99998665e-01 5.64639971e-05 -3.36602254e+00] [ 5.04701976e-04 -5.56397722e-05 9.99999871e-01 -1.12615915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.274860624 meters 0.097911014970464 Centerline is valid? [True, True] Translation: X:38.78, Y:-3.37, Z:-1.13 [[ 9.99999674e-01 6.60506130e-04 4.64377412e-04 3.87798813e+01] [-6.60481346e-04 9.99999780e-01 -5.35208497e-05 -3.36628470e+00] [-4.64412661e-04 5.32141196e-05 9.99999891e-01 -1.12511847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.304860624 meters 0.09905697056617871 Centerline is valid? [True, True] Translation: X:38.81, Y:-3.37, Z:-1.13 [[ 9.99999401e-01 2.94428700e-04 1.05373226e-03 3.88104331e+01] [-2.94302855e-04 9.99999950e-01 -1.19580249e-04 -3.37074516e+00] [-1.05376742e-03 1.19270061e-04 9.99999438e-01 -1.12546742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.334860624 meters 0.09968713319690586 Centerline is valid? [True, True] Translation: X:38.84, Y:-3.37, Z:-1.13 [[ 9.99999054e-01 -2.71954057e-05 1.37497637e-03 3.88408926e+01] [ 2.74099769e-05 9.99999987e-01 -1.56035857e-04 -3.37450224e+00] [-1.37497211e-03 1.56073397e-04 9.99999043e-01 -1.12605169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.364860624 meters 0.09871200338150686 Centerline is valid? [True, True] Translation: X:38.87, Y:-3.38, Z:-1.13 [[ 9.99998554e-01 -1.54960417e-04 1.69360222e-03 3.88719806e+01] [ 1.55284835e-04 9.99999970e-01 -1.91425208e-04 -3.37591750e+00] [-1.69357250e-03 1.91687922e-04 9.99998548e-01 -1.12630660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.394860624 meters 0.10401454885774629 Centerline is valid? [True, False] Translation: X:38.87, Y:-3.37, Z:-1.13 [[ 9.99998847e-01 -1.98401626e-04 1.50568839e-03 3.88726264e+01] [ 1.99151425e-04 9.99999856e-01 -4.97843917e-04 -3.37452793e+00] [-1.50558940e-03 4.98143203e-04 9.99998743e-01 -1.12668596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.424860624 meters 0.1040387913311878 Centerline is valid? [False, False] Translation: X:38.87, Y:-3.37, Z:-1.13 [[ 9.99998983e-01 -1.76905579e-04 1.41488346e-03 3.88730417e+01] [ 1.77717408e-04 9.99999820e-01 -5.73672533e-04 -3.37386072e+00] [-1.41478172e-03 5.73923400e-04 9.99998835e-01 -1.12702149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.454860624 meters 0.1058551286097922 Centerline is valid? [False, False] Translation: X:38.87, Y:-3.37, Z:-1.13 [[ 9.99999114e-01 -2.56435991e-04 1.30585018e-03 3.88732662e+01] [ 2.57441717e-04 9.99999670e-01 -7.70060314e-04 -3.37313653e+00] [-1.30565227e-03 7.70395812e-04 9.99998851e-01 -1.12707986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48486062399999 meters 0.10510103022991811 Centerline is valid? [False, False] Translation: X:38.87, Y:-3.37, Z:-1.13 [[ 9.99999292e-01 -1.35953945e-04 1.18245264e-03 3.88739137e+01] [ 1.36825981e-04 9.99999719e-01 -7.37431486e-04 -3.37256402e+00] [-1.18235205e-03 7.37592753e-04 9.99999029e-01 -1.12764642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.514860624 meters 0.09818521809719602 Centerline is valid? [False, True] Translation: X:38.87, Y:-3.37, Z:-1.13 [[ 9.99999467e-01 -2.03191914e-05 1.03243572e-03 3.88745547e+01] [ 2.10482862e-05 9.99999750e-01 -7.06183100e-04 -3.37204862e+00] [-1.03242111e-03 7.06204455e-04 9.99999218e-01 -1.12813792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.544860624 meters 0.09970337010009846 Centerline is valid? [True, True] Translation: X:38.90, Y:-3.38, Z:-1.13 [[ 9.99999845e-01 4.10074025e-04 3.77269598e-04 3.89047821e+01] [-4.10058101e-04 9.99999915e-01 -4.22836145e-05 -3.37814062e+00] [-3.77286906e-04 4.21289055e-05 9.99999928e-01 -1.12924794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.574860624 meters 0.09888120669212423 Centerline is valid? [True, True] Translation: X:38.94, Y:-3.38, Z:-1.13 [[ 9.99996273e-01 1.95405730e-03 1.90659195e-03 3.89361797e+01] [-1.95365027e-03 9.99998068e-01 -2.15321660e-04 -3.37917280e+00] [-1.90700901e-03 2.11596043e-04 9.99998159e-01 -1.12897564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.604860624 meters 0.09900245424357737 Centerline is valid? [True, True] Translation: X:38.97, Y:-3.38, Z:-1.13 [[ 9.99996046e-01 2.23540160e-03 1.70606573e-03 3.89663191e+01] [-2.23507549e-03 9.99997484e-01 -1.93026551e-04 -3.38216340e+00] [-1.70649293e-03 1.89212602e-04 9.99998526e-01 -1.12933487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.634860624 meters 0.0989346344410756 Centerline is valid? [True, True] Translation: X:39.00, Y:-3.38, Z:-1.13 [[ 9.99995369e-01 2.02397786e-03 2.27287386e-03 3.89971129e+01] [-2.02339854e-03 9.99997920e-01 -2.57155978e-04 -3.38459162e+00] [-2.27338961e-03 2.52555858e-04 9.99997384e-01 -1.12992206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.664860624 meters 0.09891158749790359 Centerline is valid? [True, True] Translation: X:39.03, Y:-3.39, Z:-1.13 [[ 9.99991974e-01 2.09644544e-03 3.41435335e-03 3.90275132e+01] [-2.09513852e-03 9.99997731e-01 -3.86304490e-04 -3.38803189e+00] [-3.41515547e-03 3.79147846e-04 9.99994096e-01 -1.12993363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.694860624 meters 0.09988806752657807 Centerline is valid? [True, True] Translation: X:39.06, Y:-3.39, Z:-1.13 [[ 9.99993867e-01 1.17672837e-03 3.29873166e-03 3.90587235e+01] [-1.17550573e-03 9.99999240e-01 -3.72551676e-04 -3.39318134e+00] [-3.29916754e-03 3.68671713e-04 9.99994490e-01 -1.13118386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.724860624 meters 0.0990027427805047 Centerline is valid? [True, True] Translation: X:39.09, Y:-3.40, Z:-1.13 [[ 9.99993315e-01 6.89168886e-04 3.59095435e-03 3.90902873e+01] [-6.87723053e-04 9.99999682e-01 -4.03851159e-04 -3.39563425e+00] [-3.59123153e-03 4.01378877e-04 9.99993471e-01 -1.13162115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.754860624 meters 0.10376094510917067 Centerline is valid? [True, False] Translation: X:39.09, Y:-3.40, Z:-1.13 [[ 9.99993417e-01 6.32179366e-04 3.57306021e-03 3.90902846e+01] [-6.30450242e-04 9.99999684e-01 -4.85039281e-04 -3.39556546e+00] [-3.57336571e-03 4.82783451e-04 9.99993499e-01 -1.13157111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.784860624 meters 0.1053817110397184 Centerline is valid? [False, False] Translation: X:39.09, Y:-3.40, Z:-1.13 [[ 9.99993578e-01 7.40920685e-04 3.50651383e-03 3.90905680e+01] [-7.39746975e-04 9.99999670e-01 -3.36008020e-04 -3.39567722e+00] [-3.50676163e-03 3.33411929e-04 9.99993796e-01 -1.13180083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.814860624 meters 0.09874794324129238 Centerline is valid? [False, True] Translation: X:39.09, Y:-3.40, Z:-1.13 [[ 9.99993174e-01 3.97135136e-04 3.67348521e-03 3.90899072e+01] [-3.94568163e-04 9.99999678e-01 -6.99482289e-04 -3.39525402e+00] [-3.67376182e-03 6.98028074e-04 9.99993008e-01 -1.13134723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.844860624 meters 0.10012933143576014 Centerline is valid? [True, False] Translation: X:39.09, Y:-3.40, Z:-1.13 [[ 9.99993306e-01 5.98692807e-04 3.60969786e-03 3.90904014e+01] [-5.97105933e-04 9.99999725e-01 -4.40675776e-04 -3.39540546e+00] [-3.60996070e-03 4.38517454e-04 9.99993388e-01 -1.13185859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.874860624 meters 0.10012933143576014 Centerline is valid? [False, False] Translation: X:39.09, Y:-3.40, Z:-1.13 [[ 9.99993306e-01 5.98692807e-04 3.60969786e-03 3.90904014e+01] [-5.97105933e-04 9.99999725e-01 -4.40675776e-04 -3.39540546e+00] [-3.60996070e-03 4.38517454e-04 9.99993388e-01 -1.13185859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.904860624 meters 0.1039809210474326 Centerline is valid? [False, False] Translation: X:39.09, Y:-3.40, Z:-1.13 [[ 9.99993463e-01 4.95491870e-04 3.58156916e-03 3.90904048e+01] [-4.93314402e-04 9.99999693e-01 -6.08822568e-04 -3.39504756e+00] [-3.58186973e-03 6.07051749e-04 9.99993401e-01 -1.13177535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.934860624 meters 0.11102727129099872 Centerline is valid? [False, False] Translation: X:39.09, Y:-3.40, Z:-1.13 [[ 9.99993570e-01 6.92925453e-04 3.51861544e-03 3.90908768e+01] [-6.91753567e-04 9.99999705e-01 -3.34259082e-04 -3.39525261e+00] [-3.51884601e-03 3.31822918e-04 9.99993754e-01 -1.13227532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.964860624 meters 0.10576922809301177 Centerline is valid? [False, False] Translation: X:39.09, Y:-3.39, Z:-1.13 [[ 9.99993835e-01 4.87912592e-04 3.47745600e-03 3.90907238e+01] [-4.85646254e-04 9.99999669e-01 -6.52537830e-04 -3.39463757e+00] [-3.47777323e-03 6.50844994e-04 9.99993741e-01 -1.13195889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.994860624 meters 0.10143386121063701 Centerline is valid? [False, False] Translation: X:39.09, Y:-3.39, Z:-1.13 [[ 9.99994384e-01 2.96786471e-04 3.33812345e-03 3.90909475e+01] [-2.93160999e-04 9.99999367e-01 -1.08651757e-03 -3.39319837e+00] [-3.33844380e-03 1.08553286e-03 9.99993838e-01 -1.13187151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.024860624 meters 0.10160973580311282 Centerline is valid? [False, False] Translation: X:39.09, Y:-3.39, Z:-1.13 [[ 9.99994873e-01 3.81145406e-04 3.17932799e-03 3.90914793e+01] [-3.77616722e-04 9.99999312e-01 -1.11041013e-03 -3.39263079e+00] [-3.17974904e-03 1.10920387e-03 9.99994329e-01 -1.13215685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.054860624 meters 0.10391252377653333 Centerline is valid? [False, False] Translation: X:39.09, Y:-3.39, Z:-1.13 [[ 9.99995408e-01 4.72583103e-04 2.99342734e-03 3.90921133e+01] [-4.69137187e-04 9.99999227e-01 -1.15175838e-03 -3.39190423e+00] [-2.99396932e-03 1.15034876e-03 9.99994856e-01 -1.13253598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.084860624 meters 0.10781453362419678 Centerline is valid? [False, False] Translation: X:39.09, Y:-3.39, Z:-1.13 [[ 9.99996061e-01 4.80866504e-04 2.76528455e-03 3.90928168e+01] [-4.76902651e-04 9.99998858e-01 -1.43391484e-03 -3.39050339e+00] [-2.76597092e-03 1.43259042e-03 9.99995149e-01 -1.13290493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.114860624 meters 0.09893038410027262 Centerline is valid? [False, True] Translation: X:39.09, Y:-3.39, Z:-1.13 [[ 9.99996401e-01 2.86271600e-04 2.66773220e-03 3.90928972e+01] [-2.81372834e-04 9.99998274e-01 -1.83649789e-03 -3.38933801e+00] [-2.66825333e-03 1.83574065e-03 9.99994755e-01 -1.13273450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.144860624 meters 0.09878801064745131 Centerline is valid? [True, True] Translation: X:39.12, Y:-3.39, Z:-1.13 [[ 9.99996111e-01 1.15901992e-03 2.53681244e-03 3.91238269e+01] [-1.15827521e-03 9.99999286e-01 -2.95010198e-04 -3.39214644e+00] [-2.53715255e-03 2.92070724e-04 9.99996739e-01 -1.13370383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.174860624 meters 0.09959241153981978 Centerline is valid? [True, True] Translation: X:39.16, Y:-3.40, Z:-1.13 [[ 9.99992840e-01 1.91825163e-03 3.26192296e-03 3.91550212e+01] [-1.91702313e-03 9.99998090e-01 -3.79703097e-04 -3.39580428e+00] [-3.26264510e-03 3.73447197e-04 9.99994608e-01 -1.13439968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.204860624 meters 0.09999233315940338 Centerline is valid? [True, True] Translation: X:39.19, Y:-3.40, Z:-1.14 [[ 9.99985408e-01 3.94696958e-03 3.68856538e-03 3.91851012e+01] [-3.94540775e-03 9.99992124e-01 -4.30606683e-04 -3.39757837e+00] [-3.69023592e-03 4.16047505e-04 9.99993105e-01 -1.13533667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23486062399999 meters 0.10657169883702779 Centerline is valid? [True, False] Translation: X:39.19, Y:-3.40, Z:-1.14 [[ 9.99986575e-01 3.73030393e-03 3.59639321e-03 3.91851500e+01] [-3.72714340e-03 9.99992662e-01 -8.85104933e-04 -3.39640254e+00] [-3.59966853e-03 8.71688777e-04 9.99993141e-01 -1.13510743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.264860624 meters 0.09767078659721214 Centerline is valid? [False, True] Translation: X:39.19, Y:-3.40, Z:-1.14 [[ 9.99987046e-01 3.71503971e-03 3.47937966e-03 3.91855030e+01] [-3.71148946e-03 9.99992586e-01 -1.02627134e-03 -3.39568949e+00] [-3.48316651e-03 1.01334436e-03 9.99993420e-01 -1.13527597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.294860624 meters 0.09838871807906814 Centerline is valid? [True, True] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99984001e-01 4.24273228e-03 3.74126536e-03 3.92153721e+01] [-4.24115895e-03 9.99990914e-01 -4.28368282e-04 -3.40036245e+00] [-3.74304882e-03 4.12494127e-04 9.99992910e-01 -1.13734893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.324860624 meters 0.10034413689259757 Centerline is valid? [True, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99984282e-01 4.25931038e-03 3.64611929e-03 3.92156422e+01] [-4.25752702e-03 9.99990813e-01 -4.96734569e-04 -3.40001745e+00] [-3.64820154e-03 4.81203310e-04 9.99993230e-01 -1.13743613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.354860624 meters 0.0982863035573746 Centerline is valid? [False, True] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99985094e-01 4.02738722e-03 3.68665397e-03 3.92153405e+01] [-4.02429170e-03 9.99991544e-01 -8.46690294e-04 -3.39937454e+00] [-3.69003274e-03 8.31841502e-04 9.99992846e-01 -1.13711288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.384860624 meters 0.10021717066017456 Centerline is valid? [True, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99986096e-01 3.95133252e-03 3.49200878e-03 3.92156768e+01] [-3.94751845e-03 9.99991605e-01 -1.09844693e-03 -3.39836654e+00] [-3.49631979e-03 1.08464689e-03 9.99993300e-01 -1.13702860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.414860624 meters 0.10232260279615768 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99986716e-01 3.85489156e-03 3.42167702e-03 3.92158246e+01] [-3.85036990e-03 9.99991707e-01 -1.32708027e-03 -3.39760941e+00] [-3.42676439e-03 1.31388791e-03 9.99993265e-01 -1.13703185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.444860624 meters 0.10016821372520779 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99987330e-01 3.66618702e-03 3.44939150e-03 3.92156219e+01] [-3.66065058e-03 9.99992004e-01 -1.60999497e-03 -3.39700939e+00] [-3.45526646e-03 1.59734756e-03 9.99992755e-01 -1.13682859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.474860624 meters 0.10095092024742004 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99987314e-01 3.78708195e-03 3.32124305e-03 3.92160404e+01] [-3.78209154e-03 9.99991711e-01 -1.50756864e-03 -3.39699104e+00] [-3.32692480e-03 1.49498827e-03 9.99993348e-01 -1.13705514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.504860624 meters 0.10084374753906739 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99986983e-01 3.93906158e-03 3.24322697e-03 3.92166058e+01] [-3.93467093e-03 9.99991336e-01 -1.35906039e-03 -3.39681700e+00] [-3.24855229e-03 1.34628166e-03 9.99993817e-01 -1.13763451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.534860624 meters 0.10204897001958889 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99987681e-01 3.77664909e-03 3.22091867e-03 3.92166255e+01] [-3.77135171e-03 9.99991529e-01 -1.64916953e-03 -3.39596227e+00] [-3.22711972e-03 1.63700200e-03 9.99993453e-01 -1.13760439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.564860624 meters 0.10466471481502142 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99987950e-01 3.72510965e-03 3.19725395e-03 3.92170126e+01] [-3.71942057e-03 9.99991493e-01 -1.78346963e-03 -3.39492370e+00] [-3.20387037e-03 1.77155620e-03 9.99993298e-01 -1.13809397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.594860624 meters 0.10623079776475465 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99988744e-01 3.50177298e-03 3.20153558e-03 3.92168167e+01] [-3.49500492e-03 9.99991651e-01 -2.11715797e-03 -3.39425474e+00] [-3.20892266e-03 2.10594476e-03 9.99992634e-01 -1.13784253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.624860624 meters 0.10009193639169311 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99988814e-01 3.29496847e-03 3.39351378e-03 3.92164564e+01] [-3.28720254e-03 9.99991972e-01 -2.29150379e-03 -3.39391329e+00] [-3.40103696e-03 2.28032298e-03 9.99991617e-01 -1.13790315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.654860624 meters 0.10226800521574242 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99988239e-01 3.42485673e-03 3.43383539e-03 3.92167130e+01] [-3.41779007e-03 9.99992034e-01 -2.06171244e-03 -3.39416394e+00] [-3.44086911e-03 2.04995207e-03 9.99991979e-01 -1.13841550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.684860624 meters 0.10622221134028023 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99988298e-01 3.30217521e-03 3.53560413e-03 3.92164385e+01] [-3.29452610e-03 9.99992225e-01 -2.16709517e-03 -3.39412801e+00] [-3.54273276e-03 2.15542167e-03 9.99991402e-01 -1.13831936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.714860624 meters 0.10544688962531859 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99988570e-01 3.19627291e-03 3.55582559e-03 3.92164739e+01] [-3.18809242e-03 9.99992264e-01 -2.30387974e-03 -3.39359343e+00] [-3.56316191e-03 2.29251711e-03 9.99991024e-01 -1.13844474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.744860624 meters 0.11139577627217039 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99988679e-01 3.03968316e-03 3.66080459e-03 3.92165132e+01] [-3.03070070e-03 9.99992390e-01 -2.45673638e-03 -3.39268521e+00] [-3.66824443e-03 2.44561376e-03 9.99990281e-01 -1.13882601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.774860624 meters 0.10996637880948808 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99989154e-01 2.93354388e-03 3.61749020e-03 3.92165755e+01] [-2.92403203e-03 9.99992262e-01 -2.63189775e-03 -3.39210186e+00] [-3.62518299e-03 2.62129155e-03 9.99989993e-01 -1.13878940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.804860624 meters 0.1117583477716987 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99989287e-01 2.96806596e-03 3.55205217e-03 3.92168012e+01] [-2.95864491e-03 9.99992100e-01 -2.65460507e-03 -3.39183119e+00] [-3.55990316e-03 2.64406737e-03 9.99990168e-01 -1.13889057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.834860624 meters 0.11390072940895392 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99989736e-01 2.83346721e-03 3.53545685e-03 3.92166531e+01] [-2.82347442e-03 9.99992014e-01 -2.82824758e-03 -3.39138161e+00] [-3.54344236e-03 2.81823628e-03 9.99989751e-01 -1.13866878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.864860624 meters 0.10638472462984637 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99989908e-01 2.87640491e-03 3.45104726e-03 3.92169224e+01] [-2.86668536e-03 9.99991920e-01 -2.81805492e-03 -3.39109675e+00] [-3.45912525e-03 2.80813342e-03 9.99990074e-01 -1.13882303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.894860624 meters 0.10524172378056987 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99990212e-01 2.95748734e-03 3.29069762e-03 3.92174422e+01] [-2.94825900e-03 9.99991718e-01 -2.80569766e-03 -3.39059531e+00] [-3.29896818e-03 2.79596837e-03 9.99990650e-01 -1.13910692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.924860624 meters 0.10937466057137817 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99990561e-01 3.06846949e-03 3.07600605e-03 3.92180275e+01] [-3.05986869e-03 9.99991407e-01 -2.79690960e-03 -3.39024475e+00] [-3.08456185e-03 2.78747102e-03 9.99991358e-01 -1.13931308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.954860624 meters 0.10601538592766689 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99990850e-01 3.13089884e-03 2.91514734e-03 3.92184507e+01] [-3.12274921e-03 9.99991215e-01 -2.79598187e-03 -3.38985393e+00] [-2.92387567e-03 2.78685301e-03 9.99991842e-01 -1.13945930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98486062399999 meters 0.10334302081169315 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99991440e-01 2.95300161e-03 2.89816906e-03 3.92182926e+01] [-2.94408163e-03 9.99990931e-01 -3.07725425e-03 -3.38935373e+00] [-2.90722992e-03 3.06869546e-03 9.99991066e-01 -1.13919491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.014860624 meters 0.10336198204062924 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99990485e-01 3.36045000e-03 2.78155929e-03 3.92189376e+01] [-3.35326105e-03 9.99991036e-01 -2.58514300e-03 -3.39037614e+00] [-2.79022161e-03 2.57579110e-03 9.99992790e-01 -1.13973030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.044860624 meters 0.10617232675761087 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99989632e-01 3.67563735e-03 2.68804105e-03 3.92195097e+01] [-3.66975638e-03 9.99990869e-01 -2.18949705e-03 -3.39103585e+00] [-2.69606430e-03 2.17960989e-03 9.99993990e-01 -1.14024884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.074860624 meters 0.10939379882262235 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99989797e-01 3.65537835e-03 2.65424138e-03 3.92194590e+01] [-3.64945016e-03 9.99990843e-01 -2.23489566e-03 -3.39123953e+00] [-2.66238646e-03 2.22518634e-03 9.99993980e-01 -1.14005684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.104860624 meters 0.10801371739673364 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99990393e-01 3.48679233e-03 2.65622199e-03 3.92192478e+01] [-3.48020192e-03 9.99990865e-01 -2.48171495e-03 -3.39085332e+00] [-2.66485095e-03 2.47244692e-03 9.99993393e-01 -1.13976423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.134860624 meters 0.10636853443526252 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99990348e-01 3.54685929e-03 2.59294098e-03 3.92193728e+01] [-3.54067245e-03 9.99990884e-01 -2.38674159e-03 -3.39113848e+00] [-2.60138277e-03 2.37753780e-03 9.99993790e-01 -1.13976493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.164860624 meters 0.10538348509378827 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99989562e-01 3.79075421e-03 2.55073778e-03 3.92197935e+01] [-3.78550734e-03 9.99990716e-01 -2.05869456e-03 -3.39172984e+00] [-2.55851811e-03 2.04901724e-03 9.99994628e-01 -1.14022442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.194860624 meters 0.10451261147447269 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99988655e-01 4.00247976e-03 2.58277355e-03 3.92199280e+01] [-3.99807552e-03 9.99990549e-01 -1.70815223e-03 -3.39285080e+00] [-2.58958598e-03 1.69780673e-03 9.99995206e-01 -1.14047993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.224860624 meters 0.1071135649353787 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99989008e-01 3.90876032e-03 2.58940300e-03 3.92198673e+01] [-3.90404817e-03 9.99990719e-01 -1.82234671e-03 -3.39259451e+00] [-2.59650209e-03 1.81221753e-03 9.99994987e-01 -1.14043725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.254860624 meters 0.1054050677704148 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99989616e-01 3.74071545e-03 2.60269132e-03 3.92196909e+01] [-3.73540329e-03 9.99990937e-01 -2.04290318e-03 -3.39212714e+00] [-2.61030965e-03 2.03315986e-03 9.99994526e-01 -1.14025231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.284860624 meters 0.1056720953265037 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99989791e-01 3.74827800e-03 2.52337402e-03 3.92198848e+01] [-3.74310440e-03 9.99990889e-01 -2.05188119e-03 -3.39190085e+00] [-2.53104205e-03 2.04241499e-03 9.99994711e-01 -1.14030095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.314860624 meters 0.104551375571446 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99989939e-01 3.76280631e-03 2.44187335e-03 3.92199258e+01] [-3.75774438e-03 9.99990788e-01 -2.07425632e-03 -3.39201944e+00] [-2.44965588e-03 2.06505951e-03 9.99994867e-01 -1.14010647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.344860624 meters 0.10506668952421588 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99989492e-01 3.93565343e-03 2.35086114e-03 3.92201814e+01] [-3.93122998e-03 9.99990499e-01 -1.88329306e-03 -3.39262291e+00] [-2.35825080e-03 1.87403149e-03 9.99995463e-01 -1.14017817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.374860624 meters 0.1047103279976879 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99989391e-01 3.82811235e-03 2.56201544e-03 3.92195117e+01] [-3.82337882e-03 9.99990980e-01 -1.84993623e-03 -3.39337328e+00] [-2.56907410e-03 1.84012105e-03 9.99995007e-01 -1.13983347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.404860624 meters 0.1046279461132467 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99988540e-01 4.09444649e-03 2.48114541e-03 3.92199941e+01] [-4.09076838e-03 9.99990529e-01 -1.48568771e-03 -3.39396117e+00] [-2.48720498e-03 1.47552090e-03 9.99995818e-01 -1.14027207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.434860624 meters 0.10622579686981747 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99988973e-01 3.96615745e-03 2.51452426e-03 3.92197310e+01] [-3.96208862e-03 9.99990837e-01 -1.62105161e-03 -3.39388279e+00] [-2.52093057e-03 1.61107097e-03 9.99995525e-01 -1.13999737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.464860624 meters 0.11238133014093676 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99988419e-01 4.11668722e-03 2.49275392e-03 3.92201356e+01] [-4.11316039e-03 9.99990535e-01 -1.41830956e-03 -3.39393121e+00] [-2.49856907e-03 1.40804004e-03 9.99995887e-01 -1.14047098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.494860624 meters 0.10771775847067314 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99988624e-01 4.09305950e-03 2.44922872e-03 3.92201073e+01] [-4.08948102e-03 9.99990566e-01 -1.46429094e-03 -3.39399715e+00] [-2.45519905e-03 1.45425821e-03 9.99995929e-01 -1.14030086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.524860624 meters 0.10847172117015255 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99988993e-01 4.01074712e-03 2.43481199e-03 3.92200268e+01] [-4.00682185e-03 9.99990669e-01 -1.61488732e-03 -3.39382555e+00] [-2.44126618e-03 1.60511369e-03 9.99995732e-01 -1.14011624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.554860624 meters 0.1080056780644001 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99989151e-01 3.98546963e-03 2.41101293e-03 3.92198668e+01] [-3.98143448e-03 9.99990669e-01 -1.67612132e-03 -3.39397325e+00] [-2.41767056e-03 1.66650385e-03 9.99995689e-01 -1.13981234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.584860624 meters 0.10915815835229775 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.39, Z:-1.14 [[ 9.99988249e-01 4.25118870e-03 2.33005206e-03 3.92203356e+01] [-4.24803108e-03 9.99990054e-01 -1.35844706e-03 -3.39454034e+00] [-2.33580390e-03 1.34853296e-03 9.99996363e-01 -1.14020593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.614860624 meters 0.11120624922224333 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99987974e-01 4.31122922e-03 2.33768847e-03 3.92201137e+01] [-4.30831827e-03 9.99989939e-01 -1.24883511e-03 -3.39533382e+00] [-2.34304896e-03 1.23874859e-03 9.99996488e-01 -1.13987282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.644860624 meters 0.11115764785550579 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99988133e-01 4.24891895e-03 2.38351427e-03 3.92198879e+01] [-4.24584663e-03 9.99990151e-01 -1.29257083e-03 -3.39549767e+00] [-2.38898282e-03 1.28243545e-03 9.99996324e-01 -1.13968641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.674860624 meters 0.11153391609888262 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99988251e-01 4.25159953e-03 2.32831784e-03 3.92198363e+01] [-4.24860912e-03 9.99990145e-01 -1.28781017e-03 -3.39585660e+00] [-2.33377015e-03 1.27790292e-03 9.99996460e-01 -1.13945241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.704860624 meters 0.11157491487248844 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99987265e-01 4.48055037e-03 2.32255267e-03 3.92201050e+01] [-4.47837791e-03 9.99989530e-01 -9.39735496e-04 -3.39664790e+00] [-2.32673888e-03 9.29322260e-04 9.99996861e-01 -1.13981703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73486062399999 meters 0.11158651674386852 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99987040e-01 4.50293006e-03 2.37563191e-03 3.92199556e+01] [-4.50087102e-03 9.99989491e-01 -8.71370706e-04 -3.39721338e+00] [-2.37953067e-03 8.60667001e-04 9.99996799e-01 -1.13973597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.764860624 meters 0.10286754231574685 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99986375e-01 4.63320700e-03 2.40499819e-03 3.92200027e+01] [-4.63169655e-03 9.99989073e-01 -6.33237441e-04 -3.39804259e+00] [-2.40790583e-03 6.22089591e-04 9.99996907e-01 -1.13989176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.794860624 meters 0.10286754231574685 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99986375e-01 4.63320700e-03 2.40499819e-03 3.92200027e+01] [-4.63169655e-03 9.99989073e-01 -6.33237441e-04 -3.39804259e+00] [-2.40790583e-03 6.22089591e-04 9.99996907e-01 -1.13989176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.824860624 meters 0.10427130660729941 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99985422e-01 4.79747258e-03 2.47773874e-03 3.92197794e+01] [-4.79686509e-03 9.99988463e-01 -2.51064236e-04 -3.39956809e+00] [-2.47891463e-03 2.39175198e-04 9.99996899e-01 -1.13979453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.854860624 meters 0.10458764659344992 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99985321e-01 4.80506685e-03 2.50377561e-03 3.92196019e+01] [-4.80466047e-03 9.99988443e-01 -1.68297230e-04 -3.40009539e+00] [-2.50455535e-03 1.56264968e-04 9.99996851e-01 -1.13961189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.884860624 meters 0.1057714485585456 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99984603e-01 4.94649786e-03 2.51499614e-03 3.92197798e+01] [-4.94668071e-03 9.99987763e-01 6.64888293e-05 -3.40062888e+00] [-2.51463648e-03 -7.89286885e-05 9.99996835e-01 -1.13988293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.914860624 meters 0.10629978698573346 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99984757e-01 4.90627353e-03 2.53279629e-03 3.92195942e+01] [-4.90638645e-03 9.99987963e-01 3.83754774e-05 -3.40088597e+00] [-2.53257752e-03 -5.08017698e-05 9.99996792e-01 -1.13966466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.944860624 meters 0.10921720647168318 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99984992e-01 4.83223333e-03 2.58156374e-03 3.92193570e+01] [-4.83217599e-03 9.99988325e-01 -2.84447023e-05 -3.40103815e+00] [-2.58167105e-03 1.59697051e-05 9.99996667e-01 -1.13946527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.974860624 meters 0.10422525868376807 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99997638e-01 1.41884675e-03 1.64656215e-03 3.92218211e+01] [-1.41249314e-03 9.99991578e-01 -3.85347904e-03 -3.40044788e+00] [-1.65201578e-03 3.85114418e-03 9.99991220e-01 -1.14034391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.004860624 meters 0.10257844388130728 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99997065e-01 1.84236180e-03 1.57365098e-03 3.92226408e+01] [-1.83722263e-03 9.99992995e-01 -3.26099108e-03 -3.40121799e+00] [-1.57964788e-03 3.25809036e-03 9.99993445e-01 -1.14128772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.034860624 meters 0.10116293614735619 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99997222e-01 1.74932399e-03 1.57955994e-03 3.92225133e+01] [-1.74396698e-03 9.99992745e-01 -3.38648913e-03 -3.40102073e+00] [-1.58547254e-03 3.38372502e-03 9.99993018e-01 -1.14112837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.064860624 meters 0.10911024979818747 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99996871e-01 1.99972158e-03 1.50280050e-03 3.92230428e+01] [-1.99509057e-03 9.99993276e-01 -3.07679093e-03 -3.40132341e+00] [-1.50894312e-03 3.07378308e-03 9.99994137e-01 -1.14162743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.094860624 meters 0.10423695089597873 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99996670e-01 2.15551576e-03 1.41916105e-03 3.92235064e+01] [-2.15140097e-03 9.99993496e-01 -2.89461888e-03 -3.40134428e+00] [-1.42539121e-03 2.89155606e-03 9.99994804e-01 -1.14203876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.124860624 meters 0.1033005844675862 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99996425e-01 2.30991246e-03 1.34659047e-03 3.92239262e+01] [-2.30623876e-03 9.99993632e-01 -2.72335123e-03 -3.40135468e+00] [-1.35287260e-03 2.72023594e-03 9.99995385e-01 -1.14241475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.154860624 meters 0.10382402978313521 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.40, Z:-1.14 [[ 9.99996039e-01 2.52907128e-03 1.23517296e-03 3.92244791e+01] [-2.52604276e-03 9.99993815e-01 -2.44732990e-03 -3.40159389e+00] [-1.24135479e-03 2.44420011e-03 9.99996242e-01 -1.14288310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.184860624 meters 0.10426858189781728 Centerline is valid? [False, False] Translation: X:39.23, Y:-3.40, Z:-1.14 [[ 9.99994764e-01 3.03885994e-03 1.11276392e-03 3.92253888e+01] [-3.03687901e-03 9.99993809e-01 -1.77756890e-03 -3.40271424e+00] [-1.11815881e-03 1.77418027e-03 9.99997801e-01 -1.14378989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.214860624 meters 0.10417188479720536 Centerline is valid? [False, False] Translation: X:39.23, Y:-3.40, Z:-1.14 [[ 9.99994356e-01 3.17540275e-03 1.09748610e-03 3.92256375e+01] [-3.17364580e-03 9.99993686e-01 -1.59894048e-03 -3.40308318e+00] [-1.10255645e-03 1.59544843e-03 9.99998119e-01 -1.14405801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.244860624 meters 0.1036036604442117 Centerline is valid? [False, False] Translation: X:39.23, Y:-3.40, Z:-1.14 [[ 9.99993922e-01 3.32396138e-03 1.05245056e-03 3.92260257e+01] [-3.32245928e-03 9.99993464e-01 -1.42578227e-03 -3.40316405e+00] [-1.05718293e-03 1.42227688e-03 9.99998430e-01 -1.14445002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.274860624 meters 0.10735331495360505 Centerline is valid? [False, False] Translation: X:39.23, Y:-3.40, Z:-1.14 [[ 9.99994167e-01 3.24104343e-03 1.07797195e-03 3.92258103e+01] [-3.23941068e-03 9.99993609e-01 -1.51297024e-03 -3.40314987e+00] [-1.08286867e-03 1.50946942e-03 9.99998274e-01 -1.14421315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.304860624 meters 0.10306474297352822 Centerline is valid? [False, False] Translation: X:39.23, Y:-3.40, Z:-1.14 [[ 9.99993288e-01 3.45001255e-03 1.23347492e-03 3.92255811e+01] [-3.44875077e-03 9.99993529e-01 -1.02361063e-03 -3.40479622e+00] [-1.23699841e-03 1.01934982e-03 9.99998715e-01 -1.14428812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.334860624 meters 0.11158990341540262 Centerline is valid? [False, False] Translation: X:39.23, Y:-3.41, Z:-1.14 [[ 9.99993085e-01 3.45243990e-03 1.38242089e-03 3.92251793e+01] [-3.45127240e-03 9.99993686e-01 -8.46025572e-04 -3.40587077e+00] [-1.38533302e-03 8.41248610e-04 9.99998687e-01 -1.14411058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.364860624 meters 0.10489516869385293 Centerline is valid? [False, False] Translation: X:39.23, Y:-3.41, Z:-1.14 [[ 9.99992083e-01 3.68554661e-03 1.50029044e-03 3.92250770e+01] [-3.68502002e-03 9.99993148e-01 -3.53601998e-04 -3.40745783e+00] [-1.50158337e-03 3.48070598e-04 9.99998812e-01 -1.14428428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.394860624 meters 0.10676199125615429 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.41, Z:-1.14 [[ 9.99991416e-01 3.76742129e-03 1.72439785e-03 3.92246622e+01] [-3.76742745e-03 9.99992903e-01 3.24379169e-07 -3.40873470e+00] [-1.72438439e-03 -6.82092019e-06 9.99998513e-01 -1.14434327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.424860624 meters 0.10628964872864188 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.41, Z:-1.14 [[ 9.99990823e-01 3.83260670e-03 1.91453178e-03 3.92241701e+01] [-3.83323666e-03 9.99992600e-01 3.25480100e-04 -3.41019966e+00] [-1.91327018e-03 -3.32815966e-04 9.99998114e-01 -1.14418331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.454860624 meters 0.10754156006605613 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.41, Z:-1.14 [[ 9.99990285e-01 3.86742879e-03 2.11472934e-03 3.92236874e+01] [-3.86873200e-03 9.99992329e-01 6.12513264e-04 -3.41143516e+00] [-2.11234426e-03 -6.20688635e-04 9.99997576e-01 -1.14408717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48486062399999 meters 0.11081094652615903 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.41, Z:-1.14 [[ 9.99997167e-01 1.41795864e-03 1.91187511e-03 3.92225343e+01] [-1.41530672e-03 9.99998036e-01 -1.38771409e-03 -3.41352107e+00] [-1.91383907e-03 1.38500427e-03 9.99997209e-01 -1.14254662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.514860624 meters 0.11457156586799709 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.42, Z:-1.14 [[ 9.99996448e-01 1.89512300e-03 1.87398970e-03 3.92229504e+01] [-1.89398411e-03 9.99998021e-01 -6.09320659e-04 -3.41532243e+00] [-1.87514073e-03 6.05769188e-04 9.99998058e-01 -1.14301169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.544860624 meters 0.11156795255642186 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.42, Z:-1.14 [[ 9.99995962e-01 2.02386530e-03 1.99476861e-03 3.92226486e+01] [-2.02342367e-03 9.99997928e-01 -2.23385486e-04 -3.41677377e+00] [-1.99521657e-03 2.19348322e-04 9.99997985e-01 -1.14293811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.574860624 meters 0.10829788786595895 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.42, Z:-1.14 [[ 9.99995201e-01 2.27950316e-03 2.09797823e-03 3.92224798e+01] [-2.28010227e-03 9.99997360e-01 2.83216465e-04 -3.41841665e+00] [-2.09732710e-03 -2.87998711e-04 9.99997759e-01 -1.14298702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.604860624 meters 0.11728122094411368 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.42, Z:-1.14 [[ 9.99994808e-01 2.41070412e-03 2.13823125e-03 3.92222301e+01] [-2.41199421e-03 9.99996911e-01 6.00968352e-04 -3.41979094e+00] [-2.13677588e-03 -6.06122634e-04 9.99997533e-01 -1.14274035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.634860624 meters 0.10908233177502634 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.42, Z:-1.14 [[ 9.99994434e-01 2.51570685e-03 2.19175439e-03 3.92220012e+01] [-2.51758940e-03 9.99996464e-01 8.56588460e-04 -3.42082628e+00] [-2.18959171e-03 -8.62101630e-04 9.99997231e-01 -1.14257580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.664860624 meters 0.11659189477449852 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.42, Z:-1.14 [[ 9.99994022e-01 2.58163853e-03 2.30019143e-03 3.92214965e+01] [-2.58423897e-03 9.99996024e-01 1.12827635e-03 -3.42233604e+00] [-2.29726948e-03 -1.13421385e-03 9.99996718e-01 -1.14212948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.694860624 meters 0.1122383793104829 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.42, Z:-1.14 [[ 9.99993895e-01 2.57381016e-03 2.36334145e-03 3.92212267e+01] [-2.57660207e-03 9.99995985e-01 1.17905706e-03 -3.42286152e+00] [-2.36029729e-03 -1.18513925e-03 9.99996512e-01 -1.14191776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.724860624 meters 0.11041641813615774 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.42, Z:-1.14 [[ 9.99998641e-01 -7.04104870e-04 1.49055385e-03 3.92238221e+01] [ 7.07664102e-04 9.99996897e-01 -2.38867925e-03 -3.42251315e+00] [-1.48886734e-03 2.38973081e-03 9.99996036e-01 -1.14317628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.754860624 meters 0.11275200730425075 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.42, Z:-1.14 [[ 9.99998590e-01 -7.34727803e-04 1.51022186e-03 3.92236414e+01] [ 7.38352368e-04 9.99996845e-01 -2.40086678e-03 -3.42281811e+00] [-1.50845312e-03 2.40197847e-03 9.99995978e-01 -1.14297166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.784860624 meters 0.10943160042510473 Centerline is valid? [False, False] Translation: X:39.22, Y:-3.42, Z:-1.14 [[ 9.99998972e-01 -2.83744425e-04 1.40539333e-03 3.92243611e+01] [ 2.86241762e-04 9.99998380e-01 -1.77708402e-03 -3.42391915e+00] [-1.40488682e-03 1.77748448e-03 9.99997433e-01 -1.14369594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.814860624 meters 0.11026857186997895 Centerline is valid? [False, False] Translation: X:39.23, Y:-3.43, Z:-1.14 [[ 9.99999205e-01 3.59843554e-04 1.20827273e-03 3.92253537e+01] [-3.58710671e-04 9.99999496e-01 -9.37691214e-04 -3.42553630e+00] [-1.20860954e-03 9.37257049e-04 9.99998830e-01 -1.14451869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.844860624 meters 0.10673780715998017 Centerline is valid? [False, False] Translation: X:39.23, Y:-3.43, Z:-1.14 [[ 9.99999276e-01 3.83924994e-04 1.14003616e-03 3.92253509e+01] [-3.82843905e-04 9.99999477e-01 -9.48360756e-04 -3.42575328e+00] [-1.14039966e-03 9.47923614e-04 9.99998900e-01 -1.14432131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.874860624 meters 0.10849048729382399 Centerline is valid? [False, False] Translation: X:39.23, Y:-3.43, Z:-1.14 [[ 9.99999372e-01 1.96610771e-04 1.10314841e-03 3.92251595e+01] [-1.95180362e-04 9.99999140e-01 -1.29661843e-03 -3.42515382e+00] [-1.10340239e-03 1.29640231e-03 9.99998551e-01 -1.14394854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.904860624 meters 0.10927551706668788 Centerline is valid? [False, False] Translation: X:39.23, Y:-3.43, Z:-1.14 [[ 9.99999538e-01 3.79904146e-04 8.82744598e-04 3.92257113e+01] [-3.78870361e-04 9.99999243e-01 -1.17097475e-03 -3.42501013e+00] [-8.83188787e-04 1.17063977e-03 9.99998925e-01 -1.14412416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.934860624 meters 0.10456704326975877 Centerline is valid? [False, False] Translation: X:39.23, Y:-3.43, Z:-1.14 [[ 9.99999537e-01 7.90269738e-04 5.48847261e-04 3.92267443e+01] [-7.89828126e-04 9.99999365e-01 -8.04368591e-04 -3.42522452e+00] [-5.49482580e-04 8.03934723e-04 9.99999526e-01 -1.14461834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.964860624 meters 0.10518333417831391 Centerline is valid? [False, False] Translation: X:39.23, Y:-3.43, Z:-1.14 [[ 9.99999503e-01 9.29723587e-04 3.58816026e-04 3.92270176e+01] [-9.29467134e-04 9.99999313e-01 -7.14225134e-04 -3.42546197e+00] [-3.59479812e-04 7.13891272e-04 9.99999681e-01 -1.14449808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.994860624 meters 0.10045943164139673 Centerline is valid? [False, False] Translation: X:39.23, Y:-3.43, Z:-1.14 [[ 9.99999296e-01 1.18338530e-03 -9.13498036e-05 3.92277826e+01] [-1.18345489e-03 9.99999007e-01 -7.65496646e-04 -3.42513899e+00] [ 9.04438354e-05 7.65604215e-04 9.99999703e-01 -1.14435078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.024860624 meters 0.10248946903141094 Centerline is valid? [False, False] Translation: X:39.23, Y:-3.43, Z:-1.15 [[ 9.99998519e-01 1.67478137e-03 -3.96621238e-04 3.92289036e+01] [-1.67490546e-03 9.99998548e-01 -3.12759575e-04 -3.42575304e+00] [ 3.96096858e-04 3.13423415e-04 9.99999872e-01 -1.14500934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.054860624 meters 0.09990112070372621 Centerline is valid? [False, True] Translation: X:39.23, Y:-3.43, Z:-1.14 [[ 9.99998422e-01 1.67881577e-03 -5.81612970e-04 3.92291453e+01] [-1.67907754e-03 9.99998489e-01 -4.49885708e-04 -3.42551145e+00] [ 5.80856816e-04 4.50861571e-04 9.99999730e-01 -1.14481426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.084860624 meters 0.09813837403752629 Centerline is valid? [True, True] Translation: X:39.26, Y:-3.43, Z:-1.15 [[ 9.99994109e-01 3.40339984e-03 -4.46833158e-04 3.92596731e+01] [-3.40337676e-03 9.99994207e-01 5.23966805e-05 -3.42640552e+00] [ 4.47008897e-04 -5.08756302e-05 9.99999899e-01 -1.14514235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.114860624 meters 0.09759417649406449 Centerline is valid? [True, True] Translation: X:39.29, Y:-3.43, Z:-1.15 [[ 9.99974469e-01 7.13129442e-03 4.53581026e-04 3.92888443e+01] [-7.13127085e-03 9.99974571e-01 -5.35574210e-05 -3.42958678e+00] [-4.53951425e-04 5.03214445e-05 9.99999896e-01 -1.14601532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.144860624 meters 0.09562871939994472 Centerline is valid? [True, True] Translation: X:39.32, Y:-3.43, Z:-1.15 [[ 9.99967245e-01 8.08640922e-03 3.45028285e-04 3.93188042e+01] [-8.08639541e-03 9.99967304e-01 -4.13936197e-05 -3.42924871e+00] [-3.45351730e-04 3.86022288e-05 9.99999940e-01 -1.14630980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.174860624 meters 0.09805799160619091 Centerline is valid? [True, True] Translation: X:39.35, Y:-3.44, Z:-1.15 [[ 9.99953986e-01 9.58060528e-03 -4.87305918e-04 3.93466356e+01] [-9.58057848e-03 9.99954104e-01 5.73077222e-05 -3.43789119e+00] [ 4.87832595e-04 -5.26364127e-05 9.99999880e-01 -1.14815001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.204860624 meters 0.09862394529859254 Centerline is valid? [True, True] Translation: X:39.37, Y:-3.44, Z:-1.15 [[ 9.99945160e-01 1.04534012e-02 -6.35857516e-04 3.93744810e+01] [-1.04533565e-02 9.99945359e-01 7.36606257e-05 -3.44292995e+00] [ 6.36592777e-04 -6.70097409e-05 9.99999795e-01 -1.14952817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23486062399999 meters 0.09464714947878215 Centerline is valid? [True, True] Translation: X:39.40, Y:-3.44, Z:-1.15 [[ 9.99935310e-01 1.12680395e-02 -1.55157113e-03 3.94042899e+01] [-1.12677720e-02 9.99936500e-01 1.80999291e-04 -3.43957152e+00] [ 1.55351212e-03 -1.63504833e-04 9.99998780e-01 -1.14952480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.264860624 meters 0.09624726648768861 Centerline is valid? [True, True] Translation: X:39.43, Y:-3.45, Z:-1.15 [[ 9.99935566e-01 1.12021100e-02 -1.83769854e-03 3.94318148e+01] [-1.12017342e-02 9.99937236e-01 2.14689633e-04 -3.44625665e+00] [ 1.83998818e-03 -1.94090389e-04 9.99998288e-01 -1.15130711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.294860624 meters 0.09673631898726126 Centerline is valid? [True, True] Translation: X:39.46, Y:-3.45, Z:-1.15 [[ 9.99939922e-01 1.06784328e-02 -2.47436580e-03 3.94600162e+01] [-1.06777479e-02 9.99942949e-01 2.89843989e-04 -3.45073887e+00] [ 2.47731971e-03 -2.63405922e-04 9.99996897e-01 -1.15176127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.324860624 meters 0.10160158693270215 Centerline is valid? [True, False] Translation: X:39.46, Y:-3.45, Z:-1.15 [[ 9.99973679e-01 6.55058098e-03 -3.11942714e-03 3.94612135e+01] [-6.56387940e-03 9.99969332e-01 -4.27211424e-03 -3.44929793e+00] [ 3.09134664e-03 4.29247734e-03 9.99986009e-01 -1.15178976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.354860624 meters 0.09664961255681957 Centerline is valid? [False, True] Translation: X:39.46, Y:-3.45, Z:-1.15 [[ 9.99974181e-01 6.55054025e-03 -2.95440393e-03 3.94610479e+01] [-6.56277297e-03 9.99969853e-01 -4.14999255e-03 -3.44960686e+00] [ 2.92713017e-03 4.16927448e-03 9.99987024e-01 -1.15202751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.384860624 meters 0.0970192727735052 Centerline is valid? [True, True] Translation: X:39.49, Y:-3.46, Z:-1.15 [[ 9.99971960e-01 6.82195794e-03 -3.08872583e-03 3.94895328e+01] [-6.82090623e-03 9.99976676e-01 3.50905285e-04 -3.45596658e+00] [ 3.09104765e-03 -3.29827537e-04 9.99995168e-01 -1.15480449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.414860624 meters 0.09733970540548377 Centerline is valid? [True, True] Translation: X:39.52, Y:-3.46, Z:-1.16 [[ 9.99972767e-01 6.40201802e-03 -3.67133420e-03 3.95176736e+01] [-6.40053202e-03 9.99979430e-01 4.16364620e-04 -3.45960890e+00] [ 3.67392426e-03 -3.92854789e-04 9.99993174e-01 -1.15534667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.444860624 meters 0.09779250438504943 Centerline is valid? [True, True] Translation: X:39.55, Y:-3.46, Z:-1.16 [[ 9.99977938e-01 5.83482362e-03 -3.17456149e-03 3.95464020e+01] [-5.83370924e-03 9.99982919e-01 3.60181907e-04 -3.46316781e+00] [ 3.17660887e-03 -3.41654492e-04 9.99994896e-01 -1.15542343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.474860624 meters 0.10316617240739226 Centerline is valid? [True, False] Translation: X:39.55, Y:-3.46, Z:-1.16 [[ 9.99979584e-01 5.58479972e-03 -3.10493303e-03 3.95460914e+01] [-5.58473482e-03 9.99984405e-01 2.95701717e-05 -3.46261268e+00] [ 3.10504975e-03 -1.22293403e-05 9.99995179e-01 -1.15514312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.504860624 meters 0.09815165940143973 Centerline is valid? [False, True] Translation: X:39.55, Y:-3.46, Z:-1.15 [[ 9.99980218e-01 5.50581370e-03 -3.04137464e-03 3.95458470e+01] [-5.50587479e-03 9.99984842e-01 -1.17131663e-05 -3.46284920e+00] [ 3.04126405e-03 2.84583626e-05 9.99995375e-01 -1.15497578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.534860624 meters 0.09524670466574273 Centerline is valid? [True, True] Translation: X:39.58, Y:-3.46, Z:-1.15 [[ 9.99983118e-01 4.74535242e-03 -3.35327036e-03 3.95755358e+01] [-4.74408000e-03 9.99988672e-01 3.87310315e-04 -3.46135964e+00] [ 3.35507030e-03 -3.71395594e-04 9.99994303e-01 -1.15483039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.564860624 meters 0.10366161532051389 Centerline is valid? [True, False] Translation: X:39.58, Y:-3.46, Z:-1.16 [[ 9.99983616e-01 4.73753574e-03 -3.21307507e-03 3.95754431e+01] [-4.73603342e-03 9.99988672e-01 4.75013776e-04 -3.46163016e+00] [ 3.21528907e-03 -4.59788762e-04 9.99994725e-01 -1.15506592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.594860624 meters 0.09793886659930816 Centerline is valid? [False, True] Translation: X:39.58, Y:-3.46, Z:-1.15 [[ 9.99984166e-01 4.64286291e-03 -3.17985658e-03 3.95752271e+01] [-4.64167129e-03 9.99989154e-01 3.82018054e-04 -3.46169679e+00] [ 3.18159575e-03 -3.67252156e-04 9.99994871e-01 -1.15484547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.624860624 meters 0.09944806476985509 Centerline is valid? [True, True] Translation: X:39.60, Y:-3.47, Z:-1.16 [[ 9.99988290e-01 3.69374156e-03 -3.12672392e-03 3.96032619e+01] [-3.69261661e-03 9.99993115e-01 3.65483322e-04 -3.46677373e+00] [ 3.12805240e-03 -3.53933250e-04 9.99995045e-01 -1.15621370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.654860624 meters 0.09841535958500923 Centerline is valid? [True, True] Translation: X:39.63, Y:-3.47, Z:-1.16 [[ 9.99988796e-01 4.27046597e-03 -2.04214047e-03 3.96324729e+01] [-4.26998827e-03 9.99990855e-01 2.38224296e-04 -3.46841210e+00] [ 2.04313913e-03 -2.29501712e-04 9.99997886e-01 -1.15637402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.684860624 meters 0.09841535958500923 Centerline is valid? [True, True] Translation: X:39.66, Y:-3.47, Z:-1.16 [[ 9.99989077e-01 4.20418975e-03 -2.04219818e-03 3.96607758e+01] [-4.20371291e-03 9.99991136e-01 2.37731451e-04 -3.47165922e+00] [ 2.04317954e-03 -2.29144039e-04 9.99997886e-01 -1.15699325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.714860624 meters 0.09927572967266567 Centerline is valid? [True, True] Translation: X:39.69, Y:-3.48, Z:-1.16 [[ 9.99985422e-01 4.54785907e-03 -2.91066408e-03 3.96878702e+01] [-4.54689180e-03 9.99989605e-01 3.38853311e-04 -3.47557280e+00] [ 2.91217488e-03 -3.25613897e-04 9.99995707e-01 -1.15789277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.744860624 meters 0.09769230399029062 Centerline is valid? [True, True] Translation: X:39.72, Y:-3.48, Z:-1.16 [[ 9.99979924e-01 5.60174612e-03 -2.96171573e-03 3.97174964e+01] [-5.60074620e-03 9.99984256e-01 3.45801664e-04 -3.47605228e+00] [ 2.96360620e-03 -3.29206904e-04 9.99995554e-01 -1.15788046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.774860624 meters 0.09957708490899944 Centerline is valid? [True, True] Translation: X:39.75, Y:-3.48, Z:-1.16 [[ 9.99978476e-01 6.14405876e-03 -2.30167704e-03 3.97450135e+01] [-6.14345918e-03 9.99981093e-01 2.67474452e-04 -3.48212037e+00] [ 2.30327690e-03 -2.53328436e-04 9.99997315e-01 -1.15918752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.804860624 meters 0.09864183118947474 Centerline is valid? [True, True] Translation: X:39.77, Y:-3.48, Z:-1.16 [[ 9.99970986e-01 7.13412874e-03 -2.67036532e-03 3.97742168e+01] [-7.13332432e-03 9.99974509e-01 3.10643369e-04 -3.48233424e+00] [ 2.67251342e-03 -2.91585774e-04 9.99996386e-01 -1.15943278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.834860624 meters 0.09769803521707973 Centerline is valid? [True, True] Translation: X:39.80, Y:-3.48, Z:-1.16 [[ 9.99963248e-01 8.30965322e-03 -2.10983928e-03 3.98037960e+01] [-8.30915295e-03 9.99965448e-01 2.45768702e-04 -3.48354313e+00] [ 2.11180863e-03 -2.28228692e-04 9.99997744e-01 -1.15989034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.864860624 meters 0.09760536602012153 Centerline is valid? [True, True] Translation: X:39.83, Y:-3.49, Z:-1.16 [[ 9.99953124e-01 9.27812571e-03 -2.76877935e-03 3.98326873e+01] [-9.27726968e-03 9.99956913e-01 3.21854202e-04 -3.48588452e+00] [ 2.77164626e-03 -2.96152402e-04 9.99996115e-01 -1.16046684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.894860624 meters 0.09860374698984106 Centerline is valid? [True, True] Translation: X:39.86, Y:-3.49, Z:-1.16 [[ 9.99947213e-01 1.00461710e-02 -2.15553237e-03 3.98601364e+01] [-1.00456557e-02 9.99949510e-01 2.49729692e-04 -3.48993432e+00] [ 2.15793237e-03 -2.28062773e-04 9.99997646e-01 -1.16164199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.924860624 meters 0.09910796187660292 Centerline is valid? [True, True] Translation: X:39.89, Y:-3.49, Z:-1.16 [[ 9.99929422e-01 1.14737346e-02 -3.08278680e-03 3.98885618e+01] [-1.14726833e-02 9.99934122e-01 3.58492844e-04 -3.49166203e+00] [ 3.08669697e-03 -3.23099706e-04 9.99995184e-01 -1.16340379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.954860624 meters 0.09538515884175794 Centerline is valid? [True, True] Translation: X:39.92, Y:-3.49, Z:-1.16 [[ 9.99923476e-01 1.20526373e-02 -2.78863509e-03 3.99179203e+01] [-1.20517811e-02 9.99927322e-01 3.23610934e-04 -3.48723427e+00] [ 2.79233279e-03 -2.89978150e-04 9.99996059e-01 -1.16257954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98486062399999 meters 0.09596609435483523 Centerline is valid? [True, True] Translation: X:39.95, Y:-3.49, Z:-1.16 [[ 9.99912647e-01 1.27153705e-02 -3.60809440e-03 3.99456964e+01] [-1.27139423e-02 9.99919087e-01 4.18483078e-04 -3.49010540e+00] [ 3.61312363e-03 -3.72573418e-04 9.99993403e-01 -1.16382200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.014860624 meters 0.0997780780029638 Centerline is valid? [True, True] Translation: X:39.97, Y:-3.50, Z:-1.17 [[ 9.99909541e-01 1.26914102e-02 -4.45401689e-03 3.99723812e+01] [-1.26892350e-02 9.99919355e-01 5.16288809e-04 -3.49828924e+00] [ 4.46021013e-03 -4.59724038e-04 9.99989948e-01 -1.16634139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.044860624 meters 0.09818308032028268 Centerline is valid? [True, True] Translation: X:40.00, Y:-3.50, Z:-1.17 [[ 9.99908943e-01 1.23358275e-02 -5.47108143e-03 4.00013993e+01] [-1.23325358e-02 9.99923750e-01 6.34983508e-04 -3.49591193e+00] [ 5.47849731e-03 -5.67453381e-04 9.99984832e-01 -1.16628846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.074860624 meters 0.09791367440303961 Centerline is valid? [True, True] Translation: X:40.03, Y:-3.50, Z:-1.17 [[ 9.99917476e-01 1.19231388e-02 -4.78330239e-03 4.00302912e+01] [-1.19206204e-02 9.99928793e-01 5.54661329e-04 -3.49711768e+00] [ 4.78957509e-03 -4.97595624e-04 9.99988406e-01 -1.16681722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.104860624 meters 0.09982934614678479 Centerline is valid? [True, True] Translation: X:40.06, Y:-3.50, Z:-1.17 [[ 9.99920894e-01 1.09384438e-02 -6.20935528e-03 4.00585378e+01] [-1.09341781e-02 9.99939961e-01 7.20498068e-04 -3.50151671e+00] [ 6.21686360e-03 -6.52546875e-04 9.99980462e-01 -1.16813388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.134860624 meters 0.10175285399095906 Centerline is valid? [True, False] Translation: X:40.06, Y:-3.50, Z:-1.17 [[ 9.99951197e-01 6.95509035e-03 -7.01643219e-03 4.00605981e+01] [-6.98255247e-03 9.99968028e-01 -3.89709790e-03 -3.49824532e+00] [ 6.98910319e-03 3.94590032e-03 9.99967791e-01 -1.16895791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.164860624 meters 0.10212714783644006 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.50, Z:-1.17 [[ 9.99955226e-01 6.43703016e-03 -6.93619658e-03 4.00606271e+01] [-6.46981610e-03 9.99967956e-01 -4.71476277e-03 -3.49532900e+00] [ 6.90562524e-03 4.75942758e-03 9.99964829e-01 -1.16926285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.194860624 meters 0.10455613154682365 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.49, Z:-1.17 [[ 9.99957514e-01 6.15031992e-03 -6.86613555e-03 4.00606155e+01] [-6.18581157e-03 9.99967555e-01 -5.15987292e-03 -3.49374073e+00] [ 6.83417791e-03 5.20212632e-03 9.99963115e-01 -1.16945643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.224860624 meters 0.13559262852314463 Centerline is valid? [False, False] Translation: X:40.14, Y:-3.50, Z:-1.17 [[ 9.99966813e-01 6.62419102e-03 -4.74268415e-03 4.01399002e+01] [-6.65087360e-03 9.99962019e-01 -5.63255890e-03 -3.50122968e+00] [ 4.70519288e-03 5.66391496e-03 9.99972890e-01 -1.17075454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.254860624 meters 0.10659883430441874 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.17 [[ 9.99982631e-01 2.55048572e-03 -5.31338347e-03 4.00658119e+01] [-2.53556695e-03 9.99992830e-01 2.81261912e-03 -3.49164643e+00] [ 5.32051892e-03 -2.79909783e-03 9.99981928e-01 -1.16951403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.284860624 meters 0.11643394685843636 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.17 [[ 9.99984202e-01 2.05474666e-03 -5.23198719e-03 4.00657257e+01] [-2.04391869e-03 9.99995760e-01 2.07407766e-03 -3.48917512e+00] [ 5.23622671e-03 -2.06335114e-03 9.99984162e-01 -1.16968855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.314860624 meters 0.10103773952721586 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.17 [[ 9.99985321e-01 1.64543158e-03 -5.16249304e-03 4.00653729e+01] [-1.63780297e-03 9.99997561e-01 1.48157798e-03 -3.48773500e+00] [ 5.16491829e-03 -1.47310109e-03 9.99985577e-01 -1.16941584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.344860624 meters 0.10411744967797079 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.17 [[ 9.99985671e-01 1.63949825e-03 -5.09600727e-03 4.00657366e+01] [-1.63195463e-03 9.99997567e-01 1.48410449e-03 -3.48697444e+00] [ 5.09842806e-03 -1.47576678e-03 9.99985914e-01 -1.17012182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.374860624 meters 0.1032385431637274 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.17 [[ 9.99987314e-01 1.24819042e-03 -4.87989249e-03 4.00652567e+01] [-1.24317267e-03 9.99998696e-01 1.03114876e-03 -3.48578192e+00] [ 4.88117320e-03 -1.02506913e-03 9.99987562e-01 -1.17009765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.404860624 meters 0.1093097810877423 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-1.17 [[ 9.99988645e-01 8.81243209e-04 -4.68324679e-03 4.00647941e+01] [-8.78247716e-04 9.99999408e-01 6.41636859e-04 -3.48473853e+00] [ 4.68380946e-03 -6.37516522e-04 9.99988828e-01 -1.17005785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.434860624 meters 0.10725510965969316 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-1.17 [[ 9.99989289e-01 8.06281145e-04 -4.55756664e-03 4.00648148e+01] [-8.03462631e-04 9.99999485e-01 6.20222091e-04 -3.48432655e+00] [ 4.55806436e-03 -6.16553614e-04 9.99989422e-01 -1.17044768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.464860624 meters 0.11025208620658623 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-1.17 [[ 9.99991055e-01 5.20373242e-04 -4.19741754e-03 4.00644452e+01] [-5.18309565e-04 9.99999744e-01 4.92726773e-04 -3.48364001e+00] [ 4.19767286e-03 -4.90546804e-04 9.99991069e-01 -1.17101850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.494860624 meters 0.1075552783452923 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-1.17 [[ 9.99991958e-01 4.51578186e-04 -3.98501834e-03 4.00643676e+01] [-4.49354433e-04 9.99999743e-01 5.58906094e-04 -3.48351491e+00] [ 3.98526970e-03 -5.57110914e-04 9.99991904e-01 -1.17154873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.524860624 meters 0.1133702729026547 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-1.17 [[ 9.99992398e-01 4.79669909e-04 -3.86965846e-03 4.00644666e+01] [-4.77042956e-04 9.99999655e-01 6.79753723e-04 -3.48353326e+00] [ 3.86998319e-03 -6.77902562e-04 9.99992282e-01 -1.17201895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.554860624 meters 0.10827554510855354 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-1.17 [[ 9.99993170e-01 2.02504409e-04 -3.69029872e-03 4.00639581e+01] [-2.00946488e-04 9.99999891e-01 4.22532460e-04 -3.48314350e+00] [ 3.69038388e-03 -4.21788022e-04 9.99993102e-01 -1.17184194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.584860624 meters 0.10872144735742581 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-1.17 [[ 9.99993710e-01 -3.94227216e-05 -3.54665703e-03 4.00638616e+01] [ 3.99675872e-05 9.99999987e-01 1.53557165e-04 -3.48211562e+00] [ 3.54665093e-03 -1.53697950e-04 9.99993699e-01 -1.17211118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.614860624 meters 0.1109892652899848 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-1.17 [[ 9.99993886e-01 3.28064045e-05 -3.49681279e-03 4.00641430e+01] [-3.19442226e-05 9.99999969e-01 2.46617772e-04 -3.48191162e+00] [ 3.49682077e-03 -2.46504561e-04 9.99993856e-01 -1.17262317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.644860624 meters 0.11703313426893763 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-1.17 [[ 9.99994408e-01 -2.37019766e-04 -3.33569650e-03 4.00636395e+01] [ 2.36973734e-04 9.99999972e-01 -1.41949628e-05 -3.48158753e+00] [ 3.33569977e-03 1.34044110e-05 9.99994436e-01 -1.17240121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.674860624 meters 0.11273140086626188 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-1.17 [[ 9.99994875e-01 -2.91468387e-04 -3.18839697e-03 4.00634398e+01] [ 2.91362500e-04 9.99999957e-01 -3.36744643e-05 -3.48168285e+00] [ 3.18840665e-03 3.27453124e-05 9.99994916e-01 -1.17251477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.704860624 meters 0.11569986450269294 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-1.17 [[ 9.99995089e-01 -3.79640023e-04 -3.11084748e-03 4.00635538e+01] [ 3.79270152e-04 9.99999921e-01 -1.19486217e-04 -3.48090803e+00] [ 3.11089260e-03 1.18305778e-04 9.99995154e-01 -1.17293736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73486062399999 meters 0.11765116980570303 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-1.17 [[ 9.99994876e-01 -3.25267456e-04 -3.18482057e-03 4.00639460e+01] [ 3.24937252e-04 9.99999942e-01 -1.04197457e-04 -3.48047853e+00] [ 3.18485427e-03 1.03162056e-04 9.99994923e-01 -1.17326499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.764860624 meters 0.11744272082300372 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-1.17 [[ 9.99994656e-01 -4.85029941e-04 -3.23295521e-03 4.00639891e+01] [ 4.83797312e-04 9.99999810e-01 -3.82041252e-04 -3.47954093e+00] [ 3.23313990e-03 3.80475116e-04 9.99994701e-01 -1.17319919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.794860624 meters 0.11835119714454394 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-1.17 [[ 9.99993950e-01 -3.79671920e-04 -3.45769418e-03 4.00647127e+01] [ 3.78208935e-04 9.99999839e-01 -4.23754268e-04 -3.47876896e+00] [ 3.45785451e-03 4.22443974e-04 9.99993932e-01 -1.17355841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.824860624 meters 0.11360431783964525 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.48, Z:-1.17 [[ 9.99993797e-01 -4.49216507e-04 -3.49353157e-03 4.00649199e+01] [ 4.47152654e-04 9.99999725e-01 -5.91522553e-04 -3.47794542e+00] [ 3.49379633e-03 5.89956742e-04 9.99993723e-01 -1.17375492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.854860624 meters 0.11761933217708637 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-1.17 [[ 9.99991878e-01 8.82706003e-05 -4.02949110e-03 4.00667234e+01] [-8.97245450e-05 9.99999931e-01 -3.60646555e-04 -3.47702952e+00] [ 4.02945898e-03 3.61005170e-04 9.99991817e-01 -1.17480652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.884860624 meters 0.11087980786188209 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-1.18 [[ 9.99991329e-01 1.61874398e-04 -4.16110777e-03 4.00672411e+01] [-1.63565439e-04 9.99999904e-01 -4.06055056e-04 -3.47648525e+00] [ 4.16104165e-03 4.06732148e-04 9.99991260e-01 -1.17513390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.914860624 meters 0.11029490350590059 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-1.18 [[ 9.99990540e-01 2.92684100e-04 -4.33994880e-03 4.00679323e+01] [-2.94416058e-04 9.99999877e-01 -3.98439857e-04 -3.47598335e+00] [ 4.33983165e-03 3.99713838e-04 9.99990503e-01 -1.17557236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.944860624 meters 0.11060657892637983 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-1.18 [[ 9.99988173e-01 3.34667251e-04 -4.85202293e-03 4.00689109e+01] [-3.39115007e-04 9.99999523e-01 -9.15886988e-04 -3.47393191e+00] [ 4.85171410e-03 9.17521550e-04 9.99987809e-01 -1.17554824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.974860624 meters 0.1074044483659662 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-1.18 [[ 9.99986279e-01 6.73928706e-04 -5.19505755e-03 4.00701176e+01] [-6.77941843e-04 9.99999473e-01 -7.70769083e-04 -3.47330331e+00] [ 5.19453537e-03 7.74280453e-04 9.99986209e-01 -1.17623603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.004860624 meters 0.11042364696729753 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-1.18 [[ 9.99985088e-01 6.76747018e-04 -5.41907712e-03 4.00706335e+01] [-6.82103709e-04 9.99999281e-01 -9.86700469e-04 -3.47231674e+00] [ 5.41840547e-03 9.90382127e-04 9.99984830e-01 -1.17632392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.034860624 meters 0.10303398879054694 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-1.18 [[ 9.99984103e-01 7.56193069e-04 -5.58757786e-03 4.00711650e+01] [-7.62016140e-04 9.99999169e-01 -1.04009042e-03 -3.47169910e+00] [ 5.58678670e-03 1.04433171e-03 9.99983848e-01 -1.17658567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.064860624 meters 0.10983725514458623 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-1.18 [[ 9.99982900e-01 7.96865986e-04 -5.79347473e-03 4.00716400e+01] [-8.03589166e-04 9.99999006e-01 -1.15823933e-03 -3.47117618e+00] [ 5.79254601e-03 1.16287510e-03 9.99982547e-01 -1.17664754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.094860624 meters 0.10271567832604435 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-1.18 [[ 9.99982438e-01 8.68386817e-04 -5.86263678e-03 4.00719624e+01] [-8.75109126e-04 9.99998963e-01 -1.14416792e-03 -3.47086355e+00] [ 5.86163712e-03 1.14927828e-03 9.99982160e-01 -1.17689621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.124860624 meters 0.10130328767240146 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-1.18 [[ 9.99981118e-01 1.04977678e-03 -6.05489922e-03 4.00725561e+01] [-1.05639320e-03 9.99998848e-01 -1.08964303e-03 -3.47044490e+00] [ 6.05374836e-03 1.09601881e-03 9.99981075e-01 -1.17715875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.154860624 meters 0.1004613583213674 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-1.18 [[ 9.99981601e-01 9.15123712e-04 -5.99674029e-03 4.00722674e+01] [-9.22622283e-04 9.99998796e-01 -1.24779415e-03 -3.47026281e+00] [ 5.99559118e-03 1.25330391e-03 9.99981241e-01 -1.17692475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.184860624 meters 0.10242206953706857 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-1.18 [[ 9.99981669e-01 1.03986871e-03 -5.96487477e-03 4.00724428e+01] [-1.04608396e-03 9.99998913e-01 -1.03895030e-03 -3.47059519e+00] [ 5.96378791e-03 1.04517102e-03 9.99981670e-01 -1.17726374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.214860624 meters 0.1012172851822921 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-1.18 [[ 9.99981872e-01 1.20292241e-03 -5.89985001e-03 4.00726625e+01] [-1.20740572e-03 9.99998985e-01 -7.56400446e-04 -3.47100928e+00] [ 5.89893413e-03 7.63510247e-04 9.99982310e-01 -1.17775631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.244860624 meters 0.10149347323223779 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-1.18 [[ 9.99983413e-01 1.04683259e-03 -5.66375375e-03 4.00720232e+01] [-1.05107118e-03 9.99999170e-01 -7.45446334e-04 -3.47170462e+00] [ 5.66296869e-03 7.51386977e-04 9.99983683e-01 -1.17752386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.274860624 meters 0.10222231348925148 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-1.18 [[ 9.99984328e-01 1.12476129e-03 -5.48446886e-03 4.00718848e+01] [-1.12714035e-03 9.99999272e-01 -4.30710535e-04 -3.47240998e+00] [ 5.48398043e-03 4.36885551e-04 9.99984867e-01 -1.17788417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.304860624 meters 0.10277299901195 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-1.18 [[ 9.99984944e-01 1.27085303e-03 -5.33816567e-03 4.00719567e+01] [-1.27115346e-03 9.99999191e-01 -5.28871705e-05 -3.47306349e+00] [ 5.33809414e-03 5.96720020e-05 9.99985750e-01 -1.17842860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.334860624 meters 0.10928700401296408 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-1.18 [[ 9.99985361e-01 1.39068541e-03 -5.22908320e-03 4.00719025e+01] [-1.38933197e-03 9.99999000e-01 2.62452469e-04 -3.47396581e+00] [ 5.22944296e-03 -2.55183695e-04 9.99986294e-01 -1.17864497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.364860624 meters 0.10476971699722977 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.47, Z:-1.18 [[ 9.99987583e-01 1.16194076e-03 -4.84598233e-03 4.00709032e+01] [-1.16046283e-03 9.99999279e-01 3.07781842e-04 -3.47495440e+00] [ 4.84633646e-03 -3.02154438e-04 9.99988211e-01 -1.17832727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.394860624 meters 0.10573010287744507 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-1.18 [[ 9.99988483e-01 1.05444124e-03 -4.68204506e-03 4.00704901e+01] [-1.05282118e-03 9.99999385e-01 3.48466317e-04 -3.47541158e+00] [ 4.68240962e-03 -3.43532948e-04 9.99988978e-01 -1.17823019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.424860624 meters 0.10450692269904689 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-1.18 [[ 9.99989253e-01 9.68787928e-04 -4.53374435e-03 4.00700742e+01] [-9.66971014e-04 9.99999451e-01 4.02928428e-04 -3.47597189e+00] [ 4.53413221e-03 -3.98540098e-04 9.99989641e-01 -1.17807442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.454860624 meters 0.10723917410459659 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-1.18 [[ 9.99990452e-01 8.15193811e-04 -4.29316106e-03 4.00693990e+01] [-8.13413039e-04 9.99999582e-01 4.16522545e-04 -3.47658774e+00] [ 4.29349881e-03 -4.13026455e-04 9.99990698e-01 -1.17782784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48486062399999 meters 0.1107835909962458 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-1.18 [[ 9.99991630e-01 8.57020250e-04 -4.00070750e-03 4.00688945e+01] [-8.53775271e-04 9.99999305e-01 8.12738517e-04 -3.47811631e+00] [ 4.00140125e-03 -8.09316010e-04 9.99991667e-01 -1.17793070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.514860624 meters 0.10821376389306415 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-1.18 [[ 9.99992006e-01 7.63244024e-04 -3.92504738e-03 4.00685738e+01] [-7.60286261e-04 9.99999426e-01 7.54998009e-04 -3.47840685e+00] [ 3.92562137e-03 -7.52007814e-04 9.99992012e-01 -1.17768843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.544860624 meters 0.11053717184070004 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-1.18 [[ 9.99992466e-01 7.70018838e-04 -3.80468133e-03 4.00683285e+01] [-7.66581396e-04 9.99999297e-01 9.04852634e-04 -3.47899692e+00] [ 3.80537541e-03 -9.01929219e-04 9.99992353e-01 -1.17769131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.574860624 meters 0.11034092711256384 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-1.18 [[ 9.99992905e-01 7.00813954e-04 -3.70112002e-03 4.00680184e+01] [-6.97582767e-04 9.99999375e-01 8.74248096e-04 -3.47931658e+00] [ 3.70173040e-03 -8.71660056e-04 9.99992769e-01 -1.17752734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.604860624 meters 0.11034092711256384 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-1.18 [[ 9.99992905e-01 7.00813954e-04 -3.70112002e-03 4.00680184e+01] [-6.97582767e-04 9.99999375e-01 8.74248096e-04 -3.47931658e+00] [ 3.70173040e-03 -8.71660056e-04 9.99992769e-01 -1.17752734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.634860624 meters 0.11483595875163509 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-1.18 [[ 9.99993002e-01 8.19799259e-04 -3.65014045e-03 4.00679716e+01] [-8.15726776e-04 9.99999043e-01 1.11705498e-03 -3.48021819e+00] [ 3.65105272e-03 -1.11406965e-03 9.99992714e-01 -1.17758268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.664860624 meters 0.10681191907617252 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-1.18 [[ 9.99992818e-01 1.18011595e-03 -3.60167223e-03 4.00680918e+01] [-1.17385485e-03 9.99997797e-01 1.74000577e-03 -3.48203001e+00] [ 3.60371770e-03 -1.73576543e-03 9.99992000e-01 -1.17783447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.694860624 meters 0.10729203819628474 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-1.18 [[ 9.99993031e-01 1.15414216e-03 -3.55048139e-03 4.00677845e+01] [-1.14786588e-03 9.99997776e-01 1.76925867e-03 -3.48252219e+00] [ 3.55251547e-03 -1.76517086e-03 9.99992132e-01 -1.17752683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.724860624 meters 0.10824973724324781 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-1.18 [[ 9.99992848e-01 1.16360032e-03 -3.59849934e-03 4.00676843e+01] [-1.15711121e-03 9.99997702e-01 1.80483892e-03 -3.48300297e+00] [ 3.60059118e-03 -1.80066215e-03 9.99991897e-01 -1.17721963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.754860624 meters 0.10834437638168813 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.48, Z:-1.18 [[ 9.99992514e-01 1.29883421e-03 -3.64497328e-03 4.00677106e+01] [-1.29153310e-03 9.99997157e-01 2.00470286e-03 -3.48374998e+00] [ 3.64756669e-03 -1.99998025e-03 9.99991348e-01 -1.17712162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.784860624 meters 0.1082210839162589 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.18 [[ 9.99991722e-01 1.66848159e-03 -3.71117096e-03 4.00678970e+01] [-1.65881742e-03 9.99995229e-01 2.60563299e-03 -3.48569571e+00] [ 3.71550071e-03 -2.59945526e-03 9.99989719e-01 -1.17717001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.814860624 meters 0.11180416885555734 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.18 [[ 9.99991575e-01 1.75437254e-03 -3.71103948e-03 4.00678303e+01] [-1.74415429e-03 9.99994684e-01 2.75491891e-03 -3.48646770e+00] [ 3.71585291e-03 -2.74842307e-03 9.99989319e-01 -1.17705255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.844860624 meters 0.11006651170457593 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.18 [[ 9.99991138e-01 1.95861362e-03 -3.72657386e-03 4.00679642e+01] [-1.94704750e-03 9.99993285e-01 3.10478778e-03 -3.48752646e+00] [ 3.73262992e-03 -3.09750445e-03 9.99988236e-01 -1.17718067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.874860624 meters 0.10698008274302376 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.18 [[ 9.99990935e-01 2.05084576e-03 -3.73159440e-03 4.00679545e+01] [-2.03871622e-03 9.99992636e-01 3.25140364e-03 -3.48821922e+00] [ 3.73823504e-03 -3.24376650e-03 9.99987752e-01 -1.17711799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.904860624 meters 0.1011658462890069 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.18 [[ 9.99989832e-01 2.36995227e-03 -3.83662216e-03 4.00682408e+01] [-2.35579131e-03 9.99990412e-01 3.69131718e-03 -3.48963997e+00] [ 3.84533362e-03 -3.68224136e-03 9.99985827e-01 -1.17716605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.934860624 meters 0.10788425657084569 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.18 [[ 9.99989494e-01 2.40452189e-03 -3.90249689e-03 4.00682676e+01] [-2.38990778e-03 9.99990131e-01 3.74516370e-03 -3.48999938e+00] [ 3.91146371e-03 -3.73579775e-03 9.99985372e-01 -1.17700062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.964860624 meters 0.10129062052806535 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.18 [[ 9.99989250e-01 2.47344816e-03 -3.92192109e-03 4.00682901e+01] [-2.45830568e-03 9.99989524e-01 3.86111592e-03 -3.49046502e+00] [ 3.93143028e-03 -3.85143313e-03 9.99984855e-01 -1.17696940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.994860624 meters 0.10134656537277839 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.18 [[ 9.99988611e-01 2.64798190e-03 -3.97075408e-03 4.00683123e+01] [-2.63162909e-03 9.99988059e-01 4.11789740e-03 -3.49144327e+00] [ 3.98161078e-03 -4.10740094e-03 9.99983638e-01 -1.17682815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.024860624 meters 0.10093412414426566 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.18 [[ 9.99988848e-01 2.56211468e-03 -3.96739653e-03 4.00680757e+01] [-2.54623175e-03 9.99988745e-01 4.00325293e-03 -3.49161461e+00] [ 3.97760867e-03 -3.99310638e-03 9.99984117e-01 -1.17647423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.054860624 meters 0.10255040854633482 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.18 [[ 9.99988827e-01 2.57358118e-03 -3.96514288e-03 4.00679087e+01] [-2.55743412e-03 9.99988439e-01 4.07195585e-03 -3.49213623e+00] [ 3.97557655e-03 -4.06176977e-03 9.99983848e-01 -1.17623671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.084860624 meters 0.09958833798547563 Centerline is valid? [False, True] Translation: X:40.07, Y:-3.49, Z:-1.18 [[ 9.99989490e-01 2.46686486e-03 -3.86443151e-03 4.00675190e+01] [-2.45137357e-03 9.99988962e-01 4.00830406e-03 -3.49237070e+00] [ 3.87427680e-03 -3.99878877e-03 9.99984500e-01 -1.17597163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.114860624 meters 0.10114498833289763 Centerline is valid? [True, False] Translation: X:40.07, Y:-3.49, Z:-1.18 [[ 9.99990436e-01 2.27741363e-03 -3.73385139e-03 4.00669843e+01] [-2.26305448e-03 9.99990046e-01 3.84539254e-03 -3.49254364e+00] [ 3.74257177e-03 -3.83690586e-03 9.99985636e-01 -1.17557711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.144860624 meters 0.1062046512023618 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.18 [[ 9.99991534e-01 2.11210898e-03 -3.53144309e-03 4.00663307e+01] [-2.09860452e-03 9.99990489e-01 3.82340623e-03 -3.49319886e+00] [ 3.53948496e-03 -3.81596275e-03 9.99986455e-01 -1.17520525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.174860624 meters 0.10353165336485408 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.18 [[ 9.99991866e-01 2.07276359e-03 -3.46009217e-03 4.00661067e+01] [-2.05946223e-03 9.99990494e-01 3.84336617e-03 -3.49348223e+00] [ 3.46802567e-03 -3.83620898e-03 9.99986628e-01 -1.17507837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.204860624 meters 0.10219908194352806 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.17 [[ 9.99992451e-01 1.93723821e-03 -3.36835294e-03 4.00657294e+01] [-1.92472495e-03 9.99991250e-01 3.71423011e-03 -3.49353177e+00] [ 3.37551881e-03 -3.70771892e-03 9.99987429e-01 -1.17479759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23486062399999 meters 0.10204046824198207 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.17 [[ 9.99992989e-01 1.75357908e-03 -3.30873463e-03 4.00653262e+01] [-1.74200350e-03 9.99992364e-01 3.49813730e-03 -3.49342494e+00] [ 3.31484362e-03 -3.49234894e-03 9.99988408e-01 -1.17438883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.264860624 meters 0.10355559842690766 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.49, Z:-1.17 [[ 9.99993907e-01 1.61894396e-03 -3.09285646e-03 4.00646761e+01] [-1.60813114e-03 9.99992598e-01 3.49535642e-03 -3.49381731e+00] [ 3.09849235e-03 -3.49036141e-03 9.99989108e-01 -1.17409869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.294860624 meters 0.10466899216464559 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.49, Z:-1.17 [[ 9.99994216e-01 1.49050676e-03 -3.05710339e-03 4.00643417e+01] [-1.48026575e-03 9.99993295e-01 3.34943841e-03 -3.49385766e+00] [ 3.06207526e-03 -3.34489372e-03 9.99989718e-01 -1.17371861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.324860624 meters 0.10446486399823092 Centerline is valid? [False, False] Translation: X:40.06, Y:-3.49, Z:-1.17 [[ 9.99994415e-01 1.43087476e-03 -3.02026091e-03 4.00641028e+01] [-1.42091004e-03 9.99993549e-01 3.29886043e-03 -3.49402564e+00] [ 3.02496169e-03 -3.29455049e-03 9.99989998e-01 -1.17347914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.354860624 meters 0.10275934599212605 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.17 [[ 9.99990481e-01 -1.99944547e-03 -3.87811080e-03 4.00665375e+01] [ 1.99747324e-03 9.99997874e-01 -5.12360621e-04 -3.49325319e+00] [ 3.87912699e-03 5.04609321e-04 9.99992349e-01 -1.17448949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.384860624 meters 0.10672022321427475 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.17 [[ 9.99990641e-01 -1.94679403e-03 -3.86376556e-03 4.00663753e+01] [ 1.94520078e-03 9.99998022e-01 -4.16071175e-04 -3.49386768e+00] [ 3.86456792e-03 4.08551481e-04 9.99992449e-01 -1.17428799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.414860624 meters 0.10038447070889886 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.49, Z:-1.17 [[ 9.99990947e-01 -1.71059282e-03 -3.89611231e-03 4.00667441e+01] [ 1.71037732e-03 9.99998536e-01 -5.86417694e-05 -3.49444769e+00] [ 3.89620691e-03 5.19774164e-05 9.99992408e-01 -1.17472295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.444860624 meters 0.10617686617634056 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.50, Z:-1.18 [[ 9.99991031e-01 -1.41825962e-03 -3.99085432e-03 4.00672682e+01] [ 1.41948205e-03 9.99998946e-01 3.03490870e-04 -3.49504941e+00] [ 3.99041969e-03 -3.09153094e-04 9.99991990e-01 -1.17517086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.474860624 meters 0.10050033567459168 Centerline is valid? [False, False] Translation: X:40.07, Y:-3.50, Z:-1.18 [[ 9.99991033e-01 -1.46340566e-03 -3.97383904e-03 4.00671673e+01] [ 1.46444188e-03 9.99998894e-01 2.57862914e-04 -3.49512150e+00] [ 3.97345729e-03 -2.63680058e-04 9.99992071e-01 -1.17508353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.504860624 meters 0.09768949150987641 Centerline is valid? [False, True] Translation: X:40.07, Y:-3.50, Z:-1.18 [[ 9.99990791e-01 -8.87508441e-04 -4.19887390e-03 4.00681691e+01] [ 8.91392538e-04 9.99999177e-01 9.23252022e-04 -3.49621929e+00] [ 4.19805105e-03 -9.26986365e-04 9.99990758e-01 -1.17582509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.534860624 meters 0.09986789739761003 Centerline is valid? [True, True] Translation: X:40.10, Y:-3.50, Z:-1.18 [[ 9.99992396e-01 -2.43994700e-04 -3.89210121e-03 4.00956204e+01] [ 2.45669360e-04 9.99999877e-01 4.29799201e-04 -3.50387255e+00] [ 3.89199587e-03 -4.30752102e-04 9.99992333e-01 -1.17659702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.564860624 meters 0.10649941363753657 Centerline is valid? [True, False] Translation: X:40.10, Y:-3.50, Z:-1.18 [[ 9.99992283e-01 -6.76261298e-05 -3.92793650e-03 4.00959405e+01] [ 7.02348631e-05 9.99999777e-01 6.64014387e-04 -3.50422558e+00] [ 3.92789072e-03 -6.64285141e-04 9.99992065e-01 -1.17694015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.594860624 meters 0.10420676409372438 Centerline is valid? [False, False] Translation: X:40.10, Y:-3.50, Z:-1.18 [[ 9.99992218e-01 -1.36189299e-04 -3.94270408e-03 4.00957991e+01] [ 1.38422300e-04 9.99999830e-01 5.66095614e-04 -3.50421669e+00] [ 3.94262631e-03 -5.66636967e-04 9.99992067e-01 -1.17671084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.624860624 meters 0.09868606118110593 Centerline is valid? [False, True] Translation: X:40.10, Y:-3.50, Z:-1.18 [[ 9.99992257e-01 -1.72561058e-04 -3.93132722e-03 4.00956886e+01] [ 1.74623363e-04 9.99999847e-01 5.24245164e-04 -3.50429961e+00] [ 3.93123616e-03 -5.24927607e-04 9.99992135e-01 -1.17659030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.654860624 meters 0.10042964913994187 Centerline is valid? [True, False] Translation: X:40.10, Y:-3.51, Z:-1.18 [[ 9.99992830e-01 -1.80653384e-04 -3.78243696e-03 4.00952012e+01] [ 1.83209252e-04 9.99999755e-01 6.75384165e-04 -3.50523313e+00] [ 3.78231402e-03 -6.76072300e-04 9.99992618e-01 -1.17632101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.684860624 meters 0.10060842713039471 Centerline is valid? [False, False] Translation: X:40.10, Y:-3.51, Z:-1.18 [[ 9.99993150e-01 -3.92600612e-05 -3.70105517e-03 4.00952594e+01] [ 4.28573089e-05 9.99999527e-01 9.71877637e-04 -3.50589346e+00] [ 3.70101526e-03 -9.72029597e-04 9.99992679e-01 -1.17661709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.714860624 meters 0.10230253576886265 Centerline is valid? [False, False] Translation: X:40.10, Y:-3.51, Z:-1.18 [[ 9.99993548e-01 -6.18859635e-05 -3.59169313e-03 4.00950056e+01] [ 6.56681303e-05 9.99999444e-01 1.05292335e-03 -3.50632513e+00] [ 3.59162597e-03 -1.05315241e-03 9.99992996e-01 -1.17657993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.744860624 meters 0.10565525891226277 Centerline is valid? [False, False] Translation: X:40.09, Y:-3.51, Z:-1.18 [[ 9.99994482e-01 -1.92660466e-04 -3.31640938e-03 4.00943599e+01] [ 1.96474406e-04 9.99999320e-01 1.14973348e-03 -3.50713489e+00] [ 3.31618561e-03 -1.15037873e-03 9.99993840e-01 -1.17642799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.774860624 meters 0.10253938975827946 Centerline is valid? [False, False] Translation: X:40.09, Y:-3.51, Z:-1.18 [[ 9.99994674e-01 2.89320138e-05 -3.26372014e-03 4.00945360e+01] [-2.38474430e-05 9.99998786e-01 1.55793465e-03 -3.50804853e+00] [ 3.26376125e-03 -1.55784853e-03 9.99993460e-01 -1.17682247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.804860624 meters 0.1053489524136848 Centerline is valid? [False, False] Translation: X:40.09, Y:-3.51, Z:-1.18 [[ 9.99995351e-01 -5.60802234e-05 -3.04879995e-03 4.00939885e+01] [ 6.11683164e-05 9.99998606e-01 1.66881620e-03 -3.50886252e+00] [ 3.04870211e-03 -1.66899494e-03 9.99993960e-01 -1.17665105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.834860624 meters 0.10642516742210094 Centerline is valid? [False, False] Translation: X:40.09, Y:-3.51, Z:-1.18 [[ 9.99996135e-01 -5.85573632e-05 -2.77973821e-03 4.00934266e+01] [ 6.38600674e-05 9.99998179e-01 1.90757674e-03 -3.50993959e+00] [ 2.77962144e-03 -1.90774688e-03 9.99994317e-01 -1.17661137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.864860624 meters 0.10310427218635007 Centerline is valid? [False, False] Translation: X:40.09, Y:-3.51, Z:-1.18 [[ 9.99997386e-01 -8.95934426e-05 -2.28487583e-03 4.00925270e+01] [ 9.51231863e-05 9.99997067e-01 2.42015683e-03 -3.51204287e+00] [ 2.28465230e-03 -2.42036785e-03 9.99994461e-01 -1.17665798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.894860624 meters 0.10411959479367396 Centerline is valid? [False, False] Translation: X:40.09, Y:-3.51, Z:-1.18 [[ 9.99997760e-01 -2.01894779e-04 -2.10682518e-03 4.00918878e+01] [ 2.07071214e-04 9.99996960e-01 2.45705483e-03 -3.51272643e+00] [ 2.10632271e-03 -2.45748559e-03 9.99994762e-01 -1.17625308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.924860624 meters 0.1063647557782266 Centerline is valid? [False, False] Translation: X:40.09, Y:-3.51, Z:-1.18 [[ 9.99997913e-01 -4.56594023e-05 -2.04228770e-03 4.00918864e+01] [ 5.13797723e-05 9.99996076e-01 2.80099712e-03 -3.51369274e+00] [ 2.04215179e-03 -2.80109621e-03 9.99993992e-01 -1.17642585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.954860624 meters 0.10916977590709318 Centerline is valid? [False, False] Translation: X:40.09, Y:-3.51, Z:-1.18 [[ 9.99998188e-01 -1.45330158e-04 -1.89828113e-03 4.00913645e+01] [ 1.50692993e-04 9.99995998e-01 2.82526297e-03 -3.51425963e+00] [ 1.89786293e-03 -2.82554390e-03 9.99994207e-01 -1.17608784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98486062399999 meters 0.1057437206844396 Centerline is valid? [False, False] Translation: X:40.09, Y:-3.52, Z:-1.18 [[ 9.99998855e-01 -8.08141344e-05 -1.51122414e-03 4.00904175e+01] [ 8.59721952e-05 9.99994171e-01 3.41341393e-03 -3.51677916e+00] [ 1.51093948e-03 -3.41353994e-03 9.99993032e-01 -1.17578577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.014860624 meters 0.10834030367545733 Centerline is valid? [False, False] Translation: X:40.09, Y:-3.52, Z:-1.18 [[ 9.99999059e-01 -2.76262111e-05 -1.37159624e-03 4.00899753e+01] [ 3.26546556e-05 9.99993279e-01 3.66623887e-03 -3.51798110e+00] [ 1.37148574e-03 -3.66628021e-03 9.99992339e-01 -1.17555122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.044860624 meters 0.10818169198574966 Centerline is valid? [False, False] Translation: X:40.09, Y:-3.52, Z:-1.18 [[ 9.99999185e-01 3.34241764e-06 -1.27653578e-03 4.00896642e+01] [ 1.54693811e-06 9.99992665e-01 3.83015506e-03 -3.51887682e+00] [ 1.27653922e-03 -3.83015391e-03 9.99991850e-01 -1.17537526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.074860624 meters 0.10784814809991046 Centerline is valid? [False, False] Translation: X:40.09, Y:-3.52, Z:-1.18 [[ 9.99999276e-01 1.81081806e-04 -1.19002043e-03 4.00893652e+01] [-1.76054596e-04 9.99991067e-01 4.22322151e-03 -3.52039406e+00] [ 1.19077455e-03 -4.22300894e-03 9.99990374e-01 -1.17516816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.104860624 meters 0.11066190176765599 Centerline is valid? [False, False] Translation: X:40.09, Y:-3.52, Z:-1.17 [[ 9.99999186e-01 1.31883178e-04 -1.26944138e-03 4.00893819e+01] [-1.26688094e-04 9.99991621e-01 4.09162879e-03 -3.52028219e+00] [ 1.26997036e-03 -4.09146463e-03 9.99990824e-01 -1.17492820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.134860624 meters 0.10510687687197413 Centerline is valid? [False, False] Translation: X:40.09, Y:-3.52, Z:-1.17 [[ 9.99999120e-01 6.72981124e-05 -1.32476660e-03 4.00893335e+01] [-6.20702056e-05 9.99992213e-01 3.94593084e-03 -3.52014162e+00] [ 1.32502184e-03 -3.94584514e-03 9.99991337e-01 -1.17468572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.164860624 meters 0.10835293375823847 Centerline is valid? [False, False] Translation: X:40.09, Y:-3.52, Z:-1.17 [[ 9.99999032e-01 -6.19950872e-05 -1.39036008e-03 4.00892713e+01] [ 6.71020932e-05 9.99993251e-01 3.67340775e-03 -3.51971153e+00] [ 1.39012296e-03 -3.67349749e-03 9.99992286e-01 -1.17438277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.194860624 meters 0.10301484477717666 Centerline is valid? [False, False] Translation: X:40.09, Y:-3.52, Z:-1.17 [[ 9.99998625e-01 2.26555324e-04 -1.64249897e-03 4.00901339e+01] [-2.20175183e-04 9.99992435e-01 3.88355130e-03 -3.51968984e+00] [ 1.64336639e-03 -3.88318433e-03 9.99991110e-01 -1.17488240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.224860624 meters 0.10323124227723826 Centerline is valid? [False, False] Translation: X:40.09, Y:-3.52, Z:-1.17 [[ 9.99998423e-01 1.04467545e-04 -1.77280697e-03 4.00902446e+01] [-9.81369709e-05 9.99993620e-01 3.57064377e-03 -3.51901349e+00] [ 1.77316868e-03 -3.57046416e-03 9.99992054e-01 -1.17468200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.254860624 meters 0.09857995761809028 Centerline is valid? [False, True] Translation: X:40.09, Y:-3.52, Z:-1.17 [[ 9.99997700e-01 2.33848701e-04 -2.13206433e-03 4.00909091e+01] [-2.26601016e-04 9.99994198e-01 3.39898277e-03 -3.51840708e+00] [ 2.13284681e-03 -3.39849182e-03 9.99991951e-01 -1.17462668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.284860624 meters 0.09957053587940955 Centerline is valid? [True, True] Translation: X:40.12, Y:-3.52, Z:-1.18 [[ 9.99994418e-01 2.07147586e-03 -2.62163725e-03 4.01194418e+01] [-2.07068730e-03 9.99997810e-01 3.03469423e-04 -3.52243495e+00] [ 2.62226014e-03 -2.98039138e-04 9.99996517e-01 -1.17513925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.314860624 meters 0.09827697700887689 Centerline is valid? [True, True] Translation: X:40.15, Y:-3.52, Z:-1.18 [[ 9.99988046e-01 3.40970103e-03 -3.50453795e-03 4.01493942e+01] [-3.40830063e-03 9.99994110e-01 4.05492478e-04 -3.52361994e+00] [ 3.50589992e-03 -3.93543112e-04 9.99993777e-01 -1.17611919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.344860624 meters 0.0971163808032313 Centerline is valid? [True, True] Translation: X:40.18, Y:-3.53, Z:-1.18 [[ 9.99977719e-01 6.27881189e-03 -2.26693971e-03 4.01789369e+01] [-6.27823337e-03 9.99980257e-01 2.62223904e-04 -3.52538759e+00] [ 2.26854141e-03 -2.47985685e-04 9.99997396e-01 -1.17753338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.374860624 meters 0.09731031875804319 Centerline is valid? [True, True] Translation: X:40.21, Y:-3.53, Z:-1.18 [[ 9.99973193e-01 7.06515996e-03 -1.92246487e-03 4.02074235e+01] [-7.06474729e-03 9.99975020e-01 2.21360858e-04 -3.52926115e+00] [ 1.92398080e-03 -2.07773196e-04 9.99998128e-01 -1.17752690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.404860624 meters 0.09676964492348747 Centerline is valid? [True, True] Translation: X:40.24, Y:-3.53, Z:-1.18 [[ 9.99972827e-01 7.16438761e-03 -1.73685005e-03 4.02360141e+01] [-7.16405138e-03 9.99974318e-01 1.99730174e-04 -3.53149649e+00] [ 1.73823639e-03 -1.87281864e-04 9.99998472e-01 -1.17833203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.434860624 meters 0.09683086962039755 Centerline is valid? [True, True] Translation: X:40.26, Y:-3.53, Z:-1.18 [[ 9.99970745e-01 7.39385809e-03 -1.95966847e-03 4.02649965e+01] [-7.39343038e-03 9.99972643e-01 2.25412359e-04 -3.53485182e+00] [ 1.96128153e-03 -2.10917092e-04 9.99998054e-01 -1.17941579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.464860624 meters 0.09727773277908076 Centerline is valid? [True, True] Translation: X:40.29, Y:-3.54, Z:-1.18 [[ 9.99967954e-01 7.50974212e-03 -2.77384131e-03 4.02939266e+01] [-7.50888446e-03 9.99971757e-01 3.19481621e-04 -3.53925281e+00] [ 2.77616219e-03 -2.98642929e-04 9.99996102e-01 -1.18059039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.494860624 meters 0.09727773277908076 Centerline is valid? [True, True] Translation: X:40.32, Y:-3.54, Z:-1.18 [[ 9.99968443e-01 7.44439474e-03 -2.77386223e-03 4.03222202e+01] [-7.44353732e-03 9.99972246e-01 3.19300357e-04 -3.54245604e+00] [ 2.77616224e-03 -2.98642934e-04 9.99996102e-01 -1.18120888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.524860624 meters 0.09721366290658023 Centerline is valid? [True, True] Translation: X:40.35, Y:-3.55, Z:-1.18 [[ 9.99967714e-01 7.07432738e-03 -3.81119339e-03 4.03504179e+01] [-7.07270505e-03 9.99974892e-01 4.38985233e-04 -3.54618532e+00] [ 3.81420322e-03 -4.12015613e-04 9.99992641e-01 -1.18323530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.554860624 meters 0.09709413760756586 Centerline is valid? [True, True] Translation: X:40.38, Y:-3.55, Z:-1.18 [[ 9.99969075e-01 6.25390650e-03 -4.76837772e-03 4.03801471e+01] [-6.25135338e-03 9.99980309e-01 5.50144512e-04 -3.54910957e+00] [ 4.77172438e-03 -5.20318685e-04 9.99988480e-01 -1.18411149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.584860624 meters 0.09883417666428626 Centerline is valid? [True, True] Translation: X:40.41, Y:-3.56, Z:-1.19 [[ 9.99970852e-01 5.51117502e-03 -5.28407521e-03 4.04082506e+01] [-5.50803244e-03 9.99984645e-01 6.09096034e-04 -3.55569034e+00] [ 5.28735091e-03 -5.79973423e-04 9.99985854e-01 -1.18549453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.614860624 meters 0.09790838758483955 Centerline is valid? [True, True] Translation: X:40.44, Y:-3.56, Z:-1.19 [[ 9.99977033e-01 4.67789816e-03 -4.90405962e-03 4.04379828e+01] [-4.67518084e-03 9.99988911e-01 5.65414287e-04 -3.55795709e+00] [ 4.90665019e-03 -5.42473936e-04 9.99987815e-01 -1.18583688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.644860624 meters 0.09907791274246272 Centerline is valid? [True, True] Translation: X:40.47, Y:-3.56, Z:-1.19 [[ 9.99980047e-01 3.97952747e-03 -4.90610518e-03 4.04665643e+01] [-3.97680249e-03 9.99991933e-01 5.65055853e-04 -3.56355136e+00] [ 4.90831426e-03 -5.45533967e-04 9.99987805e-01 -1.18659841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.674860624 meters 0.10005635201683508 Centerline is valid? [True, False] Translation: X:40.47, Y:-3.56, Z:-1.19 [[ 9.99981027e-01 3.86226453e-03 -4.79880761e-03 4.04663040e+01] [-3.86013850e-03 9.99992447e-01 4.52215419e-04 -3.56353603e+00] [ 4.80051794e-03 -4.33682778e-04 9.99988383e-01 -1.18650009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.704860624 meters 0.09763996502593683 Centerline is valid? [False, True] Translation: X:40.47, Y:-3.56, Z:-1.19 [[ 9.99982031e-01 3.69237828e-03 -4.72277824e-03 4.04659946e+01] [-3.69130040e-03 9.99993159e-01 2.36926532e-04 -3.56332331e+00] [ 4.72362075e-03 -2.19489082e-04 9.99988820e-01 -1.18627000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73486062399999 meters 0.10433866066554659 Centerline is valid? [True, False] Translation: X:40.47, Y:-3.56, Z:-1.19 [[ 9.99983620e-01 3.42183914e-03 -4.58817528e-03 4.04654977e+01] [-3.42224930e-03 9.99994141e-01 -8.15460864e-05 -3.56284858e+00] [ 4.58786936e-03 9.72466303e-05 9.99989471e-01 -1.18594638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.764860624 meters 0.10387745336974125 Centerline is valid? [False, False] Translation: X:40.47, Y:-3.56, Z:-1.19 [[ 9.99984859e-01 3.21652175e-03 -4.46500376e-03 4.04652267e+01] [-3.21791256e-03 9.99994776e-01 -3.04344099e-04 -3.56235294e+00] [ 4.46400151e-03 3.18707483e-04 9.99989986e-01 -1.18589444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.794860624 meters 0.09752397578623676 Centerline is valid? [False, True] Translation: X:40.47, Y:-3.56, Z:-1.19 [[ 9.99985525e-01 3.09730641e-03 -4.39948847e-03 4.04651954e+01] [-3.09941662e-03 9.99995085e-01 -4.72912965e-04 -3.56187713e+00] [ 4.39800209e-03 4.86541968e-04 9.99990210e-01 -1.18599722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.824860624 meters 0.10425824050269222 Centerline is valid? [True, False] Translation: X:40.46, Y:-3.56, Z:-1.19 [[ 9.99986344e-01 2.90803000e-03 -4.34224508e-03 4.04649784e+01] [-2.91119605e-03 9.99995501e-01 -7.22984063e-04 -3.56132407e+00] [ 4.34012309e-03 7.35615317e-04 9.99990311e-01 -1.18584137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.854860624 meters 0.09856519172120533 Centerline is valid? [False, True] Translation: X:40.47, Y:-3.56, Z:-1.19 [[ 9.99986075e-01 2.96575622e-03 -4.36503292e-03 4.04652777e+01] [-2.96883290e-03 9.99995349e-01 -6.98536188e-04 -3.56102451e+00] [ 4.36294093e-03 7.11485514e-04 9.99990229e-01 -1.18616496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.884860624 meters 0.09854833010965657 Centerline is valid? [True, True] Translation: X:40.49, Y:-3.56, Z:-1.19 [[ 9.99986396e-01 3.50857601e-03 -3.85962789e-03 4.04937843e+01] [-3.50689397e-03 9.99993753e-01 4.42483544e-04 -3.56440699e+00] [ 3.86115626e-03 -4.28942219e-04 9.99992454e-01 -1.18799843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.914860624 meters 0.09904326134996355 Centerline is valid? [True, True] Translation: X:40.52, Y:-3.57, Z:-1.19 [[ 9.99985881e-01 3.40548300e-03 -4.07925290e-03 4.05223521e+01] [-3.40360403e-03 9.99994098e-01 4.67469328e-04 -3.56827833e+00] [ 4.08082078e-03 -4.53578566e-04 9.99991571e-01 -1.18887485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.944860624 meters 0.10013468695587815 Centerline is valid? [True, False] Translation: X:40.52, Y:-3.57, Z:-1.19 [[ 9.99986021e-01 3.37706818e-03 -4.06864435e-03 4.05225689e+01] [-3.37550337e-03 9.99994226e-01 3.91408191e-04 -3.56792816e+00] [ 4.06994267e-03 -3.77668997e-04 9.99991646e-01 -1.18916178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.974860624 meters 0.1018085676863383 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.57, Z:-1.19 [[ 9.99986949e-01 3.13637853e-03 -4.03290259e-03 4.05225275e+01] [-3.13628743e-03 9.99995081e-01 2.89121198e-05 -3.56697518e+00] [ 4.03297343e-03 -1.62634007e-05 9.99991867e-01 -1.18918132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.004860624 meters 0.1021652795365001 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.57, Z:-1.19 [[ 9.99987899e-01 2.77215332e-03 -4.06410567e-03 4.05226228e+01] [-2.77467467e-03 9.99995962e-01 -6.14889078e-04 -3.56503302e+00] [ 4.06238469e-03 6.26158209e-04 9.99991552e-01 -1.18922882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.034860624 meters 0.10174830442836705 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.56, Z:-1.19 [[ 9.99988736e-01 2.52796292e-03 -4.01718801e-03 4.05224878e+01] [-2.53184007e-03 9.99996334e-01 -9.60348324e-04 -3.56420862e+00] [ 4.01474555e-03 9.70508384e-04 9.99991470e-01 -1.18913978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.064860624 meters 0.10288515959820929 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.56, Z:-1.19 [[ 9.99988852e-01 2.52024554e-03 -3.99302458e-03 4.05227796e+01] [-2.52414110e-03 9.99996343e-01 -9.70854156e-04 -3.56375497e+00] [ 3.99056319e-03 9.80922290e-04 9.99991557e-01 -1.18960585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.094860624 meters 0.10710360999324595 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.56, Z:-1.19 [[ 9.99988510e-01 2.62314636e-03 -4.01247259e-03 4.05233988e+01] [-2.62657303e-03 9.99996190e-01 -8.48973845e-04 -3.56333685e+00] [ 4.01023032e-03 8.59503142e-04 9.99991590e-01 -1.19044357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.124860624 meters 0.10301093631855973 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.56, Z:-1.19 [[ 9.99988536e-01 2.61629967e-03 -4.01031248e-03 4.05236040e+01] [-2.61983232e-03 9.99996185e-01 -8.75892336e-04 -3.56307992e+00] [ 4.00800558e-03 8.86388641e-04 9.99991575e-01 -1.19071084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.154860624 meters 0.10384758430603994 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.56, Z:-1.19 [[ 9.99989173e-01 2.41996701e-03 -3.97469279e-03 4.05234449e+01] [-2.42439286e-03 9.99996446e-01 -1.10906730e-03 -3.56262149e+00] [ 3.97199475e-03 1.11869151e-03 9.99991486e-01 -1.19060029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.184860624 meters 0.10566186766517381 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.56, Z:-1.19 [[ 9.99988940e-01 2.50768865e-03 -3.97899027e-03 4.05237248e+01] [-2.51157966e-03 9.99996372e-01 -9.73194585e-04 -3.56269724e+00] [ 3.97653537e-03 9.83177372e-04 9.99991610e-01 -1.19097961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.214860624 meters 0.10631147095272417 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.56, Z:-1.19 [[ 9.99989341e-01 2.51464707e-03 -3.87215680e-03 4.05236684e+01] [-2.51812620e-03 9.99996430e-01 -8.93884592e-04 -3.56286545e+00] [ 3.86989518e-03 9.03625644e-04 9.99992104e-01 -1.19120773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.244860624 meters 0.10267523928842891 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.56, Z:-1.19 [[ 9.99990043e-01 2.42986436e-03 -3.74305083e-03 4.05235431e+01] [-2.43323169e-03 9.99996639e-01 -8.95331181e-04 -3.56285299e+00] [ 3.74086271e-03 9.04429976e-04 9.99992594e-01 -1.19137091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.274860624 meters 0.10887606751037975 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.56, Z:-1.19 [[ 9.99990593e-01 2.38119601e-03 -3.62554340e-03 4.05233811e+01] [-2.38447922e-03 9.99996751e-01 -9.01522757e-04 -3.56283128e+00] [ 3.62338492e-03 9.10159309e-04 9.99993021e-01 -1.19146136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.304860624 meters 0.11228458622765862 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.56, Z:-1.19 [[ 9.99991119e-01 2.28964127e-03 -3.53818568e-03 4.05230076e+01] [-2.29308301e-03 9.99996901e-01 -9.68990303e-04 -3.56305106e+00] [ 3.53595608e-03 9.77095051e-04 9.99993271e-01 -1.19118432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.334860624 meters 0.10594661023465979 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.56, Z:-1.19 [[ 9.99991051e-01 2.36470494e-03 -3.50795928e-03 4.05231149e+01] [-2.36756064e-03 9.99996869e-01 -8.10134154e-04 -3.56335063e+00] [ 3.50603257e-03 8.18432210e-04 9.99993519e-01 -1.19141534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.364860624 meters 0.11304865657668192 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.56, Z:-1.19 [[ 9.99991906e-01 2.28571888e-03 -3.31103854e-03 4.05225467e+01] [-2.28834436e-03 9.99997070e-01 -7.89375185e-04 -3.56382277e+00] [ 3.30922455e-03 7.96945592e-04 9.99994207e-01 -1.19115502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.394860624 meters 0.10209652879869795 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.56, Z:-1.19 [[ 9.99992210e-01 2.21275880e-03 -3.26855832e-03 4.05223044e+01] [-2.21552570e-03 9.99997190e-01 -8.43140100e-04 -3.56402926e+00] [ 3.26668347e-03 8.50375107e-04 9.99994303e-01 -1.19093247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.424860624 meters 0.10294008171601006 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.56, Z:-1.19 [[ 9.99991918e-01 2.34034328e-03 -3.26905977e-03 4.05223693e+01] [-2.34233666e-03 9.99997073e-01 -6.06076175e-04 -3.56468919e+00] [ 3.26763178e-03 6.13728515e-04 9.99994473e-01 -1.19099939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.454860624 meters 0.09986098358869318 Centerline is valid? [False, True] Translation: X:40.52, Y:-3.57, Z:-1.19 [[ 9.99991992e-01 2.44825353e-03 -3.16582168e-03 4.05222058e+01] [-2.44919742e-03 9.99996957e-01 -2.94306226e-04 -3.56589605e+00] [ 3.16509151e-03 3.02057592e-04 9.99994945e-01 -1.19103829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48486062399999 meters 0.10368519482355955 Centerline is valid? [True, False] Translation: X:40.52, Y:-3.57, Z:-1.19 [[ 9.99992109e-01 2.44103021e-03 -3.13419599e-03 4.05221083e+01] [-2.44184781e-03 9.99996986e-01 -2.57063301e-04 -3.56617711e+00] [ 3.13355904e-03 2.64714502e-04 9.99995055e-01 -1.19098907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.514860624 meters 0.10713744971074464 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.57, Z:-1.19 [[ 9.99992297e-01 2.47452781e-03 -3.04662215e-03 4.05221370e+01] [-2.47507588e-03 9.99996921e-01 -1.76136047e-04 -3.56638583e+00] [ 3.04617691e-03 1.83675311e-04 9.99995344e-01 -1.19126068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.544860624 meters 0.10725339052446498 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.57, Z:-1.19 [[ 9.99991503e-01 2.63902869e-03 -3.16687881e-03 4.05226310e+01] [-2.63911748e-03 9.99996517e-01 -2.38590603e-05 -3.56642170e+00] [ 3.16680481e-03 3.22166228e-05 9.99994985e-01 -1.19158606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.574860624 meters 0.10750372440657414 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.57, Z:-1.19 [[ 9.99991710e-01 2.49424590e-03 -3.21860100e-03 4.05226225e+01] [-2.49519215e-03 9.99996845e-01 -2.90011956e-04 -3.56581409e+00] [ 3.21786749e-03 2.98040579e-04 9.99994778e-01 -1.19141286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.604860624 meters 0.10065038181213372 Centerline is valid? [False, False] Translation: X:40.52, Y:-3.56, Z:-1.19 [[ 9.99991819e-01 2.25240911e-03 -3.35991711e-03 4.05224774e+01] [-2.25533762e-03 9.99997080e-01 -8.68067748e-04 -3.56450177e+00] [ 3.35795205e-03 8.75638394e-04 9.99993979e-01 -1.19078136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.634860624 meters 0.09800117608501174 Centerline is valid? [False, True] Translation: X:40.52, Y:-3.56, Z:-1.19 [[ 9.99991647e-01 2.16280682e-03 -3.46818487e-03 4.05226591e+01] [-2.16670776e-03 9.99997024e-01 -1.12141347e-03 -3.56372641e+00] [ 3.46574915e-03 1.12891865e-03 9.99993357e-01 -1.19070687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.664860624 meters 0.11002903979920747 Centerline is valid? [True, False] Translation: X:40.52, Y:-3.56, Z:-1.19 [[ 9.99990999e-01 2.18807782e-03 -3.63504029e-03 4.05231156e+01] [-2.19264740e-03 9.99996810e-01 -1.25358282e-03 -3.56308142e+00] [ 3.63228576e-03 1.26154190e-03 9.99992607e-01 -1.19087366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.694860624 meters 0.09754558214804811 Centerline is valid? [False, True] Translation: X:40.52, Y:-3.56, Z:-1.19 [[ 9.99990641e-01 2.20321510e-03 -3.72345251e-03 4.05234250e+01] [-2.20818313e-03 9.99996677e-01 -1.33066874e-03 -3.56267483e+00] [ 3.72050838e-03 1.33887835e-03 9.99992183e-01 -1.19106092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.724860624 meters 0.09534325003641962 Centerline is valid? [True, True] Translation: X:40.55, Y:-3.56, Z:-1.19 [[ 9.99984338e-01 4.38932382e-03 -3.47238519e-03 4.05541436e+01] [-4.38802904e-03 9.99990300e-01 3.80410843e-04 -3.56316594e+00] [ 3.47402125e-03 -3.65167958e-04 9.99993899e-01 -1.19153786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.754860624 meters 0.09563114811526754 Centerline is valid? [True, True] Translation: X:40.58, Y:-3.57, Z:-1.19 [[ 9.99981918e-01 4.71105429e-03 -3.73761326e-03 4.05831028e+01] [-4.70956189e-03 9.99988827e-01 4.07992179e-04 -3.56633843e+00] [ 3.73949357e-03 -3.90382281e-04 9.99992932e-01 -1.19258745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.784860624 meters 0.0960934371268293 Centerline is valid? [True, True] Translation: X:40.61, Y:-3.57, Z:-1.19 [[ 9.99981641e-01 5.07099893e-03 -3.31714351e-03 4.06119399e+01] [-5.06982661e-03 9.99987083e-01 3.61726084e-04 -3.57012045e+00] [ 3.31893498e-03 -3.44902100e-04 9.99994433e-01 -1.19341393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.814860624 meters 0.0968429052725215 Centerline is valid? [True, True] Translation: X:40.64, Y:-3.57, Z:-1.19 [[ 9.99979990e-01 5.04571986e-03 -3.81585802e-03 4.06399528e+01] [-5.04417072e-03 9.99987192e-01 4.15489678e-04 -3.57400792e+00] [ 3.81790559e-03 -3.96233525e-04 9.99992633e-01 -1.19467505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.844860624 meters 0.09674839035467155 Centerline is valid? [True, True] Translation: X:40.67, Y:-3.58, Z:-1.20 [[ 9.99976751e-01 5.10241889e-03 -4.52365538e-03 4.06682093e+01] [-5.10023981e-03 9.99986872e-01 4.93112198e-04 -3.57720585e+00] [ 4.52611206e-03 -4.70029006e-04 9.99989647e-01 -1.19510949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.874860624 meters 0.09841878731459293 Centerline is valid? [True, True] Translation: X:40.70, Y:-3.58, Z:-1.20 [[ 9.99979327e-01 4.34230674e-03 -4.74234675e-03 4.06964425e+01] [-4.33990252e-03 9.99990449e-01 5.17140222e-04 -3.58360986e+00] [ 4.74454704e-03 -4.96548209e-04 9.99988621e-01 -1.19728223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.904860624 meters 0.10009938245523065 Centerline is valid? [True, False] Translation: X:40.70, Y:-3.58, Z:-1.20 [[ 9.99979931e-01 4.29437612e-03 -4.65799014e-03 4.06961337e+01] [-4.29185240e-03 9.99990638e-01 5.51664453e-04 -3.58410299e+00] [ 4.66031558e-03 -5.31661975e-04 9.99988999e-01 -1.19709990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.934860624 meters 0.09504384344939788 Centerline is valid? [False, True] Translation: X:40.70, Y:-3.58, Z:-1.20 [[ 9.99980510e-01 4.24015556e-03 -4.58258550e-03 4.06958262e+01] [-4.23753196e-03 9.99990852e-01 5.82073683e-04 -3.58457708e+00] [ 4.58501166e-03 -5.62643486e-04 9.99989330e-01 -1.19686751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.964860624 meters 0.09641159445934626 Centerline is valid? [True, True] Translation: X:40.72, Y:-3.59, Z:-1.20 [[ 9.99988675e-01 2.76380512e-03 -3.87451245e-03 4.07236888e+01] [-2.76216902e-03 9.99996094e-01 4.27560145e-04 -3.59068942e+00] [ 3.87567900e-03 -4.16853244e-04 9.99992403e-01 -1.19754598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.994860624 meters 0.09713174967122536 Centerline is valid? [True, True] Translation: X:40.75, Y:-3.60, Z:-1.20 [[ 9.99989873e-01 1.58002795e-03 -4.21385455e-03 4.07525327e+01] [-1.57808113e-03 9.99998647e-01 4.65290302e-04 -3.59538098e+00] [ 4.21458402e-03 -4.58635786e-04 9.99991013e-01 -1.19802559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.024860624 meters 0.09697263909629127 Centerline is valid? [True, True] Translation: X:40.78, Y:-3.60, Z:-1.20 [[ 9.99990331e-01 9.74999981e-04 -4.28807265e-03 4.07814344e+01] [-9.72981201e-04 9.99999415e-01 4.72850467e-04 -3.59911055e+00] [ 4.28853117e-03 -4.68673681e-04 9.99990694e-01 -1.19847097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.054860624 meters 0.09842913978186286 Centerline is valid? [True, True] Translation: X:40.81, Y:-3.61, Z:-1.20 [[ 9.99991802e-01 1.76945520e-04 -4.04522641e-03 4.08093340e+01] [-1.75142111e-04 9.99999885e-01 4.46161483e-04 -3.60548126e+00] [ 4.04530489e-03 -4.45449336e-04 9.99991719e-01 -1.19947398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.084860624 meters 0.09755831653342274 Centerline is valid? [True, True] Translation: X:40.84, Y:-3.61, Z:-1.20 [[ 9.99991633e-01 -5.21973191e-04 -4.05732519e-03 4.08385856e+01] [ 5.23793998e-04 9.99999763e-01 4.47720537e-04 -3.60849631e+00] [ 4.05709053e-03 -4.49841993e-04 9.99991669e-01 -1.20016528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.114860624 meters 0.1003120339203118 Centerline is valid? [True, False] Translation: X:40.84, Y:-3.61, Z:-1.20 [[ 9.99993158e-01 -4.27846811e-04 -3.67427297e-03 4.08377675e+01] [ 4.31548583e-04 9.99999400e-01 1.00675049e-03 -3.61076361e+00] [ 3.67384003e-03 -1.00832923e-03 9.99992743e-01 -1.20001764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.144860624 meters 0.09863417319585077 Centerline is valid? [False, True] Translation: X:40.84, Y:-3.61, Z:-1.20 [[ 9.99993434e-01 -1.96434681e-04 -3.61855982e-03 4.08378078e+01] [ 2.01821412e-04 9.99998872e-01 1.48833461e-03 -3.61209569e+00] [ 3.61826338e-03 -1.48905514e-03 9.99992345e-01 -1.20022969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.174860624 meters 0.10456292033997837 Centerline is valid? [True, False] Translation: X:40.84, Y:-3.61, Z:-1.20 [[ 9.99993763e-01 1.86141700e-05 -3.53192259e-03 4.08378353e+01] [-1.17462652e-05 9.99998109e-01 1.94453381e-03 -3.61325962e+00] [ 3.53195211e-03 -1.94448019e-03 9.99991872e-01 -1.20049647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.204860624 meters 0.09870490146008425 Centerline is valid? [False, True] Translation: X:40.84, Y:-3.62, Z:-1.20 [[ 9.99994811e-01 3.66182926e-05 -3.22121790e-03 4.08370407e+01] [-2.90147400e-05 9.99997214e-01 2.36047401e-03 -3.61510089e+00] [ 3.22129536e-03 -2.36036829e-03 9.99992026e-01 -1.20019922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23486062399999 meters 0.1054602492856094 Centerline is valid? [True, False] Translation: X:40.84, Y:-3.62, Z:-1.20 [[ 9.99994530e-01 4.31818622e-04 -3.27934459e-03 4.08375036e+01] [-4.22043586e-04 9.99995468e-01 2.98089677e-03 -3.61638673e+00] [ 3.28061694e-03 -2.97949643e-03 9.99990180e-01 -1.20068223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.264860624 meters 0.10658474646021712 Centerline is valid? [False, False] Translation: X:40.84, Y:-3.62, Z:-1.20 [[ 9.99994402e-01 5.72767362e-04 -3.29654839e-03 4.08376281e+01] [-5.62201181e-04 9.99994705e-01 3.20526009e-03 -3.61710446e+00] [ 3.29836680e-03 -3.20338882e-03 9.99989429e-01 -1.20078814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.294860624 meters 0.0987928625413852 Centerline is valid? [False, True] Translation: X:40.84, Y:-3.62, Z:-1.20 [[ 9.99994284e-01 5.91784337e-04 -3.32879759e-03 4.08375437e+01] [-5.80965089e-04 9.99994549e-01 3.25022571e-03 -3.61745935e+00] [ 3.33070287e-03 -3.24827322e-03 9.99989178e-01 -1.20058165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.324860624 meters 0.09854584961645128 Centerline is valid? [True, True] Translation: X:40.87, Y:-3.62, Z:-1.20 [[ 9.99994275e-01 1.15261358e-03 -3.18153477e-03 4.08666855e+01] [-1.15144720e-03 9.99999269e-01 3.68417749e-04 -3.61966358e+00] [ 3.18195709e-03 -3.64752270e-04 9.99994871e-01 -1.20006894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.354860624 meters 0.09952860417364565 Centerline is valid? [True, True] Translation: X:40.89, Y:-3.63, Z:-1.20 [[ 9.99990653e-01 2.52810108e-03 -3.50760749e-03 4.08945804e+01] [-2.52668861e-03 9.99996725e-01 4.07059542e-04 -3.62561592e+00] [ 3.50862509e-03 -3.98193105e-04 9.99993765e-01 -1.20193318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.384860624 meters 0.09664573682267402 Centerline is valid? [True, True] Translation: X:40.92, Y:-3.62, Z:-1.20 [[ 9.99987670e-01 3.33364471e-03 -3.68048653e-03 4.09242724e+01] [-3.33210066e-03 9.99994358e-01 4.25574497e-04 -3.62365800e+00] [ 3.68188448e-03 -4.13305498e-04 9.99993136e-01 -1.20190366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.414860624 meters 0.09664573682267402 Centerline is valid? [True, True] Translation: X:40.95, Y:-3.63, Z:-1.20 [[ 9.99987891e-01 3.26680669e-03 -3.68042035e-03 4.09525800e+01] [-3.26526013e-03 9.99994578e-01 4.26143245e-04 -3.62688115e+00] [ 3.68179252e-03 -4.14120555e-04 9.99993136e-01 -1.20255211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.444860624 meters 0.09840859308840104 Centerline is valid? [True, True] Translation: X:40.98, Y:-3.63, Z:-1.20 [[ 9.99982527e-01 4.72770162e-03 -3.54900971e-03 4.09812555e+01] [-4.72627050e-03 9.99988746e-01 4.11523856e-04 -3.63365141e+00] [ 3.55091534e-03 -3.94743085e-04 9.99993618e-01 -1.20394945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.474860624 meters 0.1009694936542264 Centerline is valid? [True, False] Translation: X:40.98, Y:-3.63, Z:-1.20 [[ 9.99982594e-01 4.68999979e-03 -3.57992405e-03 4.09813545e+01] [-4.68899993e-03 9.99988965e-01 2.87638331e-04 -3.63337243e+00] [ 3.58123357e-03 -2.70847061e-04 9.99993551e-01 -1.20399179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.504860624 meters 0.0964345910168849 Centerline is valid? [False, True] Translation: X:40.98, Y:-3.63, Z:-1.20 [[ 9.99981795e-01 4.65761761e-03 -3.83624129e-03 4.09817197e+01] [-4.65754240e-03 9.99989153e-01 2.85409090e-05 -3.63269679e+00] [ 3.83633261e-03 -1.06729329e-05 9.99992641e-01 -1.20379002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.534860624 meters 0.0960948297844995 Centerline is valid? [True, True] Translation: X:41.01, Y:-3.64, Z:-1.20 [[ 9.99974803e-01 6.21773267e-03 -3.42522686e-03 4.10111992e+01] [-6.21645275e-03 9.99980604e-01 3.84193391e-04 -3.63553563e+00] [ 3.42754924e-03 -3.62890949e-04 9.99994060e-01 -1.20441928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.564860624 meters 0.09527695739327 Centerline is valid? [True, True] Translation: X:41.04, Y:-3.64, Z:-1.20 [[ 9.99965883e-01 7.64290955e-03 -3.13350024e-03 4.10406474e+01] [-7.64184582e-03 9.99970739e-01 3.51301832e-04 -3.63745508e+00] [ 3.13609352e-03 -3.27344121e-04 9.99995029e-01 -1.20489113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.594860624 meters 0.09700328480452924 Centerline is valid? [True, True] Translation: X:41.07, Y:-3.64, Z:-1.21 [[ 9.99942418e-01 1.03346251e-02 -2.89086934e-03 4.10698885e+01] [-1.03337290e-02 9.99946553e-01 3.24729914e-04 -3.64442401e+00] [ 2.89407079e-03 -2.94837755e-04 9.99995769e-01 -1.20636057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.624860624 meters 0.09422389670838766 Centerline is valid? [True, True] Translation: X:41.10, Y:-3.64, Z:-1.21 [[ 9.99930499e-01 1.12763220e-02 -3.44131372e-03 4.10988522e+01] [-1.12750634e-02 9.99936360e-01 3.84891860e-04 -3.64237434e+00] [ 3.44543488e-03 -3.46064079e-04 9.99994005e-01 -1.20584972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.654860624 meters 0.09468249111525226 Centerline is valid? [True, True] Translation: X:41.13, Y:-3.65, Z:-1.21 [[ 9.99917758e-01 1.22061753e-02 -3.93539901e-03 4.11260852e+01] [-1.22045381e-02 9.99925425e-01 4.39772099e-04 -3.64673552e+00] [ 3.94047347e-03 -3.91706204e-04 9.99992160e-01 -1.20765726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.684860624 meters 0.09749650170248056 Centerline is valid? [True, True] Translation: X:41.15, Y:-3.66, Z:-1.21 [[ 9.99913167e-01 1.25805209e-02 -3.92295535e-03 4.11528271e+01] [-1.25788983e-02 9.99920787e-01 4.37992752e-04 -3.65518389e+00] [ 3.92815477e-03 -3.88608263e-04 9.99992209e-01 -1.20981976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.714860624 meters 0.09583100957822183 Centerline is valid? [True, True] Translation: X:41.18, Y:-3.66, Z:-1.21 [[ 9.99906020e-01 1.28365913e-02 -4.81384727e-03 4.11817235e+01] [-1.28341487e-02 9.99917494e-01 5.37962245e-04 -3.65673588e+00] [ 4.82035570e-03 -4.76130055e-04 9.99988269e-01 -1.20969825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.744860624 meters 0.09360394309840632 Centerline is valid? [True, True] Translation: X:41.21, Y:-3.66, Z:-1.21 [[ 9.99917254e-01 1.19878793e-02 -4.66639953e-03 4.12104871e+01] [-1.19855766e-02 9.99928035e-01 5.21101154e-04 -3.65603394e+00] [ 4.67231061e-03 -4.65128546e-04 9.99988977e-01 -1.20911699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.774860624 meters 0.100525225501656 Centerline is valid? [True, False] Translation: X:41.21, Y:-3.65, Z:-1.21 [[ 9.99958306e-01 7.61832731e-03 -5.03457992e-03 4.12110927e+01] [-7.63922805e-03 9.99962229e-01 -4.14532763e-03 -3.65466072e+00] [ 5.00280929e-03 4.18361510e-03 9.99978734e-01 -1.20903688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.804860624 meters 0.09622649685871386 Centerline is valid? [False, True] Translation: X:41.21, Y:-3.66, Z:-1.21 [[ 9.99958860e-01 7.65911500e-03 -4.85967098e-03 4.12107310e+01] [-7.67802336e-03 9.99962980e-01 -3.88421939e-03 -3.65557149e+00] [ 4.82974139e-03 3.92137226e-03 9.99980648e-01 -1.20901046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.834860624 meters 0.09943051885199675 Centerline is valid? [True, True] Translation: X:41.24, Y:-3.67, Z:-1.21 [[ 9.99983457e-01 4.07971843e-03 -4.05484098e-03 4.12391686e+01] [-4.07795096e-03 9.99991587e-01 4.44062400e-04 -3.66827923e+00] [ 4.05661851e-03 -4.27519611e-04 9.99991681e-01 -1.21170532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.864860624 meters 0.10056738651326992 Centerline is valid? [True, False] Translation: X:41.24, Y:-3.67, Z:-1.21 [[ 9.99984711e-01 4.02504254e-03 -3.79156465e-03 4.12384742e+01] [-4.02263441e-03 9.99991703e-01 6.42541232e-04 -3.66939902e+00] [ 3.79411945e-03 -6.27279330e-04 9.99992606e-01 -1.21143305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.894860624 meters 0.09972779458349516 Centerline is valid? [False, True] Translation: X:41.24, Y:-3.67, Z:-1.21 [[ 9.99985624e-01 4.02321488e-03 -3.54481632e-03 4.12380733e+01] [-4.02012181e-03 9.99991533e-01 8.79254873e-04 -3.67037782e+00] [ 3.54832374e-03 -8.64991639e-04 9.99993331e-01 -1.21154353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.924860624 meters 0.10274739527609598 Centerline is valid? [True, False] Translation: X:41.24, Y:-3.67, Z:-1.21 [[ 9.99986393e-01 4.00376930e-03 -3.34419836e-03 4.12375548e+01] [-4.00010747e-03 9.99991393e-01 1.10095141e-03 -3.67141299e+00] [ 3.34857754e-03 -1.08755927e-03 9.99993802e-01 -1.21138672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.954860624 meters 0.10521695791460176 Centerline is valid? [False, False] Translation: X:41.24, Y:-3.67, Z:-1.21 [[ 9.99992096e-01 3.72390191e-04 -3.95835139e-03 4.12394795e+01] [-3.82837462e-04 9.99996445e-01 -2.63886859e-03 -3.67120840e+00] [ 3.95735463e-03 2.64036314e-03 9.99988684e-01 -1.21240823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98486062399999 meters 0.10716663635264759 Centerline is valid? [False, False] Translation: X:41.24, Y:-3.67, Z:-1.21 [[ 9.99992386e-01 6.67525186e-04 -3.84481358e-03 4.12396785e+01] [-6.75060010e-04 9.99997854e-01 -1.95877309e-03 -3.67274741e+00] [ 3.84349780e-03 1.96135366e-03 9.99990690e-01 -1.21304686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.014860624 meters 0.10816742141715338 Centerline is valid? [False, False] Translation: X:41.24, Y:-3.67, Z:-1.21 [[ 9.99992771e-01 7.26384470e-04 -3.73235315e-03 4.12395414e+01] [-7.32871400e-04 9.99998223e-01 -1.73695323e-03 -3.67336925e+00] [ 3.73108482e-03 1.73967601e-03 9.99991526e-01 -1.21317340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.044860624 meters 0.11089383267806159 Centerline is valid? [False, False] Translation: X:41.24, Y:-3.67, Z:-1.21 [[ 9.99993110e-01 7.71523779e-04 -3.63110179e-03 4.12395007e+01] [-7.77228590e-04 9.99998466e-01 -1.56994757e-03 -3.67387203e+00] [ 3.62988497e-03 1.57275895e-03 9.99992175e-01 -1.21340118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.074860624 meters 0.10377058932707442 Centerline is valid? [False, False] Translation: X:41.24, Y:-3.67, Z:-1.21 [[ 9.99993665e-01 8.79047777e-04 -3.44917154e-03 4.12394373e+01] [-8.83282461e-04 9.99998858e-01 -1.22640839e-03 -3.67462112e+00] [ 3.44808952e-03 1.22944721e-03 9.99993300e-01 -1.21382477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.104860624 meters 0.09984912058320707 Centerline is valid? [False, True] Translation: X:41.24, Y:-3.67, Z:-1.21 [[ 9.99993834e-01 8.43710328e-04 -3.40890005e-03 4.12395442e+01] [-8.48009575e-04 9.99998847e-01 -1.25993447e-03 -3.67432511e+00] [ 3.40783309e-03 1.26281748e-03 9.99993396e-01 -1.21407331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.134860624 meters 0.11534601895027638 Centerline is valid? [True, False] Translation: X:41.24, Y:-3.67, Z:-1.21 [[ 9.99993581e-01 8.98352675e-04 -3.46851743e-03 4.12399091e+01] [-9.02605808e-04 9.99998843e-01 -1.22484015e-03 -3.67406723e+00] [ 3.46741308e-03 1.22796299e-03 9.99993235e-01 -1.21438634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.164860624 meters 0.09807685506710247 Centerline is valid? [False, True] Translation: X:41.24, Y:-3.67, Z:-1.21 [[ 9.99993708e-01 8.80052989e-04 -3.43658749e-03 4.12399958e+01] [-8.84345899e-04 9.99998830e-01 -1.24785847e-03 -3.67384186e+00] [ 3.43548529e-03 1.25088975e-03 9.99993316e-01 -1.21459841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.194860624 meters 0.11658387614159266 Centerline is valid? [True, False] Translation: X:41.24, Y:-3.67, Z:-1.21 [[ 9.99993527e-01 8.26771572e-04 -3.50163106e-03 4.12401488e+01] [-8.31629790e-04 9.99998693e-01 -1.38618682e-03 -3.67338023e+00] [ 3.50048043e-03 1.38908991e-03 9.99992909e-01 -1.21463436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.224860624 meters 0.09719331896927126 Centerline is valid? [False, True] Translation: X:41.24, Y:-3.67, Z:-1.22 [[ 9.99992730e-01 9.44995886e-04 -3.69408300e-03 4.12408466e+01] [-9.50136740e-04 9.99998582e-01 -1.39013837e-03 -3.67269312e+00] [ 3.69276409e-03 1.39363815e-03 9.99992211e-01 -1.21511475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.254860624 meters 0.09901327997390007 Centerline is valid? [True, True] Translation: X:41.27, Y:-3.68, Z:-1.22 [[ 9.99992163e-01 1.66619763e-03 -3.59120640e-03 4.12685469e+01] [-1.66471764e-03 9.99998528e-01 4.15066322e-04 -3.67975714e+00] [ 3.59189270e-03 -4.09084725e-04 9.99993465e-01 -1.21685338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.284860624 meters 0.09779752823211021 Centerline is valid? [True, True] Translation: X:41.30, Y:-3.68, Z:-1.22 [[ 9.99987730e-01 2.65595372e-03 -4.18165576e-03 4.12975311e+01] [-2.65395564e-03 9.99996361e-01 4.83298606e-04 -3.68071577e+00] [ 4.18292416e-03 -4.72194747e-04 9.99991140e-01 -1.21805829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.314860624 meters 0.09825454473849436 Centerline is valid? [True, True] Translation: X:41.33, Y:-3.68, Z:-1.22 [[ 9.99977922e-01 4.55335535e-03 -4.83971895e-03 4.13259168e+01] [-4.55069880e-03 9.99989489e-01 5.59777553e-04 -3.68445248e+00] [ 4.84221695e-03 -5.37741091e-04 9.99988132e-01 -1.21984077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.344860624 meters 0.09585033116093122 Centerline is valid? [True, True] Translation: X:41.36, Y:-3.68, Z:-1.22 [[ 9.99971542e-01 5.68622318e-03 -4.95802685e-03 4.13557434e+01] [-5.68344766e-03 9.99983685e-01 5.73714637e-04 -3.68329285e+00] [ 4.96120822e-03 -5.45519625e-04 9.99987544e-01 -1.21981593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.374860624 meters 0.10017218361520666 Centerline is valid? [True, False] Translation: X:41.36, Y:-3.68, Z:-1.22 [[ 9.99972356e-01 5.51305919e-03 -4.98941249e-03 4.13557110e+01] [-5.51181020e-03 9.99984775e-01 2.64043843e-04 -3.68259981e+00] [ 4.99079222e-03 -2.36535849e-04 9.99987518e-01 -1.21965737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.404860624 meters 0.09706243550386597 Centerline is valid? [False, True] Translation: X:41.36, Y:-3.68, Z:-1.22 [[ 9.99973030e-01 5.34941353e-03 -5.03222579e-03 4.13557825e+01] [-5.34973675e-03 9.99985689e-01 -5.07719263e-05 -3.68179259e+00] [ 5.03188217e-03 7.76916402e-05 9.99987337e-01 -1.21961403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.434860624 meters 0.09548874643239941 Centerline is valid? [True, True] Translation: X:41.39, Y:-3.68, Z:-1.22 [[ 9.99967435e-01 5.69427292e-03 -5.71872822e-03 4.13851749e+01] [-5.69065134e-03 9.99983597e-01 6.49356311e-04 -3.68214699e+00] [ 5.72233203e-03 -6.16791877e-04 9.99983437e-01 -1.22003342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.464860624 meters 0.1016185391000782 Centerline is valid? [True, False] Translation: X:41.39, Y:-3.68, Z:-1.22 [[ 9.99968550e-01 5.43163695e-03 -5.77892568e-03 4.13850335e+01] [-5.43079720e-03 9.99985240e-01 1.60994183e-04 -3.68121912e+00] [ 5.77971485e-03 -1.29604946e-04 9.99983289e-01 -1.21965252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.494860624 meters 0.10274475297845138 Centerline is valid? [False, False] Translation: X:41.39, Y:-3.68, Z:-1.22 [[ 9.99969150e-01 5.27009073e-03 -5.82459494e-03 4.13850179e+01] [-5.27093734e-03 9.99986100e-01 -1.30009483e-04 -3.68065377e+00] [ 5.82382882e-03 1.60706547e-04 9.99983028e-01 -1.21949468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.524860624 meters 0.09859289579399609 Centerline is valid? [False, True] Translation: X:41.39, Y:-3.68, Z:-1.22 [[ 9.99969942e-01 5.11862580e-03 -5.82371441e-03 4.13850541e+01] [-5.12097560e-03 9.99986812e-01 -3.88648017e-04 -3.67998360e+00] [ 5.82164827e-03 4.18459434e-04 9.99982967e-01 -1.21952771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.554860624 meters 0.09938638885874801 Centerline is valid? [True, True] Translation: X:41.41, Y:-3.68, Z:-1.22 [[ 9.99971392e-01 5.28849735e-03 -5.40797054e-03 4.14123262e+01] [-5.28530827e-03 9.99985850e-01 6.03822073e-04 -3.68420571e+00] [ 5.41108733e-03 -5.75222008e-04 9.99985195e-01 -1.22068427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.584860624 meters 0.09866607229864734 Centerline is valid? [True, True] Translation: X:41.44, Y:-3.68, Z:-1.22 [[ 9.99975523e-01 5.20206087e-03 -4.67881927e-03 4.14417680e+01] [-5.19967369e-03 9.99986345e-01 5.22229676e-04 -3.68347384e+00] [ 4.68147205e-03 -4.97888560e-04 9.99988918e-01 -1.22028038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.614860624 meters 0.09357187998297975 Centerline is valid? [True, True] Translation: X:41.47, Y:-3.68, Z:-1.22 [[ 9.99971474e-01 5.12941945e-03 -5.54433468e-03 4.14719857e+01] [-5.12606710e-03 9.99986670e-01 6.18685113e-04 -3.67630990e+00] [ 5.54743427e-03 -5.90246833e-04 9.99984439e-01 -1.21853997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.644860624 meters 0.10203198509695056 Centerline is valid? [True, False] Translation: X:41.47, Y:-3.67, Z:-1.22 [[ 9.99972397e-01 4.87617889e-03 -5.60613971e-03 4.14722257e+01] [-4.87571099e-03 9.99988109e-01 9.71260055e-05 -3.67478558e+00] [ 5.60654665e-03 -6.97894075e-05 9.99984281e-01 -1.21866409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.674860624 meters 0.09799249539917836 Centerline is valid? [False, True] Translation: X:41.47, Y:-3.67, Z:-1.22 [[ 9.99973122e-01 4.64469083e-03 -5.67292978e-03 4.14724296e+01] [-4.64700543e-03 9.99989125e-01 -3.94895209e-04 -3.67331195e+00] [ 5.67103392e-03 4.21246731e-04 9.99983831e-01 -1.21873306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.704860624 meters 0.09535675950786922 Centerline is valid? [True, True] Translation: X:41.50, Y:-3.67, Z:-1.22 [[ 9.99969485e-01 5.12529470e-03 -5.89571652e-03 4.15021399e+01] [-5.12153301e-03 9.99986672e-01 6.52957416e-04 -3.66937931e+00] [ 5.89898454e-03 -6.22742384e-04 9.99982407e-01 -1.21793681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73486062399999 meters 0.09745256031953065 Centerline is valid? [True, True] Translation: X:41.53, Y:-3.67, Z:-1.22 [[ 9.99974114e-01 4.87159599e-03 -5.29521946e-03 4.15294016e+01] [-4.86856325e-03 9.99987977e-01 5.85470587e-04 -3.67424865e+00] [ 5.29800797e-03 -5.59675321e-04 9.99985809e-01 -1.21962090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.764860624 meters 0.09518803256711784 Centerline is valid? [True, True] Translation: X:41.56, Y:-3.67, Z:-1.22 [[ 9.99973948e-01 5.59061129e-03 -4.56591023e-03 4.15585007e+01] [-5.58836467e-03 9.99984258e-01 5.04651854e-04 -3.67161900e+00] [ 4.56865966e-03 -4.79122736e-04 9.99989449e-01 -1.21886912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.794860624 meters 0.09516539214980359 Centerline is valid? [True, True] Translation: X:41.59, Y:-3.67, Z:-1.22 [[ 9.99973710e-01 5.51627027e-03 -4.70639108e-03 4.15870479e+01] [-5.51388373e-03 9.99984663e-01 5.19909442e-04 -3.67293117e+00] [ 4.70918686e-03 -4.93945281e-04 9.99988790e-01 -1.21970612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.824860624 meters 0.09409692466440413 Centerline is valid? [True, True] Translation: X:41.62, Y:-3.67, Z:-1.22 [[ 9.99973353e-01 5.84888168e-03 -4.36862001e-03 4.16160278e+01] [-5.84683040e-03 9.99982791e-01 4.82171724e-04 -3.67224690e+00] [ 4.37136499e-03 -4.56616295e-04 9.99990341e-01 -1.21999464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.854860624 meters 0.09623173842927679 Centerline is valid? [True, True] Translation: X:41.64, Y:-3.68, Z:-1.22 [[ 9.99972237e-01 5.99274857e-03 -4.42853127e-03 4.16438752e+01] [-5.99064319e-03 9.99981937e-01 4.88524080e-04 -3.67765620e+00] [ 4.43137888e-03 -4.61980766e-04 9.99990075e-01 -1.22163773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.884860624 meters 0.09368310682338872 Centerline is valid? [True, True] Translation: X:41.67, Y:-3.67, Z:-1.22 [[ 9.99969733e-01 6.10563053e-03 -4.82236731e-03 4.16730953e+01] [-6.10313626e-03 9.99981234e-01 5.31774942e-04 -3.67346789e+00] [ 4.82552364e-03 -5.02327281e-04 9.99988231e-01 -1.22134676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.914860624 meters 0.09950032797540655 Centerline is valid? [True, True] Translation: X:41.70, Y:-3.69, Z:-1.22 [[ 9.99971473e-01 6.16721890e-03 -4.36104214e-03 4.16992523e+01] [-6.16518357e-03 9.99980880e-01 4.79995353e-04 -3.68552067e+00] [ 4.36391899e-03 -4.53095035e-04 9.99990375e-01 -1.22498515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.944860624 meters 0.09448508995000289 Centerline is valid? [True, True] Translation: X:41.73, Y:-3.68, Z:-1.22 [[ 9.99971464e-01 5.98198045e-03 -4.61374732e-03 4.17287176e+01] [-5.97969950e-03 9.99981992e-01 5.08018159e-04 -3.67788479e+00] [ 4.61670319e-03 -4.80414839e-04 9.99989228e-01 -1.22319451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.974860624 meters 0.0976280801692247 Centerline is valid? [True, True] Translation: X:41.76, Y:-3.68, Z:-1.22 [[ 9.99975714e-01 5.86447913e-03 -3.76552127e-03 4.17558990e+01] [-5.86296271e-03 9.99982727e-01 4.13624118e-04 -3.68316540e+00] [ 3.76788192e-03 -3.91536962e-04 9.99992825e-01 -1.22474470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.004860624 meters 0.09947929033257454 Centerline is valid? [True, True] Translation: X:41.78, Y:-3.69, Z:-1.23 [[ 9.99976209e-01 5.63260601e-03 -3.98181283e-03 4.17830852e+01] [-5.63091060e-03 9.99984051e-01 4.36871477e-04 -3.68767870e+00] [ 3.98421005e-03 -4.14439851e-04 9.99991977e-01 -1.22593779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.034860624 meters 0.09953840281317536 Centerline is valid? [True, True] Translation: X:41.81, Y:-3.69, Z:-1.23 [[ 9.99975656e-01 5.82010132e-03 -3.84897241e-03 4.18120533e+01] [-5.81851703e-03 9.99982983e-01 4.22683985e-04 -3.68973993e+00] [ 3.85136697e-03 -4.00278383e-04 9.99992503e-01 -1.22690619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.064860624 meters 0.09808887174067561 Centerline is valid? [True, True] Translation: X:41.84, Y:-3.69, Z:-1.23 [[ 9.99978743e-01 5.36892915e-03 -3.69973887e-03 4.18405894e+01] [-5.36746512e-03 9.99985513e-01 4.05526936e-04 -3.68886867e+00] [ 3.70186252e-03 -3.85660097e-04 9.99993074e-01 -1.22689866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.094860624 meters 0.10186700587716441 Centerline is valid? [True, False] Translation: X:41.84, Y:-3.69, Z:-1.23 [[ 9.99980115e-01 5.07391812e-03 -3.74502883e-03 4.18409182e+01] [-5.07466200e-03 9.99987106e-01 -1.89155570e-04 -3.68679787e+00] [ 3.74402078e-03 2.08156564e-04 9.99992969e-01 -1.22723843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.124860624 meters 0.103474517842006 Centerline is valid? [False, False] Translation: X:41.84, Y:-3.68, Z:-1.23 [[ 9.99981925e-01 4.68800868e-03 -3.76457258e-03 4.18409121e+01] [-4.69121755e-03 9.99988640e-01 -8.44009756e-04 -3.68493669e+00] [ 3.76057309e-03 8.61654930e-04 9.99992558e-01 -1.22716235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.154860624 meters 0.095288743473367 Centerline is valid? [False, True] Translation: X:41.84, Y:-3.68, Z:-1.23 [[ 9.99983635e-01 4.27547839e-03 -3.80128220e-03 4.18408626e+01] [-4.28139953e-03 9.99989632e-01 -1.55090045e-03 -3.68300457e+00] [ 3.79461195e-03 1.56714987e-03 9.99991572e-01 -1.22698464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.184860624 meters 0.09669555470857585 Centerline is valid? [True, True] Translation: X:41.87, Y:-3.69, Z:-1.23 [[ 9.99983812e-01 4.21984966e-03 -3.81691102e-03 4.18682114e+01] [-4.21829706e-03 9.99991017e-01 4.14726380e-04 -3.68501843e+00] [ 3.81862681e-03 -3.98618802e-04 9.99992630e-01 -1.22827071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.214860624 meters 0.09595352923510307 Centerline is valid? [True, True] Translation: X:41.90, Y:-3.69, Z:-1.23 [[ 9.99983370e-01 4.84296488e-03 -3.13129218e-03 4.18969606e+01] [-4.84192352e-03 9.99988220e-01 3.40062893e-04 -3.68501938e+00] [ 3.13290220e-03 -3.24895760e-04 9.99995040e-01 -1.22808546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.244860624 meters 0.09758832337915649 Centerline is valid? [True, True] Translation: X:41.92, Y:-3.69, Z:-1.23 [[ 9.99985700e-01 4.75424840e-03 -2.44866514e-03 4.19245026e+01] [-4.75361366e-03 9.99988666e-01 2.64971797e-04 -3.68882649e+00] [ 2.44989713e-03 -2.53328000e-04 9.99996967e-01 -1.22959860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.274860624 meters 0.09856645133189265 Centerline is valid? [True, True] Translation: X:41.95, Y:-3.69, Z:-1.23 [[ 9.99983373e-01 5.32636575e-03 -2.21005961e-03 4.19532814e+01] [-5.32584988e-03 9.99985789e-01 2.39238963e-04 -3.69239107e+00] [ 2.21130248e-03 -2.27464539e-04 9.99997529e-01 -1.23056581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.304860624 meters 0.09856645133189265 Centerline is valid? [True, True] Translation: X:41.98, Y:-3.70, Z:-1.23 [[ 9.99983715e-01 5.26171421e-03 -2.21007585e-03 4.19815812e+01] [-5.26119851e-03 9.99986131e-01 2.39089475e-04 -3.69540179e+00] [ 2.21130321e-03 -2.27457934e-04 9.99997529e-01 -1.23127033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.334860624 meters 0.09746794424710192 Centerline is valid? [True, True] Translation: X:42.01, Y:-3.69, Z:-1.23 [[ 9.99982039e-01 5.65690509e-03 -1.98004542e-03 4.20103653e+01] [-5.65649254e-03 9.99983979e-01 2.13889569e-04 -3.69486670e+00] [ 1.98122365e-03 -2.02685615e-04 9.99998017e-01 -1.23196577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.364860624 meters 0.09834652591368503 Centerline is valid? [True, True] Translation: X:42.04, Y:-3.70, Z:-1.23 [[ 9.99980751e-01 6.05413538e-03 -1.35834209e-03 4.20381926e+01] [-6.05394298e-03 9.99981664e-01 1.45712972e-04 -3.69532690e+00] [ 1.35919935e-03 -1.37486842e-04 9.99999067e-01 -1.23254258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.394860624 meters 0.09783738381923344 Centerline is valid? [True, True] Translation: X:42.07, Y:-3.69, Z:-1.23 [[ 9.99979959e-01 6.13047876e-03 -1.58097052e-03 4.20674986e+01] [-6.13021720e-03 9.99981196e-01 1.70235680e-04 -3.69488984e+00] [ 1.58198442e-03 -1.60540575e-04 9.99998736e-01 -1.23269234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.424860624 meters 0.09907208003169406 Centerline is valid? [True, True] Translation: X:42.10, Y:-3.70, Z:-1.23 [[ 9.99973807e-01 7.15483611e-03 -1.09218514e-03 4.20966488e+01] [-7.15471158e-03 9.99974398e-01 1.17884991e-04 -3.69757222e+00] [ 1.09300063e-03 -1.10067634e-04 9.99999397e-01 -1.23399836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.454860624 meters 0.09891021580002207 Centerline is valid? [True, True] Translation: X:42.13, Y:-3.70, Z:-1.24 [[ 9.99969755e-01 7.60918333e-03 -1.60915210e-03 4.21256307e+01] [-7.60891445e-03 9.99971037e-01 1.73150767e-04 -3.69846186e+00] [ 1.61042303e-03 -1.60901630e-04 9.99998690e-01 -1.23501769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48486062399999 meters 0.09970011778906288 Centerline is valid? [True, True] Translation: X:42.15, Y:-3.70, Z:-1.24 [[ 9.99961229e-01 8.60515744e-03 -1.86839789e-03 4.21536178e+01] [-8.60479640e-03 9.99962958e-01 2.01186098e-04 -3.70098275e+00] [ 1.87005992e-03 -1.85101115e-04 9.99998234e-01 -1.23675281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.514860624 meters 0.10008140786855392 Centerline is valid? [True, False] Translation: X:42.15, Y:-3.70, Z:-1.24 [[ 9.99965069e-01 8.10302999e-03 -2.04962029e-03 4.21541203e+01] [-8.10497734e-03 9.99966709e-01 -9.43589355e-04 -3.69707147e+00] [ 2.04190612e-03 9.60168521e-04 9.99997454e-01 -1.23699166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.544860624 meters 0.09909718054730185 Centerline is valid? [False, True] Translation: X:42.15, Y:-3.69, Z:-1.24 [[ 9.99968957e-01 7.60899734e-03 -2.04658457e-03 4.21539510e+01] [-7.61259712e-03 9.99969480e-01 -1.75691829e-03 -3.69474876e+00] [ 2.03315372e-03 1.77244357e-03 9.99996362e-01 -1.23677788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.574860624 meters 0.0978106536514691 Centerline is valid? [True, True] Translation: X:42.18, Y:-3.69, Z:-1.24 [[ 9.99969760e-01 7.69226962e-03 -1.14387740e-03 4.21833742e+01] [-7.69213738e-03 9.99970408e-01 1.19958028e-04 -3.69429582e+00] [ 1.14476630e-03 -1.11155538e-04 9.99999339e-01 -1.23675297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.604860624 meters 0.09904037762313432 Centerline is valid? [True, True] Translation: X:42.21, Y:-3.70, Z:-1.24 [[ 9.99971169e-01 7.43690574e-03 -1.53428480e-03 4.22112978e+01] [-7.43666751e-03 9.99972335e-01 1.60921811e-04 -3.69723387e+00] [ 1.53543911e-03 -1.49507205e-04 9.99998810e-01 -1.23711449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.634860624 meters 0.1000613088083195 Centerline is valid? [True, False] Translation: X:42.21, Y:-3.69, Z:-1.24 [[ 9.99977357e-01 6.56081887e-03 -1.49693092e-03 4.22107755e+01] [-6.56268989e-03 9.99977686e-01 -1.24843117e-03 -3.69350468e+00] [ 1.48870679e-03 1.25822680e-03 9.99998100e-01 -1.23651416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.664860624 meters 0.10092845439043492 Centerline is valid? [False, False] Translation: X:42.21, Y:-3.69, Z:-1.24 [[ 9.99978912e-01 6.32054212e-03 -1.49197787e-03 4.22108381e+01] [-6.32296855e-03 9.99978686e-01 -1.62724622e-03 -3.69223020e+00] [ 1.48166099e-03 1.63664563e-03 9.99997563e-01 -1.23663420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.694860624 meters 0.10177390203141212 Centerline is valid? [False, False] Translation: X:42.21, Y:-3.69, Z:-1.24 [[ 9.99979911e-01 6.17263012e-03 -1.44083942e-03 4.22110596e+01] [-6.17532435e-03 9.99979178e-01 -1.87300217e-03 -3.69106561e+00] [ 1.42924807e-03 1.88186220e-03 9.99997208e-01 -1.23709268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.724860624 meters 0.09754350441090387 Centerline is valid? [False, True] Translation: X:42.21, Y:-3.69, Z:-1.24 [[ 9.99981411e-01 5.92722523e-03 -1.43040580e-03 4.22111400e+01] [-5.93046078e-03 9.99979842e-01 -2.26843825e-03 -3.68972217e+00] [ 1.41693142e-03 2.27687904e-03 9.99996404e-01 -1.23723782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.754860624 meters 0.09873794009633531 Centerline is valid? [True, True] Translation: X:42.24, Y:-3.69, Z:-1.24 [[ 9.99984606e-01 5.51759553e-03 -5.86742428e-04 4.22386791e+01] [-5.51756138e-03 9.99984776e-01 5.97905498e-05 -3.69363003e+00] [ 5.87063395e-04 -5.65522420e-05 9.99999826e-01 -1.23987861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.784860624 meters 0.09998107226806198 Centerline is valid? [True, True] Translation: X:42.27, Y:-3.70, Z:-1.24 [[ 9.99985208e-01 5.33398413e-03 -1.06415705e-03 4.22675626e+01] [-5.33386938e-03 9.99985769e-01 1.10645427e-04 -3.69729178e+00] [ 1.06473209e-03 -1.04967716e-04 9.99999428e-01 -1.24075119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.814860624 meters 0.10475024738335685 Centerline is valid? [True, False] Translation: X:42.27, Y:-3.70, Z:-1.24 [[ 9.99986898e-01 5.01187230e-03 -1.04195336e-03 4.22674345e+01] [-5.01227885e-03 9.99987363e-01 -3.87927964e-04 -3.69583641e+00] [ 1.03999595e-03 3.93145442e-04 9.99999382e-01 -1.24062223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.844860624 meters 0.09991030897537759 Centerline is valid? [False, True] Translation: X:42.27, Y:-3.69, Z:-1.24 [[ 9.99989020e-01 4.58401779e-03 -9.72787491e-04 4.22671209e+01] [-4.58499537e-03 9.99988984e-01 -1.00508277e-03 -3.69422297e+00] [ 9.68169457e-04 1.00953196e-03 9.99999022e-01 -1.24037572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.874860624 meters 0.10200701636286215 Centerline is valid? [True, False] Translation: X:42.27, Y:-3.69, Z:-1.24 [[ 9.99991906e-01 3.92026826e-03 -9.05509359e-04 4.22665916e+01] [-3.92207793e-03 9.99990298e-01 -2.00544999e-03 -3.69173213e+00] [ 8.97638672e-04 2.00898524e-03 9.99997579e-01 -1.23985069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.904860624 meters 0.10144022934279118 Centerline is valid? [False, False] Translation: X:42.27, Y:-3.69, Z:-1.24 [[ 9.99992233e-01 3.82885812e-03 -9.34931625e-04 4.22669196e+01] [-3.83089948e-03 9.99990261e-01 -2.19149047e-03 -3.69065687e+00] [ 9.26531614e-04 2.19505508e-03 9.99997162e-01 -1.24024495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.934860624 meters 0.09972572811597505 Centerline is valid? [False, True] Translation: X:42.27, Y:-3.69, Z:-1.24 [[ 9.99993084e-01 3.59247179e-03 -9.62589394e-04 4.22670072e+01] [-3.59498128e-03 9.99990111e-01 -2.61809586e-03 -3.68925001e+00] [ 9.53174439e-04 2.62153825e-03 9.99996109e-01 -1.24024994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.964860624 meters 0.0980669636313093 Centerline is valid? [True, True] Translation: X:42.30, Y:-3.69, Z:-1.24 [[ 9.99995229e-01 3.04533613e-03 -5.18312906e-04 4.22960553e+01] [-3.04530902e-03 9.99995362e-01 5.30805259e-05 -3.68941565e+00] [ 5.18472150e-04 -5.15018496e-05 9.99999864e-01 -1.24140182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.994860624 meters 0.09924819278954249 Centerline is valid? [True, True] Translation: X:42.32, Y:-3.69, Z:-1.24 [[ 9.99995498e-01 2.96672032e-03 4.49733677e-04 4.23244200e+01] [-2.96669864e-03 9.99995598e-01 -4.88611562e-05 -3.69278764e+00] [-4.49876654e-04 4.75267120e-05 9.99999898e-01 -1.24202921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.024860624 meters 0.10035727150153735 Centerline is valid? [True, False] Translation: X:42.32, Y:-3.69, Z:-1.24 [[ 9.99995802e-01 2.86766821e-03 4.14182477e-04 4.23245581e+01] [-2.86754936e-03 9.99995847e-01 -2.87268748e-04 -3.69206675e+00] [-4.15004548e-04 2.86079853e-04 9.99999873e-01 -1.24207021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.054860624 meters 0.099754346107567 Centerline is valid? [False, True] Translation: X:42.32, Y:-3.69, Z:-1.24 [[ 9.99996065e-01 2.77440861e-03 4.16135539e-04 4.23247274e+01] [-2.77421526e-03 9.99996044e-01 -4.64478005e-04 -3.69122280e+00] [-4.17422545e-04 4.63321728e-04 9.99999806e-01 -1.24230940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.084860624 meters 0.09893537610687807 Centerline is valid? [True, True] Translation: X:42.35, Y:-3.69, Z:-1.24 [[ 9.99996730e-01 2.51751596e-03 4.50219527e-04 4.23542864e+01] [-2.51749437e-03 9.99996830e-01 -4.85031552e-05 -3.69220906e+00] [-4.50340207e-04 4.73695714e-05 9.99999897e-01 -1.24239579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.114860624 meters 0.10232623095368355 Centerline is valid? [True, False] Translation: X:42.35, Y:-3.69, Z:-1.24 [[ 9.99997008e-01 2.39711457e-03 4.88225165e-04 4.23542885e+01] [-2.39701380e-03 9.99997106e-01 -2.06878859e-04 -3.69149882e+00] [-4.88719664e-04 2.05707958e-04 9.99999859e-01 -1.24251320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.144860624 meters 0.10074705961432927 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.69, Z:-1.24 [[ 9.99997788e-01 2.03320490e-03 5.39310576e-04 4.23537413e+01] [-2.03281786e-03 9.99997677e-01 -7.17226501e-04 -3.69067165e+00] [-5.40767591e-04 7.16128594e-04 9.99999597e-01 -1.24189114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.174860624 meters 0.10374691386704425 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.69, Z:-1.24 [[ 9.99997823e-01 2.00376380e-03 5.81987370e-04 4.23537490e+01] [-2.00334881e-03 9.99997739e-01 -7.12759873e-04 -3.69051185e+00] [-5.83414257e-04 7.11592398e-04 9.99999577e-01 -1.24202836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.204860624 meters 0.10501638417442825 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.69, Z:-1.24 [[ 9.99998069e-01 1.83720478e-03 6.97375725e-04 4.23533313e+01] [-1.83659983e-03 9.99997938e-01 -8.67107652e-04 -3.69045913e+00] [-6.98967341e-04 8.65825177e-04 9.99999381e-01 -1.24178315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23486062399999 meters 0.10157950849737513 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.69, Z:-1.24 [[ 9.99997972e-01 1.85957165e-03 7.73321436e-04 4.23534490e+01] [-1.85901004e-03 9.99998008e-01 -7.26324649e-04 -3.69052653e+00] [-7.74670548e-04 7.24885564e-04 9.99999437e-01 -1.24220354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.264860624 meters 0.10347387270740603 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.69, Z:-1.24 [[ 9.99998034e-01 1.85208480e-03 7.07931448e-04 4.23535112e+01] [-1.85156534e-03 9.99998017e-01 -7.33712905e-04 -3.69056738e+00] [-7.09288943e-04 7.32400682e-04 9.99999480e-01 -1.24209188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.294860624 meters 0.10200251689700358 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.69, Z:-1.24 [[ 9.99997540e-01 2.09741291e-03 7.22115526e-04 4.23538653e+01] [-2.09720436e-03 9.99997759e-01 -2.89439727e-04 -3.69147207e+00] [-7.22720982e-04 2.87924591e-04 9.99999697e-01 -1.24262434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.324860624 meters 0.1050283687561753 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.69, Z:-1.24 [[ 9.99997354e-01 2.18540327e-03 7.18809797e-04 4.23538765e+01] [-2.18531552e-03 9.99997605e-01 -1.22838961e-04 -3.69208704e+00] [-7.19076528e-04 1.21267810e-04 9.99999734e-01 -1.24262241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.354860624 meters 0.10314149233973412 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.69, Z:-1.24 [[ 9.99997473e-01 2.10175710e-03 7.97298199e-04 4.23535129e+01] [-2.10164102e-03 9.99997781e-01 -1.46400633e-04 -3.69243576e+00] [-7.97604128e-04 1.44724628e-04 9.99999671e-01 -1.24231546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.384860624 meters 0.10428511634930496 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.69, Z:-1.24 [[ 9.99997520e-01 1.96860054e-03 1.04119534e-03 4.23525444e+01] [-1.96859038e-03 9.99998062e-01 -1.07867063e-05 -3.69392339e+00] [-1.04121455e-03 8.73699238e-06 9.99999458e-01 -1.24162082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.414860624 meters 0.10638187154076148 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.69, Z:-1.24 [[ 9.99997361e-01 2.04033486e-03 1.05631306e-03 4.23524687e+01] [-2.04048222e-03 9.99997909e-01 1.38447498e-04 -3.69466577e+00] [-1.05602837e-03 -1.40602521e-04 9.99999433e-01 -1.24151392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.444860624 meters 0.10757067019101758 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.70, Z:-1.24 [[ 9.99997397e-01 1.98886428e-03 1.11824009e-03 4.23521148e+01] [-1.98908441e-03 9.99998003e-01 1.95778826e-04 -3.69539657e+00] [-1.11784848e-03 -1.98002590e-04 9.99999356e-01 -1.24119662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.474860624 meters 0.10835659145380208 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.70, Z:-1.24 [[ 9.99996821e-01 2.27552250e-03 1.08595093e-03 4.23523641e+01] [-2.27620634e-03 9.99997212e-01 6.28896890e-04 -3.69661356e+00] [-1.08451683e-03 -6.31366739e-04 9.99999213e-01 -1.24141720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.504860624 meters 0.11057465178502958 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.70, Z:-1.24 [[ 9.99996857e-01 2.23055459e-03 1.14443832e-03 4.23520636e+01] [-2.23128690e-03 9.99997307e-01 6.39010515e-04 -3.69713854e+00] [-1.14300989e-03 -6.41562077e-04 9.99999141e-01 -1.24114217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.534860624 meters 0.11019217577527049 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.70, Z:-1.24 [[ 9.99996739e-01 2.28483886e-03 1.14126470e-03 4.23518118e+01] [-2.28567062e-03 9.99997123e-01 7.28030692e-04 -3.69815586e+00] [-1.13959799e-03 -7.30636872e-04 9.99999084e-01 -1.24069861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.564860624 meters 0.10665172083040306 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.70, Z:-1.24 [[ 9.99996934e-01 2.22315047e-03 1.09040751e-03 4.23516550e+01] [-2.22382712e-03 9.99997335e-01 6.19731812e-04 -3.69831259e+00] [-1.08902685e-03 -6.22154790e-04 9.99999213e-01 -1.24029681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.594860624 meters 0.1129880083565559 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.70, Z:-1.24 [[ 9.99996721e-01 2.37512816e-03 9.57452241e-04 4.23520349e+01] [-2.37584385e-03 9.99996899e-01 7.47049486e-04 -3.69862532e+00] [-9.55674933e-04 -7.49321794e-04 9.99999263e-01 -1.24038676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.624860624 meters 0.11402596639873805 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.70, Z:-1.24 [[ 9.99996781e-01 2.39897427e-03 8.26879262e-04 4.23522695e+01] [-2.39949806e-03 9.99996921e-01 6.33041497e-04 -3.69848421e+00] [-8.25358065e-04 -6.35023554e-04 9.99999458e-01 -1.24025386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.654860624 meters 0.1067818694170981 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.70, Z:-1.24 [[ 9.99996693e-01 2.45995246e-03 7.50272103e-04 4.23520569e+01] [-2.46046657e-03 9.99996738e-01 6.85086528e-04 -3.69928127e+00] [-7.48584375e-04 -6.86930282e-04 9.99999484e-01 -1.23968915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.684860624 meters 0.10301814749362176 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.70, Z:-1.24 [[ 9.99996641e-01 2.47344302e-03 7.74826717e-04 4.23519141e+01] [-2.47401105e-03 9.99996671e-01 7.33008113e-04 -3.69967901e+00] [-7.73011084e-04 -7.34922581e-04 9.99999431e-01 -1.23953771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.714860624 meters 0.1069829774383086 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.70, Z:-1.24 [[ 9.99996712e-01 2.45916666e-03 7.26523871e-04 4.23518148e+01] [-2.45967790e-03 9.99996727e-01 7.03622542e-04 -3.69995977e+00] [-7.24791169e-04 -7.05407244e-04 9.99999489e-01 -1.23924432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.744860624 meters 0.10786132469186915 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.70, Z:-1.24 [[ 9.99996150e-01 2.70330746e-03 6.25803049e-04 4.23521720e+01] [-2.70394787e-03 9.99995819e-01 1.02476957e-03 -3.70070889e+00] [-6.23030166e-04 -1.02645776e-03 9.99999279e-01 -1.23943816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.774860624 meters 0.10528994578795055 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.70, Z:-1.24 [[ 9.99995684e-01 2.87783603e-03 5.91473632e-04 4.23520852e+01] [-2.87858893e-03 9.99995043e-01 1.27603150e-03 -3.70198739e+00] [-5.87798491e-04 -1.27772860e-03 9.99999011e-01 -1.23914868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.804860624 meters 0.10494048774593075 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.70, Z:-1.24 [[ 9.99995586e-01 2.91826514e-03 5.57716579e-04 4.23519693e+01] [-2.91899867e-03 9.99994870e-01 1.31897309e-03 -3.70248757e+00] [-5.53864605e-04 -1.32059524e-03 9.99998975e-01 -1.23886275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.834860624 meters 0.10518163042812582 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.70, Z:-1.24 [[ 9.99995147e-01 3.07955568e-03 4.70726982e-04 4.23522390e+01] [-3.08027617e-03 9.99994074e-01 1.53758912e-03 -3.70299441e+00] [-4.65989101e-04 -1.53903163e-03 9.99998707e-01 -1.23898346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.864860624 meters 0.10568223109951086 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.70, Z:-1.24 [[ 9.99994917e-01 3.15739061e-03 4.42976304e-04 4.23522035e+01] [-3.15811809e-03 9.99993650e-01 1.65127051e-03 -3.70354845e+00] [-4.37759785e-04 -1.65266109e-03 9.99998539e-01 -1.23883606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.894860624 meters 0.10520981680389521 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.70, Z:-1.24 [[ 9.99994158e-01 3.40471026e-03 3.03683174e-04 4.23523415e+01] [-3.40530105e-03 9.99992268e-01 1.96661262e-03 -3.70479042e+00] [-2.96985080e-04 -1.96763527e-03 9.99998020e-01 -1.23858935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.924860624 meters 0.10615086109278733 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.71, Z:-1.24 [[ 9.99994010e-01 3.45234061e-03 2.48693078e-04 4.23523153e+01] [-3.45283333e-03 9.99992021e-01 2.00883390e-03 -3.70517868e+00] [-2.41755914e-04 -2.00968056e-03 9.99997951e-01 -1.23836200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.954860624 meters 0.10528580907164685 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.71, Z:-1.24 [[ 9.99993907e-01 3.48582467e-03 1.86836704e-04 4.23522325e+01] [-3.48619864e-03 9.99991842e-01 2.04005830e-03 -3.70566180e+00] [-1.79723894e-04 -2.04069722e-03 9.99997902e-01 -1.23801917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98486062399999 meters 0.10365167914631643 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.71, Z:-1.24 [[ 9.99993639e-01 3.56147542e-03 1.94125570e-04 4.23521059e+01] [-3.56189002e-03 9.99991282e-01 2.17897316e-03 -3.70632113e+00] [-1.86363519e-04 -2.17965076e-03 9.99997607e-01 -1.23784180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.014860624 meters 0.10594586291113264 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.71, Z:-1.24 [[ 9.99993257e-01 3.66731773e-03 1.89847695e-04 4.23520518e+01] [-3.66775803e-03 9.99990457e-01 2.37330979e-03 -3.70713473e+00] [-1.81142202e-04 -2.37399010e-03 9.99997166e-01 -1.23773290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.044860624 meters 0.10878762472967521 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.71, Z:-1.24 [[ 9.99992384e-01 3.89469503e-03 2.51369874e-04 4.23518787e+01] [-3.89540125e-03 9.99988286e-01 2.87298506e-03 -3.70890936e+00] [-2.40177529e-04 -2.87394236e-03 9.99995841e-01 -1.23766565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.074860624 meters 0.10170416492521459 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.71, Z:-1.24 [[ 9.99999858e-01 5.52524117e-05 -5.29951154e-04 4.23534481e+01] [-5.60039751e-05 9.99998993e-01 -1.41826503e-03 -3.70807908e+00] [ 5.29872258e-04 1.41829450e-03 9.99998854e-01 -1.23768150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.104860624 meters 0.10110083670922185 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.71, Z:-1.24 [[ 9.99999741e-01 3.98197284e-04 -5.99819351e-04 4.23537681e+01] [-3.98723403e-04 9.99999536e-01 -8.77264786e-04 -3.70949542e+00] [ 5.99469748e-04 8.77503721e-04 9.99999435e-01 -1.23792538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.134860624 meters 0.1016607832909542 Centerline is valid? [False, False] Translation: X:42.35, Y:-3.71, Z:-1.24 [[ 9.99999637e-01 6.67002857e-04 -5.30600300e-04 4.23535396e+01] [-6.67172772e-04 9.99999726e-01 -3.20118822e-04 -3.71154917e+00] [ 5.30386635e-04 3.20472708e-04 9.99999808e-01 -1.23777488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.164860624 meters 0.09819434429340206 Centerline is valid? [False, True] Translation: X:42.35, Y:-3.71, Z:-1.24 [[ 9.99999512e-01 8.16697799e-04 -5.55113905e-04 4.23534733e+01] [-8.16710835e-04 9.99999666e-01 -2.32565195e-05 -3.71278635e+00] [ 5.55094726e-04 2.37098757e-05 9.99999846e-01 -1.23760872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.194860624 meters 0.09968555680994526 Centerline is valid? [True, True] Translation: X:42.38, Y:-3.72, Z:-1.24 [[ 9.99999666e-01 4.73085138e-04 -6.66110069e-04 4.23826001e+01] [-4.73039053e-04 9.99999886e-01 6.93405949e-05 -3.71989529e+00] [ 6.66142797e-04 -6.90254757e-05 9.99999776e-01 -1.23928836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.224860624 meters 0.09968555680994526 Centerline is valid? [True, True] Translation: X:42.41, Y:-3.72, Z:-1.24 [[ 9.99999666e-01 4.73059501e-04 -6.66013986e-04 4.24125991e+01] [-4.73012816e-04 9.99999886e-01 7.02515016e-05 -3.72306003e+00] [ 6.66047143e-04 -6.99364450e-05 9.99999776e-01 -1.24013279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.254860624 meters 0.10044163566809172 Centerline is valid? [True, False] Translation: X:42.41, Y:-3.72, Z:-1.24 [[ 9.99999576e-01 6.49768949e-04 -6.52147028e-04 4.24125922e+01] [-6.49502877e-04 9.99999706e-01 4.08122940e-04 -3.72417028e+00] [ 6.52412022e-04 -4.07699196e-04 9.99999704e-01 -1.24017368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.284860624 meters 0.10527407011713205 Centerline is valid? [False, False] Translation: X:42.41, Y:-3.73, Z:-1.24 [[ 9.99999464e-01 8.06216161e-04 -6.49233775e-04 4.24125926e+01] [-8.05784679e-04 9.99999455e-01 6.64589463e-04 -3.72512796e+00] [ 6.49769223e-04 -6.64065965e-04 9.99999568e-01 -1.24014187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.314860624 meters 0.10044909982873879 Centerline is valid? [False, False] Translation: X:42.41, Y:-3.73, Z:-1.24 [[ 9.99999441e-01 8.43401221e-04 -6.37086975e-04 4.24122944e+01] [-8.42891510e-04 9.99999325e-01 7.99911201e-04 -3.72602957e+00] [ 6.37761191e-04 -7.99373759e-04 9.99999477e-01 -1.23974357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.344860624 meters 0.09564876497530708 Centerline is valid? [False, True] Translation: X:42.41, Y:-3.73, Z:-1.24 [[ 9.99999503e-01 7.81531050e-04 -6.18534810e-04 4.24119396e+01] [-7.81065882e-04 9.99999412e-01 7.51933933e-04 -3.72645361e+00] [ 6.19122106e-04 -7.51450443e-04 9.99999526e-01 -1.23926928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.374860624 meters 0.09838006660737171 Centerline is valid? [True, True] Translation: X:42.44, Y:-3.74, Z:-1.24 [[ 9.99999653e-01 8.04823535e-04 -2.12885589e-04 4.24407341e+01] [-8.04818872e-04 9.99999676e-01 2.19908688e-05 -3.73511162e+00] [ 2.12903218e-04 -2.18195268e-05 9.99999977e-01 -1.24101532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.404860624 meters 0.09938731167501647 Centerline is valid? [True, True] Translation: X:42.47, Y:-3.74, Z:-1.24 [[ 9.99999641e-01 2.51947120e-04 8.08907639e-04 4.24708228e+01] [-2.51878226e-04 9.99999965e-01 -8.52689099e-05 -3.74118808e+00] [-8.08929094e-04 8.50651331e-05 9.99999669e-01 -1.24142729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.434860624 meters 0.10331775317685393 Centerline is valid? [True, False] Translation: X:42.47, Y:-3.74, Z:-1.24 [[ 9.99999589e-01 2.71692089e-04 8.65383707e-04 4.24704075e+01] [-2.71766426e-04 9.99999959e-01 8.57842171e-05 -3.74225315e+00] [-8.65360365e-04 -8.60193641e-05 9.99999622e-01 -1.24097571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.464860624 meters 0.09972717617382472 Centerline is valid? [False, True] Translation: X:42.47, Y:-3.74, Z:-1.24 [[ 9.99999390e-01 6.84874008e-04 8.66346445e-04 4.24705458e+01] [-6.85619002e-04 9.99999395e-01 8.59922071e-04 -3.74438465e+00] [-8.65756983e-04 -8.60515530e-04 9.99999255e-01 -1.24116095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.494860624 meters 0.09796720801618808 Centerline is valid? [True, True] Translation: X:42.50, Y:-3.75, Z:-1.24 [[ 9.99999698e-01 1.48544948e-04 7.62237175e-04 4.25014683e+01] [-1.48483086e-04 9.99999986e-01 -8.12154805e-05 -3.74532150e+00] [-7.62249228e-04 8.11022767e-05 9.99999706e-01 -1.24116610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.524860624 meters 0.09779192511083444 Centerline is valid? [True, True] Translation: X:42.53, Y:-3.75, Z:-1.24 [[ 9.99999679e-01 -4.38844095e-04 6.71035245e-04 4.25320385e+01] [ 4.38891358e-04 9.99999901e-01 -7.02870565e-05 -3.75005916e+00] [-6.71004334e-04 7.05815455e-05 9.99999772e-01 -1.24198976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.554860624 meters 0.09997815996396756 Centerline is valid? [True, True] Translation: X:42.56, Y:-3.76, Z:-1.24 [[ 9.99998991e-01 -1.38943649e-03 2.95470915e-04 4.25611188e+01] [ 1.38944528e-03 9.99999034e-01 -2.95314359e-05 -3.75821509e+00] [-2.95429597e-04 2.99419468e-05 9.99999956e-01 -1.24381870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.584860624 meters 0.10233815888697234 Centerline is valid? [True, False] Translation: X:42.56, Y:-3.76, Z:-1.24 [[ 9.99998989e-01 -1.28490283e-03 6.08550332e-04 4.25603249e+01] [ 1.28452117e-03 9.99998978e-01 6.27130518e-04 -3.76087293e+00] [-6.09355512e-04 -6.26348189e-04 9.99999618e-01 -1.24356334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.614860624 meters 0.11374943841074614 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.76, Z:-1.24 [[ 9.99999221e-01 -1.07457811e-03 6.34753544e-04 4.25602314e+01] [ 1.07390114e-03 9.99998855e-01 1.06589175e-03 -3.76238863e+00] [-6.35898201e-04 -1.06520926e-03 9.99999230e-01 -1.24347781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.644860624 meters 0.09671194846582389 Centerline is valid? [False, True] Translation: X:42.56, Y:-3.76, Z:-1.24 [[ 9.99999173e-01 -1.04672095e-03 7.46946076e-04 4.25597307e+01] [ 1.04575995e-03 9.99998627e-01 1.28579903e-03 -3.76360656e+00] [-7.48290923e-04 -1.28501684e-03 9.99998894e-01 -1.24307188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.674860624 meters 0.10364736791297124 Centerline is valid? [True, False] Translation: X:42.56, Y:-3.77, Z:-1.24 [[ 9.99999367e-01 -7.86087842e-04 8.05047225e-04 4.25597063e+01] [ 7.84650974e-04 9.99998102e-01 1.78358809e-03 -3.76515452e+00] [-8.06447754e-04 -1.78295528e-03 9.99998085e-01 -1.24318228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.704860624 meters 0.10373741957627779 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.77, Z:-1.24 [[ 9.99999436e-01 -6.80632738e-04 8.15702839e-04 4.25595111e+01] [ 6.78943439e-04 9.99997628e-01 2.06946387e-03 -3.76641841e+00] [-8.17109449e-04 -2.06890888e-03 9.99997526e-01 -1.24291009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73486062399999 meters 0.1004967543729923 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.77, Z:-1.24 [[ 9.99999688e-01 -2.58002006e-04 7.47028799e-04 4.25599884e+01] [ 2.55969536e-04 9.99996269e-01 2.71955789e-03 -3.76787353e+00] [-7.47727663e-04 -2.71936583e-03 9.99996023e-01 -1.24336254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.764860624 meters 0.10296169819172206 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.77, Z:-1.24 [[ 9.99999526e-01 -4.80361347e-05 9.72739796e-04 4.25594861e+01] [ 4.46941481e-05 9.99994098e-01 3.43537321e-03 -3.77036290e+00] [-9.72899077e-04 -3.43532811e-03 9.99993626e-01 -1.24324243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.794860624 meters 0.10345097338955071 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.77, Z:-1.24 [[ 9.99999537e-01 7.86555448e-05 9.59106689e-04 4.25593894e+01] [-8.22247472e-05 9.99993070e-01 3.72191067e-03 -3.77141816e+00] [-9.58807294e-04 -3.72198781e-03 9.99992614e-01 -1.24307002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.824860624 meters 0.103765722693707 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.77, Z:-1.24 [[ 9.99999423e-01 1.52383601e-04 1.06350969e-03 4.25590228e+01] [-1.56629559e-04 9.99992014e-01 3.99346070e-03 -3.77257673e+00] [-1.06289266e-03 -3.99362497e-03 9.99991461e-01 -1.24284049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.854860624 meters 0.12668285410148525 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.78, Z:-1.24 [[ 9.99999047e-01 2.67885416e-04 1.35451226e-03 4.25581506e+01] [-2.74157089e-04 9.99989234e-01 4.63214408e-03 -3.77531372e+00] [-1.35325679e-03 -4.63251101e-03 9.99988354e-01 -1.24236755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.884860624 meters 0.09824084153430664 Centerline is valid? [False, True] Translation: X:42.56, Y:-3.78, Z:-1.24 [[ 9.99998946e-01 3.65597648e-04 1.40481007e-03 4.25579028e+01] [-3.72491010e-04 9.99987877e-01 4.90984612e-03 -3.77646530e+00] [-1.40299801e-03 -4.91036423e-03 9.99986960e-01 -1.24216700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.914860624 meters 0.10044805292909553 Centerline is valid? [True, False] Translation: X:42.56, Y:-3.78, Z:-1.24 [[ 9.99998879e-01 3.98626713e-04 1.44315002e-03 4.25576866e+01] [-4.05956956e-04 9.99987001e-01 5.08261100e-03 -3.77728048e+00] [-1.44110519e-03 -5.08319116e-03 9.99986042e-01 -1.24196881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.944860624 meters 0.13060511731134983 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.78, Z:-1.24 [[ 9.99998816e-01 3.98772997e-04 1.48651071e-03 4.25574364e+01] [-4.06459198e-04 9.99986533e-01 5.17392176e-03 -3.77788524e+00] [-1.48442747e-03 -5.17451984e-03 9.99985510e-01 -1.24172554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.974860624 meters 0.09987200293470018 Centerline is valid? [False, True] Translation: X:42.56, Y:-3.78, Z:-1.24 [[ 9.99998779e-01 4.55012564e-04 1.49485445e-03 4.25572896e+01] [-4.62947696e-04 9.99985783e-01 5.31224716e-03 -3.77856563e+00] [-1.49241606e-03 -5.31293272e-03 9.99984773e-01 -1.24153043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.004860624 meters 0.10054993780580826 Centerline is valid? [True, False] Translation: X:42.56, Y:-3.78, Z:-1.24 [[ 9.99998553e-01 6.90692415e-04 1.55484887e-03 4.25571077e+01] [-6.99734506e-04 9.99982805e-01 5.82240147e-03 -3.78029915e+00] [-1.55080065e-03 -5.82348102e-03 9.99981841e-01 -1.24142638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.034860624 meters 0.10240133016504359 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.78, Z:-1.24 [[ 9.99998544e-01 7.15180536e-04 1.54934418e-03 4.25568939e+01] [-7.24349458e-04 9.99982182e-01 5.92548146e-03 -3.78096115e+00] [-1.54507878e-03 -5.92659510e-03 9.99981244e-01 -1.24109854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.064860624 meters 0.10302656181438863 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.78, Z:-1.24 [[ 9.99998501e-01 7.54147754e-04 1.55884913e-03 4.25568493e+01] [-7.63554842e-04 9.99981450e-01 6.04287574e-03 -3.78145494e+00] [-1.55426300e-03 -6.04405694e-03 9.99980527e-01 -1.24107870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.094860624 meters 0.10167987738585416 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.78, Z:-1.24 [[ 9.99998409e-01 8.48467830e-04 1.56894158e-03 4.25569344e+01] [-8.58223034e-04 9.99980241e-01 6.22751322e-03 -3.78195122e+00] [-1.56362674e-03 -6.22884982e-03 9.99979378e-01 -1.24120423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.124860624 meters 0.10509131550745641 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.78, Z:-1.24 [[ 9.99997979e-01 1.03581724e-03 1.72283801e-03 4.25565335e+01] [-1.04743728e-03 9.99976619e-01 6.75753713e-03 -3.78384163e+00] [-1.71579816e-03 -6.75932804e-03 9.99975683e-01 -1.24106053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.154860624 meters 0.09922272129464031 Centerline is valid? [False, True] Translation: X:42.56, Y:-3.78, Z:-1.24 [[ 9.99994514e-01 -3.10804597e-03 1.14521580e-03 4.25574964e+01] [ 3.10546828e-03 9.99992656e-01 2.24577551e-03 -3.78282127e+00] [-1.15218737e-03 -2.24220676e-03 9.99996822e-01 -1.24081024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.184860624 meters 0.10661503854081279 Centerline is valid? [True, False] Translation: X:42.56, Y:-3.78, Z:-1.24 [[ 9.99995272e-01 -2.87706995e-03 1.08594132e-03 4.25576345e+01] [ 2.87418636e-03 9.99992364e-01 2.64767312e-03 -3.78396433e+00] [-1.09355057e-03 -2.64453940e-03 9.99995905e-01 -1.24084850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.214860624 meters 0.1078347816217488 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.79, Z:-1.24 [[ 9.99996129e-01 -2.59088557e-03 1.01420892e-03 4.25578345e+01] [ 2.58769259e-03 9.99991732e-01 3.13699908e-03 -3.78521351e+00] [-1.02232814e-03 -3.13436248e-03 9.99994565e-01 -1.24093526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.244860624 meters 0.10860604883579841 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.79, Z:-1.24 [[ 9.99996378e-01 -2.49081394e-03 1.02019409e-03 4.25576536e+01] [ 2.48732953e-03 9.99991118e-01 3.40258588e-03 -3.78621814e+00] [-1.02866023e-03 -3.40003600e-03 9.99993691e-01 -1.24070518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.274860624 meters 0.10015665133183096 Centerline is valid? [False, False] Translation: X:42.56, Y:-3.79, Z:-1.24 [[ 9.99996595e-01 -2.34826644e-03 1.13795593e-03 4.25572316e+01] [ 2.34387324e-03 9.99989855e-01 3.84668313e-03 -3.78794419e+00] [-1.14697743e-03 -3.84400281e-03 9.99991954e-01 -1.24039974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.304860624 meters 0.09909576505064238 Centerline is valid? [False, True] Translation: X:42.56, Y:-3.79, Z:-1.24 [[ 9.99996694e-01 -2.33790339e-03 1.07090926e-03 4.25570623e+01] [ 2.33371111e-03 9.99989674e-01 3.89935560e-03 -3.78851006e+00] [-1.08001452e-03 -3.89684351e-03 9.99991824e-01 -1.23995454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.334860624 meters 0.09903010141417941 Centerline is valid? [True, True] Translation: X:42.59, Y:-3.79, Z:-1.24 [[ 9.99997405e-01 -2.27361852e-03 1.45394227e-04 4.25885888e+01] [ 2.27362092e-03 9.99997415e-01 -1.63691238e-05 -3.79099312e+00] [-1.45356634e-04 1.66996527e-05 9.99999989e-01 -1.24028736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.364860624 meters 0.09990220536209504 Centerline is valid? [True, True] Translation: X:42.62, Y:-3.80, Z:-1.24 [[ 9.99997337e-01 -2.30291269e-03 -1.50045514e-04 4.26197839e+01] [ 2.30291555e-03 9.99997348e-01 1.89122783e-05 -3.79696200e+00] [ 1.50001562e-04 -1.92577701e-05 9.99999989e-01 -1.24171105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.394860624 meters 0.1021102653386664 Centerline is valid? [True, False] Translation: X:42.62, Y:-3.80, Z:-1.24 [[ 9.99998046e-01 -1.95066471e-03 -3.21726284e-04 4.26202763e+01] [ 1.95083012e-03 9.99997965e-01 5.14600272e-04 -3.79803948e+00] [ 3.20721817e-04 -5.15226900e-04 9.99999816e-01 -1.24196440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.424860624 meters 0.1003649628841463 Centerline is valid? [False, False] Translation: X:42.62, Y:-3.80, Z:-1.24 [[ 9.99998741e-01 -1.51649968e-03 -4.66925102e-04 4.26206663e+01] [ 1.51703906e-03 9.99998180e-01 1.15699322e-03 -3.79969969e+00] [ 4.65169672e-04 -1.15770011e-03 9.99999222e-01 -1.24210536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.454860624 meters 0.10165850284629067 Centerline is valid? [False, False] Translation: X:42.62, Y:-3.80, Z:-1.24 [[ 9.99998795e-01 -1.47535004e-03 -4.82312444e-04 4.26206455e+01] [ 1.47593539e-03 9.99998172e-01 1.21554601e-03 -3.80001915e+00] [ 4.80518206e-04 -1.21625641e-03 9.99999145e-01 -1.24203010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48486062399999 meters 0.1013204065692647 Centerline is valid? [False, False] Translation: X:42.62, Y:-3.80, Z:-1.24 [[ 9.99999019e-01 -1.26524020e-03 -6.00660729e-04 4.26209968e+01] [ 1.26613774e-03 9.99998079e-01 1.49623050e-03 -3.80058413e+00] [ 5.98766485e-04 -1.49698955e-03 9.99998700e-01 -1.24218057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.514860624 meters 0.10355331530972976 Centerline is valid? [False, False] Translation: X:42.62, Y:-3.80, Z:-1.24 [[ 9.99999365e-01 -8.25317759e-04 -7.66841284e-04 4.26216333e+01] [ 8.26921441e-04 9.99997467e-01 2.09332512e-03 -3.80178106e+00] [ 7.65111683e-04 -2.09395791e-03 9.99997515e-01 -1.24261852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.544860624 meters 0.10398009265175903 Centerline is valid? [False, False] Translation: X:42.62, Y:-3.80, Z:-1.24 [[ 9.99999347e-01 -7.87957670e-04 -8.27235399e-04 4.26217448e+01] [ 7.89719323e-04 9.99997417e-01 2.13140435e-03 -3.80196663e+00] [ 8.25553806e-04 -2.13205624e-03 9.99997386e-01 -1.24259870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.574860624 meters 0.10392946750393584 Centerline is valid? [False, False] Translation: X:42.62, Y:-3.80, Z:-1.24 [[ 9.99999427e-01 -5.14287287e-04 -9.38502249e-04 4.26223109e+01] [ 5.16620440e-04 9.99996773e-01 2.48749201e-03 -3.80249510e+00] [ 9.37219935e-04 -2.48797544e-03 9.99996466e-01 -1.24309565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.604860624 meters 0.10507125574866669 Centerline is valid? [False, False] Translation: X:42.62, Y:-3.80, Z:-1.24 [[ 9.99999404e-01 -5.11255278e-04 -9.64897833e-04 4.26223387e+01] [ 5.13666467e-04 9.99996742e-01 2.50031413e-03 -3.80261048e+00] [ 9.63616390e-04 -2.50080828e-03 9.99996409e-01 -1.24307323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.634860624 meters 0.10556887119079708 Centerline is valid? [False, False] Translation: X:42.62, Y:-3.80, Z:-1.24 [[ 9.99999380e-01 -4.20538241e-04 -1.03087045e-03 4.26225640e+01] [ 4.23238102e-04 9.99996478e-01 2.62019335e-03 -3.80283881e+00] [ 1.02976493e-03 -2.62062803e-03 9.99996036e-01 -1.24320397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.664860624 meters 0.10641649902766097 Centerline is valid? [False, False] Translation: X:42.62, Y:-3.80, Z:-1.24 [[ 9.99999340e-01 -4.03153543e-04 -1.07630107e-03 4.26226168e+01] [ 4.05987709e-04 9.99996448e-01 2.63432723e-03 -3.80299936e+00] [ 1.07523521e-03 -2.63476246e-03 9.99995951e-01 -1.24314727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.694860624 meters 0.10725148350717655 Centerline is valid? [False, False] Translation: X:42.62, Y:-3.80, Z:-1.24 [[ 9.99999306e-01 -4.83167506e-04 -1.07405443e-03 4.26224830e+01] [ 4.85864608e-04 9.99996726e-01 2.51229983e-03 -3.80296532e+00] [ 1.07283705e-03 -2.51281993e-03 9.99996267e-01 -1.24291706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.724860624 meters 0.10930084927679788 Centerline is valid? [False, False] Translation: X:42.62, Y:-3.80, Z:-1.24 [[ 9.99999274e-01 -4.87341634e-04 -1.10234109e-03 4.26224718e+01] [ 4.90108047e-04 9.99996728e-01 2.51070374e-03 -3.80309399e+00] [ 1.10111391e-03 -2.51124218e-03 9.99996241e-01 -1.24283983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.754860624 meters 0.09692606503308455 Centerline is valid? [False, True] Translation: X:42.62, Y:-3.80, Z:-1.24 [[ 9.99999252e-01 -4.48665838e-04 -1.13750636e-03 4.26225333e+01] [ 4.51595788e-04 9.99996578e-01 2.57681917e-03 -3.80330611e+00] [ 1.13634633e-03 -2.57733094e-03 9.99996033e-01 -1.24283358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.784860624 meters 0.10394961998547181 Centerline is valid? [True, False] Translation: X:42.62, Y:-3.80, Z:-1.24 [[ 9.99990407e-01 -3.95957915e-03 -1.87309923e-03 4.26247031e+01] [ 3.95737244e-03 9.99991473e-01 -1.18034722e-03 -3.80287670e+00] [ 1.87775694e-03 1.17292334e-03 9.99997549e-01 -1.24388409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.814860624 meters 0.11321968049436462 Centerline is valid? [False, False] Translation: X:42.62, Y:-3.80, Z:-1.24 [[ 9.99990828e-01 -3.91608027e-03 -1.73470905e-03 4.26242872e+01] [ 3.91450321e-03 9.99991923e-01 -9.11583914e-04 -3.80400725e+00] [ 1.73826488e-03 9.04785029e-04 9.99998080e-01 -1.24367254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.844860624 meters 0.09803229689963687 Centerline is valid? [False, True] Translation: X:42.62, Y:-3.80, Z:-1.24 [[ 9.99991721e-01 -3.65966026e-03 -1.77903136e-03 4.26245865e+01] [ 3.65882766e-03 9.99993196e-01 -4.71036944e-04 -3.80484138e+00] [ 1.78074309e-03 4.64523875e-04 9.99998307e-01 -1.24399114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.874860624 meters 0.09997927970524136 Centerline is valid? [True, True] Translation: X:42.65, Y:-3.81, Z:-1.25 [[ 9.99989512e-01 -4.23872443e-03 -1.73471089e-03 4.26542123e+01] [ 4.23907494e-03 9.99990995e-01 1.98428236e-04 -3.81268570e+00] [ 1.73385419e-03 -2.05779724e-04 9.99998476e-01 -1.24583485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.904860624 meters 0.09863160243870016 Centerline is valid? [True, True] Translation: X:42.68, Y:-3.81, Z:-1.25 [[ 9.99986413e-01 -5.00537685e-03 -1.45627065e-03 4.26849702e+01] [ 5.00562405e-03 9.99987458e-01 1.66152872e-04 -3.81450697e+00] [ 1.45542073e-03 -1.73440158e-04 9.99998926e-01 -1.24604254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.934860624 meters 0.10237828502998145 Centerline is valid? [True, False] Translation: X:42.69, Y:-3.82, Z:-1.25 [[ 9.99988186e-01 -4.64346248e-03 -1.43708349e-03 4.26852002e+01] [ 4.64467344e-03 9.99988860e-01 8.40463948e-04 -3.81600537e+00] [ 1.43316482e-03 -8.47128803e-04 9.99998614e-01 -1.24647255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.964860624 meters 0.10251853122122856 Centerline is valid? [False, False] Translation: X:42.69, Y:-3.82, Z:-1.25 [[ 9.99990255e-01 -4.21112946e-03 -1.32525826e-03 4.26853667e+01] [ 4.21344381e-03 9.99989595e-01 1.74842071e-03 -3.81805491e+00] [ 1.31788164e-03 -1.75398757e-03 9.99997593e-01 -1.24702232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.994860624 meters 0.10317394310934584 Centerline is valid? [False, False] Translation: X:42.69, Y:-3.82, Z:-1.25 [[ 9.99991417e-01 -3.90344733e-03 -1.38916700e-03 4.26857565e+01] [ 3.90657857e-03 9.99989819e-01 2.25850891e-03 -3.81901635e+00] [ 1.38033689e-03 -2.26391641e-03 9.99996485e-01 -1.24740740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.024860624 meters 0.10432756216702113 Centerline is valid? [False, False] Translation: X:42.69, Y:-3.82, Z:-1.25 [[ 9.99992176e-01 -3.67843894e-03 -1.45523999e-03 4.26861526e+01] [ 3.68223412e-03 9.99989804e-01 2.61391127e-03 -3.81954958e+00] [ 1.44561004e-03 -2.61924935e-03 9.99995525e-01 -1.24779541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.054860624 meters 0.10449494326769854 Centerline is valid? [False, False] Translation: X:42.69, Y:-3.82, Z:-1.25 [[ 9.99992318e-01 -3.64324104e-03 -1.44562121e-03 4.26860604e+01] [ 3.64716697e-03 9.99989643e-01 2.72246300e-03 -3.82005279e+00] [ 1.43568765e-03 -2.72771451e-03 9.99995249e-01 -1.24770441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.084860624 meters 0.10690787875579158 Centerline is valid? [False, False] Translation: X:42.69, Y:-3.82, Z:-1.25 [[ 9.99993081e-01 -3.38677884e-03 -1.53890933e-03 4.26863902e+01] [ 3.39148084e-03 9.99989557e-01 3.06314079e-03 -3.82086822e+00] [ 1.52851908e-03 -3.06833878e-03 9.99994124e-01 -1.24788925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.114860624 meters 0.10690787875579158 Centerline is valid? [False, False] Translation: X:42.69, Y:-3.82, Z:-1.25 [[ 9.99993081e-01 -3.38677884e-03 -1.53890933e-03 4.26863902e+01] [ 3.39148084e-03 9.99989557e-01 3.06314079e-03 -3.82086822e+00] [ 1.52851908e-03 -3.06833878e-03 9.99994124e-01 -1.24788925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.144860624 meters 0.10808837909403296 Centerline is valid? [False, False] Translation: X:42.69, Y:-3.82, Z:-1.25 [[ 9.99993246e-01 -3.31064192e-03 -1.59633597e-03 4.26866028e+01] [ 3.31560193e-03 9.99989653e-01 3.11454955e-03 -3.82080113e+00] [ 1.58600829e-03 -3.11982133e-03 9.99993876e-01 -1.24801090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.174860624 meters 0.09909543304037358 Centerline is valid? [False, True] Translation: X:42.69, Y:-3.82, Z:-1.25 [[ 9.99992727e-01 -3.42293264e-03 -1.68234397e-03 4.26865444e+01] [ 3.42777955e-03 9.99989959e-01 2.88665805e-03 -3.82049948e+00] [ 1.67244624e-03 -2.89240376e-03 9.99994418e-01 -1.24766813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.204860624 meters 0.10887835833355249 Centerline is valid? [True, False] Translation: X:42.69, Y:-3.82, Z:-1.25 [[ 9.99992916e-01 -3.29957753e-03 -1.81143088e-03 4.26868843e+01] [ 3.30496297e-03 9.99990104e-01 2.97813012e-03 -3.82055274e+00] [ 1.80158638e-03 -2.98409573e-03 9.99993925e-01 -1.24776790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23486062399999 meters 0.09898188947755546 Centerline is valid? [False, True] Translation: X:42.69, Y:-3.82, Z:-1.25 [[ 9.99992482e-01 -3.40792562e-03 -1.84984831e-03 4.26867768e+01] [ 3.41304159e-03 9.99990340e-01 2.76954247e-03 -3.82025942e+00] [ 1.84039205e-03 -2.77583526e-03 9.99994454e-01 -1.24748090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.264860624 meters 0.0998630376046214 Centerline is valid? [True, True] Translation: X:42.72, Y:-3.82, Z:-1.25 [[ 9.99992431e-01 -3.17159371e-03 -2.25373049e-03 4.27165955e+01] [ 3.17220312e-03 9.99994933e-01 2.66874791e-04 -3.82415101e+00] [ 2.25287265e-03 -2.74022062e-04 9.99997425e-01 -1.24805232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.294860624 meters 0.1015434549720164 Centerline is valid? [True, False] Translation: X:42.72, Y:-3.82, Z:-1.25 [[ 9.99992987e-01 -2.99831540e-03 -2.24413467e-03 4.27166858e+01] [ 2.99966748e-03 9.99995321e-01 5.99368022e-04 -3.82488264e+00] [ 2.24232707e-03 -6.06095477e-04 9.99997302e-01 -1.24824006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.324860624 meters 0.10241139220736271 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99993639e-01 -2.74020663e-03 -2.28329744e-03 4.27170257e+01] [ 2.74249448e-03 9.99995740e-01 9.99463392e-04 -3.82566756e+00] [ 2.28054898e-03 -1.00571897e-03 9.99996894e-01 -1.24863558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.354860624 meters 0.10943557824541812 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994222e-01 -2.49383300e-03 -2.31015159e-03 4.27173167e+01] [ 2.49702711e-03 9.99995929e-01 1.38079085e-03 -3.82642550e+00] [ 2.30669873e-03 -1.38655138e-03 9.99996378e-01 -1.24898301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.384860624 meters 0.10311068486799291 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994605e-01 -2.28126256e-03 -2.36335493e-03 4.27176705e+01] [ 2.28527357e-03 9.99995951e-01 1.69585712e-03 -3.82697919e+00] [ 2.35947667e-03 -1.70124888e-03 9.99995769e-01 -1.24933201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.414860624 meters 0.10762374850164057 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994400e-01 -2.39151393e-03 -2.34111718e-03 4.27173560e+01] [ 2.39520148e-03 9.99995893e-01 1.57359019e-03 -3.82697906e+00] [ 2.33734431e-03 -1.57918883e-03 9.99996021e-01 -1.24891923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.444860624 meters 0.10820291752361645 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994332e-01 -2.35264781e-03 -2.40866314e-03 4.27175551e+01] [ 2.35654330e-03 9.99995918e-01 1.61572405e-03 -3.82692381e+00] [ 2.40485208e-03 -1.62139101e-03 9.99995794e-01 -1.24900703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.474860624 meters 0.10885133783582414 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994789e-01 -2.03978587e-03 -2.50233129e-03 4.27180967e+01] [ 2.04495988e-03 9.99995773e-01 2.06686535e-03 -3.82764252e+00] [ 2.49810475e-03 -2.07197175e-03 9.99994733e-01 -1.24951307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.504860624 meters 0.10996344757863301 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994864e-01 -1.96868843e-03 -2.52889685e-03 4.27182242e+01] [ 1.97421876e-03 9.99995661e-01 2.18622490e-03 -3.82794402e+00] [ 2.52458189e-03 -2.19120627e-03 9.99994413e-01 -1.24962499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.534860624 meters 0.1268911979784696 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99995371e-01 -1.53669736e-03 -2.62626643e-03 4.27189251e+01] [ 1.54413208e-03 9.99994800e-01 2.83122890e-03 -3.82896823e+00] [ 2.62190203e-03 -2.83527110e-03 9.99992543e-01 -1.25037898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.564860624 meters 0.1114303495673352 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99995443e-01 -1.48124009e-03 -2.63041179e-03 4.27189845e+01] [ 1.48897079e-03 9.99994571e-01 2.93944670e-03 -3.82927038e+00] [ 2.62604349e-03 -2.94334991e-03 9.99992220e-01 -1.25046517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59486062399999 meters 0.11332436543589998 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99995287e-01 -1.52287398e-03 -2.66569910e-03 4.27188158e+01] [ 1.53065272e-03 9.99994570e-01 2.91848155e-03 -3.82948941e+00] [ 2.66124015e-03 -2.92254806e-03 9.99992188e-01 -1.25012025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.624860624 meters 0.11351306208225541 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99995170e-01 -1.53670733e-03 -2.70170386e-03 4.27189630e+01] [ 1.54439970e-03 9.99994753e-01 2.84745124e-03 -3.82920985e+00] [ 2.69731398e-03 -2.85161000e-03 9.99992296e-01 -1.25018741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.654860624 meters 0.11483662908720482 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99995156e-01 -1.47229614e-03 -2.74239013e-03 4.27191517e+01] [ 1.48023537e-03 9.99994713e-01 2.89522630e-03 -3.82919497e+00] [ 2.73811300e-03 -2.89927166e-03 9.99992048e-01 -1.25031416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.684860624 meters 0.11514730744867122 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994956e-01 -1.41797988e-03 -2.84205585e-03 4.27193057e+01] [ 1.42636131e-03 9.99994634e-01 2.94921790e-03 -3.82928736e+00] [ 2.83785867e-03 -2.95325682e-03 9.99991612e-01 -1.25024965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.714860624 meters 0.11617534131014838 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994949e-01 -1.48021111e-03 -2.81272788e-03 4.27191569e+01] [ 1.48822527e-03 9.99994833e-01 2.84929382e-03 -3.82923683e+00] [ 2.80849580e-03 -2.85346540e-03 9.99991985e-01 -1.25008229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.744860624 meters 0.10078788802705092 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994568e-01 -1.67747515e-03 -2.83710362e-03 4.27188067e+01] [ 1.68465768e-03 9.99995378e-01 2.53114863e-03 -3.82890866e+00] [ 2.83284456e-03 -2.53591443e-03 9.99992772e-01 -1.24948579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.774860624 meters 0.0995620629410794 Centerline is valid? [False, True] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994714e-01 -1.53581677e-03 -2.86583330e-03 4.27189986e+01] [ 1.54373130e-03 9.99994995e-01 2.76152287e-03 -3.82926078e+00] [ 2.86157776e-03 -2.76593235e-03 9.99992080e-01 -1.24967654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.804860624 meters 0.11997781637684397 Centerline is valid? [True, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994661e-01 -1.64498971e-03 -2.82335751e-03 4.27187957e+01] [ 1.65243440e-03 9.99995159e-01 2.63651771e-03 -3.82915574e+00] [ 2.81900680e-03 -2.64116905e-03 9.99992539e-01 -1.24951146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.834860624 meters 0.12200681776216342 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994789e-01 -1.69115243e-03 -2.75000983e-03 4.27185913e+01] [ 1.69846506e-03 9.99995023e-01 2.65897327e-03 -3.82943391e+00] [ 2.74549942e-03 -2.66363021e-03 9.99992684e-01 -1.24941153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.864860624 meters 0.10324480887171857 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994936e-01 -1.63634918e-03 -2.72935034e-03 4.27186661e+01] [ 1.64395590e-03 9.99994765e-01 2.78709886e-03 -3.82964783e+00] [ 2.72477538e-03 -2.79157168e-03 9.99992391e-01 -1.24958856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.894860624 meters 0.1045888199571991 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994981e-01 -1.60894237e-03 -2.72934876e-03 4.27186947e+01] [ 1.61671361e-03 9.99994639e-01 2.84747246e-03 -3.82979099e+00] [ 2.72475271e-03 -2.85187074e-03 9.99992221e-01 -1.24961633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.924860624 meters 0.11105268086536675 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99995031e-01 -1.77889905e-03 -2.60259986e-03 4.27183724e+01] [ 1.78584908e-03 9.99994839e-01 2.67053274e-03 -3.82956073e+00] [ 2.59783582e-03 -2.67516732e-03 9.99993047e-01 -1.24949659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.954860624 meters 0.1106831183752091 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994905e-01 -1.92888553e-03 -2.54358737e-03 4.27182089e+01] [ 1.93519351e-03 9.99995053e-01 2.47983002e-03 -3.82916658e+00] [ 2.53879147e-03 -2.48473972e-03 9.99993690e-01 -1.24941919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98486062399999 meters 0.11274816828149836 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994771e-01 -1.94515786e-03 -2.58330213e-03 4.27184535e+01] [ 1.95131651e-03 9.99995255e-01 2.38364668e-03 -3.82876418e+00] [ 2.57865330e-03 -2.38867506e-03 9.99993822e-01 -1.24961232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.014860624 meters 0.1088811720993669 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994202e-01 -2.32108776e-03 -2.49161514e-03 4.27181045e+01] [ 2.32567312e-03 9.99995605e-01 1.83900125e-03 -3.82738720e+00] [ 2.48733570e-03 -1.84478527e-03 9.99995205e-01 -1.24935261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.044860624 meters 0.1048939089975663 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994170e-01 -2.31022510e-03 -2.51460307e-03 4.27181980e+01] [ 2.31477808e-03 9.99995684e-01 1.80921105e-03 -3.82717569e+00] [ 2.51041253e-03 -1.81502125e-03 9.99995202e-01 -1.24939327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.074860624 meters 0.10461779873260613 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99994094e-01 -2.42761751e-03 -2.43287524e-03 4.27180697e+01] [ 2.43160129e-03 9.99995706e-01 1.63586052e-03 -3.82666870e+00] [ 2.42889354e-03 -1.64176664e-03 9.99995703e-01 -1.24942987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.104860624 meters 0.10391811165267595 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.83, Z:-1.25 [[ 9.99993501e-01 -2.67113103e-03 -2.42154381e-03 4.27178325e+01] [ 2.67410832e-03 9.99995672e-01 1.22709888e-03 -3.82585019e+00] [ 2.41825559e-03 -1.23356637e-03 9.99996315e-01 -1.24910860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.134860624 meters 0.11099897275861437 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.82, Z:-1.25 [[ 9.99992889e-01 -2.78193166e-03 -2.54599825e-03 4.27182319e+01] [ 2.78412280e-03 9.99995757e-01 8.57481436e-04 -3.82451358e+00] [ 2.54360200e-03 -8.64563710e-04 9.99996391e-01 -1.24931156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.164860624 meters 0.10482518197626026 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.82, Z:-1.25 [[ 9.99992654e-01 -2.74875052e-03 -2.67128338e-03 4.27187425e+01] [ 2.75082509e-03 9.99995918e-01 7.73256324e-04 -3.82378651e+00] [ 2.66914698e-03 -7.80598877e-04 9.99996133e-01 -1.24966906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.194860624 meters 0.10283214788820236 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.82, Z:-1.25 [[ 9.99992424e-01 -2.72371135e-03 -2.78078692e-03 4.27192584e+01] [ 2.72563897e-03 9.99996048e-01 6.89639190e-04 -3.82310490e+00] [ 2.77889755e-03 -6.97213386e-04 9.99995896e-01 -1.25008325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.224860624 meters 0.10699900551061219 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.82, Z:-1.25 [[ 9.99991815e-01 -2.87509561e-03 -2.84673375e-03 4.27194105e+01] [ 2.87615188e-03 9.99995797e-01 3.67023037e-04 -3.82209440e+00] [ 2.84566656e-03 -3.75207671e-04 9.99995881e-01 -1.25011346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.254860624 meters 0.1036862952273385 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.82, Z:-1.25 [[ 9.99991077e-01 -2.86385265e-03 -3.10541204e-03 4.27202314e+01] [ 2.86408379e-03 9.99995896e-01 6.99858713e-05 -3.82064515e+00] [ 3.10519887e-03 -7.88794071e-05 9.99995176e-01 -1.25056453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.284860624 meters 0.1055125377514921 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.82, Z:-1.25 [[ 9.99990739e-01 -2.87801372e-03 -3.19977421e-03 4.27206568e+01] [ 2.87777967e-03 9.99995856e-01 -7.77478560e-05 -3.81983813e+00] [ 3.19998471e-03 6.85388908e-05 9.99994878e-01 -1.25089498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.314860624 meters 0.10073802421319908 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.82, Z:-1.25 [[ 9.99990372e-01 -2.82328458e-03 -3.35930340e-03 4.27212536e+01] [ 2.82270386e-03 9.99996000e-01 -1.77596251e-04 -3.81899552e+00] [ 3.35979137e-03 1.68112222e-04 9.99994342e-01 -1.25129490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34486062399999 meters 0.10106227308467791 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.82, Z:-1.25 [[ 9.99989705e-01 -2.88258221e-03 -3.50445388e-03 4.27217376e+01] [ 2.88102372e-03 9.99995749e-01 -4.49682921e-04 -3.81783700e+00] [ 3.50573523e-03 4.39581877e-04 9.99993758e-01 -1.25155223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.374860624 meters 0.10813947866736896 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.82, Z:-1.25 [[ 9.99989532e-01 -2.76828968e-03 -3.64311380e-03 4.27223681e+01] [ 2.76666315e-03 9.99996071e-01 -4.51430607e-04 -3.81720286e+00] [ 3.64434917e-03 4.41346613e-04 9.99993262e-01 -1.25205087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.404860624 meters 0.1014821696215941 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.82, Z:-1.25 [[ 9.99989130e-01 -2.78359142e-03 -3.74059826e-03 4.27228133e+01] [ 2.78131440e-03 9.99995944e-01 -6.13794582e-04 -3.81632879e+00] [ 3.74229164e-03 6.03384130e-04 9.99992816e-01 -1.25238859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.434860624 meters 0.10196606869435129 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.81, Z:-1.25 [[ 9.99988115e-01 -2.94021610e-03 -3.88901281e-03 4.27231392e+01] [ 2.93603880e-03 9.99995107e-01 -1.07940233e-03 -3.81483882e+00] [ 3.89216746e-03 1.06797121e-03 9.99991855e-01 -1.25244459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.464860624 meters 0.10163295834934043 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.81, Z:-1.25 [[ 9.99987617e-01 -2.92714934e-03 -4.02461914e-03 4.27235735e+01] [ 2.92241126e-03 9.99995030e-01 -1.18265047e-03 -3.81421111e+00] [ 4.02806093e-03 1.17087424e-03 9.99991202e-01 -1.25265973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.494860624 meters 0.10436948290542297 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.81, Z:-1.25 [[ 9.99987276e-01 -2.83586902e-03 -4.17198383e-03 4.27240991e+01] [ 2.83096585e-03 9.99995296e-01 -1.18069805e-03 -3.81378295e+00] [ 4.17531250e-03 1.16887228e-03 9.99990600e-01 -1.25298518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.524860624 meters 0.10181451423248725 Centerline is valid? [False, False] Translation: X:42.72, Y:-3.81, Z:-1.25 [[ 9.99986539e-01 -2.85521055e-03 -4.33235041e-03 4.27247394e+01] [ 2.84909622e-03 9.99994938e-01 -1.41683723e-03 -3.81257211e+00] [ 4.33637385e-03 1.40447487e-03 9.99989612e-01 -1.25343832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.554860624 meters 0.09889583926609681 Centerline is valid? [False, True] Translation: X:42.72, Y:-3.81, Z:-1.25 [[ 9.99986123e-01 -2.96406556e-03 -4.35515256e-03 4.27247799e+01] [ 2.95695561e-03 9.99994287e-01 -1.63806972e-03 -3.81190336e+00] [ 4.35998302e-03 1.62516900e-03 9.99989175e-01 -1.25344017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.584860624 meters 0.10069494253677892 Centerline is valid? [True, False] Translation: X:42.73, Y:-3.81, Z:-1.25 [[ 9.99985966e-01 -2.85561457e-03 -4.46248070e-03 4.27252609e+01] [ 2.84861432e-03 9.99994704e-01 -1.57425900e-03 -3.81155570e+00] [ 4.46695254e-03 1.56152502e-03 9.99988804e-01 -1.25380664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.614860624 meters 0.10436364562753193 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.81, Z:-1.25 [[ 9.99985903e-01 -2.76399871e-03 -4.53369432e-03 4.27256249e+01] [ 2.75722497e-03 9.99995074e-01 -1.49965841e-03 -3.81138185e+00] [ 4.53781705e-03 1.48713685e-03 9.99988598e-01 -1.25410493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.644860624 meters 0.1046698630871371 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.81, Z:-1.25 [[ 9.99986030e-01 -2.56818322e-03 -4.62007331e-03 4.27261329e+01] [ 2.56243161e-03 9.99995935e-01 -1.25040711e-03 -3.81152982e+00] [ 4.62326580e-03 1.23855102e-03 9.99988546e-01 -1.25460228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.674860624 meters 0.10293113429005145 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.81, Z:-1.25 [[ 9.99986251e-01 -2.48478882e-03 -4.61766371e-03 4.27263312e+01] [ 2.47965050e-03 9.99996301e-01 -1.11814566e-03 -3.81160987e+00] [ 4.62042498e-03 1.10668009e-03 9.99988713e-01 -1.25488902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.704860624 meters 0.10523144583470238 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.81, Z:-1.26 [[ 9.99986031e-01 -2.66416094e-03 -4.56519031e-03 4.27264915e+01] [ 2.65772268e-03 9.99995466e-01 -1.41578034e-03 -3.81037995e+00] [ 4.56894148e-03 1.40362755e-03 9.99988577e-01 -1.25526915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73486062399999 meters 0.10265139749612004 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.81, Z:-1.26 [[ 9.99985491e-01 -2.64139708e-03 -4.69484514e-03 4.27270399e+01] [ 2.63438021e-03 9.99995405e-01 -1.50014757e-03 -3.80962121e+00] [ 4.69878605e-03 1.48775779e-03 9.99987854e-01 -1.25568301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.764860624 meters 0.10016335407083589 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.81, Z:-1.26 [[ 9.99984635e-01 -2.70915616e-03 -4.83638313e-03 4.27275332e+01] [ 2.70063204e-03 9.99994790e-01 -1.76816125e-03 -3.80846394e+00] [ 4.84114816e-03 1.75507279e-03 9.99986741e-01 -1.25595702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.794860624 meters 0.10525196611716783 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.81, Z:-1.26 [[ 9.99983631e-01 -2.85746757e-03 -4.95714261e-03 4.27278405e+01] [ 2.84685518e-03 9.99993644e-01 -2.14656484e-03 -3.80717519e+00] [ 4.96324484e-03 2.13241744e-03 9.99985409e-01 -1.25602516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.824860624 meters 0.10132522812092475 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.81, Z:-1.26 [[ 9.99981825e-01 -2.96341927e-03 -5.25059301e-03 4.27285891e+01] [ 2.94920252e-03 9.99991970e-01 -2.71332271e-03 -3.80502560e+00] [ 5.25859156e-03 2.69778833e-03 9.99982534e-01 -1.25625847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.854860624 meters 0.10192853950885526 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.80, Z:-1.26 [[ 9.99980769e-01 -3.03711755e-03 -5.40713248e-03 4.27289887e+01] [ 3.02069573e-03 9.99990809e-01 -3.04264648e-03 -3.80377112e+00] [ 5.41632366e-03 3.02625466e-03 9.99980752e-01 -1.25636025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.884860624 meters 0.11033142016783394 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.80, Z:-1.26 [[ 9.99986183e-01 1.24047042e-03 -5.10823915e-03 4.27286184e+01] [-1.23345284e-03 9.99998292e-01 1.37669859e-03 -3.80420559e+00] [ 5.10993817e-03 -1.37037879e-03 9.99986005e-01 -1.25667646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.914860624 meters 0.1023006168366395 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.80, Z:-1.26 [[ 9.99986551e-01 8.17670204e-04 -5.12148766e-03 4.27284593e+01] [-8.14533647e-04 9.99999479e-01 6.14486758e-04 -3.80226711e+00] [ 5.12198745e-03 -6.10306870e-04 9.99986696e-01 -1.25639015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.944860624 meters 0.10296287495615851 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.80, Z:-1.26 [[ 9.99986015e-01 5.53289155e-04 -5.25960775e-03 4.27286842e+01] [-5.53265446e-04 9.99999847e-01 5.96269765e-06 -3.80041743e+00] [ 5.25961025e-03 -3.05265504e-06 9.99986168e-01 -1.25629559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.974860624 meters 0.10375024869681018 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.80, Z:-1.26 [[ 9.99984047e-01 3.74616654e-04 -5.63599890e-03 4.27294935e+01] [-3.78938875e-04 9.99999635e-01 -7.65846961e-04 -3.79760863e+00] [ 5.63570995e-03 7.67970442e-04 9.99983824e-01 -1.25638729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.004860624 meters 0.0991191745237112 Centerline is valid? [False, True] Translation: X:42.73, Y:-3.80, Z:-1.26 [[ 9.99983579e-01 3.82565466e-04 -5.71798424e-03 4.27299319e+01] [-3.87657385e-04 9.99999529e-01 -8.89427632e-04 -3.79678024e+00] [ 5.71764128e-03 8.91629646e-04 9.99983257e-01 -1.25676526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.034860624 meters 0.10339348068988562 Centerline is valid? [True, False] Translation: X:42.73, Y:-3.80, Z:-1.26 [[ 9.99983607e-01 3.19581814e-04 -5.71698990e-03 4.27301081e+01] [-3.25537986e-04 9.99999405e-01 -1.04093678e-03 -3.79609539e+00] [ 5.71665384e-03 1.04278081e-03 9.99983116e-01 -1.25700602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.064860624 meters 0.10339348068988562 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.80, Z:-1.26 [[ 9.99983607e-01 3.19581814e-04 -5.71698990e-03 4.27301081e+01] [-3.25537986e-04 9.99999405e-01 -1.04093678e-03 -3.79609539e+00] [ 5.71665384e-03 1.04278081e-03 9.99983116e-01 -1.25700602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09486062399999 meters 0.10490548339016874 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.80, Z:-1.26 [[ 9.99983560e-01 2.74632322e-04 -5.72748817e-03 4.27303249e+01] [-2.81357968e-04 9.99999272e-01 -1.17350219e-03 -3.79542185e+00] [ 5.72716172e-03 1.17509438e-03 9.99982909e-01 -1.25729927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.124860624 meters 0.10207712867682936 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.79, Z:-1.26 [[ 9.99983737e-01 2.21496986e-04 -5.69876715e-03 4.27304388e+01] [-2.28934037e-04 9.99999123e-01 -1.30440882e-03 -3.79486350e+00] [ 5.69847323e-03 1.30569225e-03 9.99982911e-01 -1.25751664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.154860624 meters 0.10089980376387434 Centerline is valid? [False, False] Translation: X:42.73, Y:-3.79, Z:-1.26 [[ 9.99983149e-01 2.89005351e-04 -5.79817049e-03 4.27309569e+01] [-2.96578777e-04 9.99999104e-01 -1.30535788e-03 -3.79431662e+00] [ 5.79778804e-03 1.30705550e-03 9.99982338e-01 -1.25795133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.184860624 meters 0.09860467306848233 Centerline is valid? [False, True] Translation: X:42.73, Y:-3.79, Z:-1.26 [[ 9.99983087e-01 6.39500431e-05 -5.81563965e-03 4.27310979e+01] [-7.40036602e-05 9.99998503e-01 -1.72852203e-03 -3.79276907e+00] [ 5.81552041e-03 1.72892317e-03 9.99981595e-01 -1.25809978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.214860624 meters 0.09795287248012659 Centerline is valid? [True, True] Translation: X:42.76, Y:-3.80, Z:-1.26 [[ 9.99986538e-01 -3.55093773e-04 -5.17662418e-03 4.27594985e+01] [ 3.58075802e-04 9.99999770e-01 5.75141276e-04 -3.79523520e+00] [ 5.17641876e-03 -5.76987157e-04 9.99986436e-01 -1.25892003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.244860624 meters 0.0990338287078118 Centerline is valid? [True, True] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99984319e-01 -8.43112033e-04 -5.53636940e-03 4.27882975e+01] [ 8.46528861e-04 9.99999453e-01 6.14845968e-04 -3.79983435e+00] [ 5.53584799e-03 -6.19523023e-04 9.99984485e-01 -1.26036904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.274860624 meters 0.10045987445206939 Centerline is valid? [True, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99984762e-01 -8.12262544e-04 -5.46042099e-03 4.27885281e+01] [ 8.16154788e-04 9.99999414e-01 7.10619790e-04 -3.79979713e+00] [ 5.45984059e-03 -7.15065511e-04 9.99984839e-01 -1.26093041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.304860624 meters 0.10151808994899099 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99985051e-01 -9.22217795e-04 -5.38959425e-03 4.27884655e+01] [ 9.25315921e-04 9.99999408e-01 5.72369444e-04 -3.79940016e+00] [ 5.38906321e-03 -5.77347964e-04 9.99985312e-01 -1.26104580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.334860624 meters 0.10172818364129324 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99985032e-01 -8.80309533e-04 -5.39999268e-03 4.27887453e+01] [ 8.83718044e-04 9.99999412e-01 6.28853042e-04 -3.79914087e+00] [ 5.39943592e-03 -6.33615701e-04 9.99985222e-01 -1.26143083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.364860624 meters 0.10257471825741239 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99985453e-01 -1.01231708e-03 -5.29809923e-03 4.27885827e+01] [ 1.01482521e-03 9.99999374e-01 4.70735602e-04 -3.79863092e+00] [ 5.29761938e-03 -4.76105399e-04 9.99985854e-01 -1.26149253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.394860624 meters 0.10437149006676781 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99985652e-01 -1.18877029e-03 -5.22320189e-03 4.27882902e+01] [ 1.19009753e-03 9.99999260e-01 2.51004406e-04 -3.79825454e+00] [ 5.22289964e-03 -2.57216925e-04 9.99986327e-01 -1.26127365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.424860624 meters 0.1020947959527427 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99985691e-01 -1.21047228e-03 -5.21082939e-03 4.27882517e+01] [ 1.21174178e-03 9.99999237e-01 2.40477069e-04 -3.79815768e+00] [ 5.21053433e-03 -2.46787807e-04 9.99986395e-01 -1.26123795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.454860624 meters 0.10111461765588775 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99986681e-01 -1.23816515e-03 -5.01040595e-03 4.27878705e+01] [ 1.24024576e-03 9.99999146e-01 4.12171299e-04 -3.79858873e+00] [ 5.00989134e-03 -4.18379944e-04 9.99987363e-01 -1.26125648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48486062399999 meters 0.1038306795120015 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99987766e-01 -1.19071730e-03 -4.80096007e-03 4.27876542e+01] [ 1.19396000e-03 9.99999061e-01 6.72617531e-04 -3.79921442e+00] [ 4.80015466e-03 -6.78341457e-04 9.99988249e-01 -1.26154783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.514860624 meters 0.10569507763497292 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99988572e-01 -1.35442528e-03 -4.58495231e-03 4.27870870e+01] [ 1.35740215e-03 9.99998870e-01 6.46218866e-04 -3.79959106e+00] [ 4.58407188e-03 -6.52435105e-04 9.99989280e-01 -1.26136061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.544860624 meters 0.10569824837562837 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99988848e-01 -1.02479551e-03 -4.61015368e-03 4.27875163e+01] [ 1.03027483e-03 9.99998766e-01 1.18631597e-03 -3.80061969e+00] [ 4.60893226e-03 -1.19105247e-03 9.99988670e-01 -1.26190338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.574860624 meters 0.10765195869710747 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99989502e-01 -1.05276781e-03 -4.45956446e-03 4.27873307e+01] [ 1.05882534e-03 9.99998520e-01 1.35618037e-03 -3.80122749e+00] [ 4.45813011e-03 -1.36088804e-03 9.99989136e-01 -1.26207126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.604860624 meters 0.10677002474735495 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99989448e-01 -8.19091640e-04 -4.52034099e-03 4.27878268e+01] [ 8.26764396e-04 9.99998220e-01 1.69577672e-03 -3.80162408e+00] [ 4.51894395e-03 -1.69949608e-03 9.99988345e-01 -1.26260677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.634860624 meters 0.10818071579891625 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99989198e-01 -7.74010770e-04 -4.58301799e-03 4.27880008e+01] [ 7.81983903e-04 9.99998184e-01 1.73817612e-03 -3.80163331e+00] [ 4.58166430e-03 -1.74174119e-03 9.99987987e-01 -1.26265922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.664860624 meters 0.10683795146726391 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99988752e-01 -1.00485500e-03 -4.63530506e-03 4.27878229e+01] [ 1.01110474e-03 9.99998583e-01 1.34614583e-03 -3.80089759e+00] [ 4.63394581e-03 -1.35081747e-03 9.99988351e-01 -1.26224128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.694860624 meters 0.1158470090905082 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99987959e-01 -8.52545382e-04 -4.83274000e-03 4.27883608e+01] [ 8.59604003e-04 9.99998567e-01 1.45869476e-03 -3.80082986e+00] [ 4.83148947e-03 -1.46283144e-03 9.99987258e-01 -1.26241383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.724860624 meters 0.10680459020176293 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99986809e-01 -9.62414536e-04 -5.04534726e-03 4.27884023e+01] [ 9.68117434e-04 9.99998895e-01 1.12800770e-03 -3.80018598e+00] [ 5.04425607e-03 -1.13287731e-03 9.99986636e-01 -1.26185184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.754860624 meters 0.10298016934418805 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99985767e-01 -8.72086719e-04 -5.26350905e-03 4.27888320e+01] [ 8.77949920e-04 9.99998997e-01 1.11172613e-03 -3.79994427e+00] [ 5.26253425e-03 -1.11633141e-03 9.99985530e-01 -1.26179849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.784860624 meters 0.10646719184275623 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99985000e-01 -8.84459705e-04 -5.40524986e-03 4.27890580e+01] [ 8.89685018e-04 9.99999139e-01 9.64382632e-04 -3.79951550e+00] [ 5.40439225e-03 -9.69177137e-04 9.99984927e-01 -1.26168179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.814860624 meters 0.10400672715114385 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99984304e-01 -9.76344729e-04 -5.51719500e-03 4.27891369e+01] [ 9.80321237e-04 9.99999262e-01 7.18089771e-04 -3.79888305e+00] [ 5.51648982e-03 -7.23487123e-04 9.99984522e-01 -1.26145338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84486062399999 meters 0.10301141690304516 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99983187e-01 -8.64063349e-04 -5.73407750e-03 4.27895216e+01] [ 8.68164722e-04 9.99999369e-01 7.12812292e-04 -3.79878137e+00] [ 5.73345797e-03 -7.17778431e-04 9.99983306e-01 -1.26136342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.874860624 meters 0.10678295859773458 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99982831e-01 -7.55713359e-04 -5.81096401e-03 4.27897448e+01] [ 7.60461822e-04 9.99999379e-01 8.14989715e-04 -3.79898185e+00] [ 5.81034451e-03 -8.19394738e-04 9.99982784e-01 -1.26142608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.904860624 meters 0.1022525430188305 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99982336e-01 -4.85757848e-04 -5.92377952e-03 4.27903446e+01] [ 4.92407243e-04 9.99999250e-01 1.12108507e-03 -3.79932803e+00] [ 5.92323050e-03 -1.12398218e-03 9.99981826e-01 -1.26192959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.934860624 meters 0.1011979254744457 Centerline is valid? [False, False] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99981929e-01 -5.11734734e-04 -5.98991942e-03 4.27904449e+01] [ 5.17961342e-04 9.99999327e-01 1.03800937e-03 -3.79925821e+00] [ 5.98938421e-03 -1.04109316e-03 9.99981522e-01 -1.26188251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.964860624 meters 0.09946223985426056 Centerline is valid? [False, True] Translation: X:42.79, Y:-3.80, Z:-1.26 [[ 9.99981298e-01 -4.23504894e-04 -6.10114173e-03 4.27908513e+01] [ 4.30307458e-04 9.99999287e-01 1.11369616e-03 -3.79922501e+00] [ 6.10066572e-03 -1.11630070e-03 9.99980768e-01 -1.26214722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.994860624 meters 0.0989276679625823 Centerline is valid? [True, True] Translation: X:42.82, Y:-3.80, Z:-1.26 [[ 9.99971664e-01 -1.18321208e-04 -7.52704560e-03 4.28194889e+01] [ 1.24786829e-04 9.99999624e-01 8.58521309e-04 -3.80106460e+00] [ 7.52694119e-03 -8.59436258e-04 9.99971303e-01 -1.26305525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.024860624 meters 0.09871464993230449 Centerline is valid? [True, True] Translation: X:42.85, Y:-3.80, Z:-1.26 [[ 9.99966351e-01 3.66286179e-04 -8.19532598e-03 4.28477298e+01] [-3.58648257e-04 9.99999500e-01 9.33435356e-04 -3.80399382e+00] [ 8.19566378e-03 -9.30464707e-04 9.99965982e-01 -1.26434802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.054860624 meters 0.10280974997659788 Centerline is valid? [True, False] Translation: X:42.85, Y:-3.80, Z:-1.26 [[ 9.99965688e-01 3.73946547e-04 -8.27546427e-03 4.28479042e+01] [-3.66554316e-04 9.99999533e-01 8.94769524e-04 -3.80381418e+00] [ 8.27579500e-03 -8.91705416e-04 9.99965357e-01 -1.26434921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.084860624 meters 0.09897727331190516 Centerline is valid? [False, True] Translation: X:42.85, Y:-3.80, Z:-1.26 [[ 9.99966257e-01 3.74617257e-04 -8.20633406e-03 4.28477400e+01] [-3.66754571e-04 9.99999472e-01 9.59607974e-04 -3.80414834e+00] [ 8.20668921e-03 -9.56565884e-04 9.99965867e-01 -1.26429594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.114860624 meters 0.10428888577658765 Centerline is valid? [True, False] Translation: X:42.85, Y:-3.80, Z:-1.26 [[ 9.99966033e-01 4.16136665e-04 -8.23164644e-03 4.28478051e+01] [-4.07751890e-04 9.99999396e-01 1.02025445e-03 -3.80432614e+00] [ 8.23206604e-03 -1.01686333e-03 9.99965599e-01 -1.26431604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.144860624 meters 0.09708949573078729 Centerline is valid? [False, True] Translation: X:42.85, Y:-3.80, Z:-1.26 [[ 9.99966573e-01 2.81845549e-04 -8.17155221e-03 4.28475670e+01] [-2.74831715e-04 9.99999593e-01 8.59433523e-04 -3.80412613e+00] [ 8.17179111e-03 -8.57158993e-04 9.99966243e-01 -1.26414491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.174860624 meters 0.09960720359468932 Centerline is valid? [True, True] Translation: X:42.87, Y:-3.81, Z:-1.27 [[ 9.99970229e-01 6.42684795e-06 -7.71633445e-03 4.28741809e+01] [ 3.69989368e-07 9.99999612e-01 8.80835824e-04 -3.81149641e+00] [ 7.71633712e-03 -8.80812455e-04 9.99969841e-01 -1.26589410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.204860624 meters 0.10429180708107676 Centerline is valid? [True, False] Translation: X:42.87, Y:-3.81, Z:-1.27 [[ 9.99969878e-01 3.01413896e-05 -7.76163381e-03 4.28743112e+01] [-2.32441627e-05 9.99999605e-01 8.88719479e-04 -3.81140485e+00] [ 7.76165753e-03 -8.88512296e-04 9.99969483e-01 -1.26592965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23486062399999 meters 0.09955979318556979 Centerline is valid? [False, True] Translation: X:42.87, Y:-3.81, Z:-1.27 [[ 9.99970059e-01 -8.36378598e-06 -7.73822734e-03 4.28742516e+01] [ 1.46409992e-05 9.99999671e-01 8.11138948e-04 -3.81128074e+00] [ 7.73821801e-03 -8.11227957e-04 9.99969730e-01 -1.26589615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.264860624 meters 0.10083739855298021 Centerline is valid? [True, False] Translation: X:42.87, Y:-3.81, Z:-1.27 [[ 9.99970661e-01 -2.35972452e-04 -7.65642006e-03 4.28738697e+01] [ 2.40113468e-04 9.99999825e-01 5.39940668e-04 -3.81090563e+00] [ 7.65629131e-03 -5.41763237e-04 9.99970543e-01 -1.26559941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.294860624 meters 0.09860895038083321 Centerline is valid? [False, True] Translation: X:42.87, Y:-3.81, Z:-1.27 [[ 9.99971427e-01 -1.95992171e-04 -7.55686263e-03 4.28738562e+01] [ 2.01017204e-04 9.99999759e-01 6.64209159e-04 -3.81105180e+00] [ 7.55673063e-03 -6.65709240e-04 9.99971226e-01 -1.26585648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.324860624 meters 0.10212120837570997 Centerline is valid? [True, False] Translation: X:42.87, Y:-3.81, Z:-1.27 [[ 9.99971936e-01 -3.91517555e-04 -7.48160271e-03 4.28734652e+01] [ 3.94777821e-04 9.99999828e-01 4.34299237e-04 -3.81083530e+00] [ 7.48143139e-03 -4.37240620e-04 9.99971918e-01 -1.26550501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.354860624 meters 0.10065981037793593 Centerline is valid? [False, False] Translation: X:42.87, Y:-3.81, Z:-1.27 [[ 9.99971829e-01 -1.94338369e-04 -7.50354580e-03 4.28737771e+01] [ 1.99585440e-04 9.99999736e-01 6.98536285e-04 -3.81116611e+00] [ 7.50340807e-03 -7.00014205e-04 9.99971604e-01 -1.26586964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.384860624 meters 0.10101603177572616 Centerline is valid? [False, False] Translation: X:42.87, Y:-3.81, Z:-1.27 [[ 9.99971959e-01 -1.87685058e-04 -7.48641342e-03 4.28738792e+01] [ 1.92871256e-04 9.99999742e-01 6.92032099e-04 -3.81099516e+00] [ 7.48628160e-03 -6.93456608e-04 9.99971737e-01 -1.26603552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.414860624 meters 0.10072130552732377 Centerline is valid? [False, False] Translation: X:42.87, Y:-3.81, Z:-1.27 [[ 9.99971872e-01 -2.30448041e-04 -7.49675816e-03 4.28738831e+01] [ 2.34978313e-04 9.99999790e-01 6.03422310e-04 -3.81084537e+00] [ 7.49661753e-03 -6.05166912e-04 9.99971717e-01 -1.26601093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.444860624 meters 0.10241314795841905 Centerline is valid? [False, False] Translation: X:42.87, Y:-3.81, Z:-1.27 [[ 9.99971689e-01 1.02112691e-05 -7.52464117e-03 4.28743617e+01] [-3.00859282e-06 9.99999542e-01 9.57222622e-04 -3.81119823e+00] [ 7.52464750e-03 -9.57172884e-04 9.99971231e-01 -1.26660786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.474860624 meters 0.10270718836180237 Centerline is valid? [False, False] Translation: X:42.87, Y:-3.81, Z:-1.27 [[ 9.99971582e-01 -5.20116639e-05 -7.53873548e-03 4.28742487e+01] [ 5.86123580e-05 9.99999615e-01 8.75352161e-04 -3.81121382e+00] [ 7.53868705e-03 -8.75769148e-04 9.99971200e-01 -1.26642310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.504860624 meters 0.0998470684953991 Centerline is valid? [False, True] Translation: X:42.87, Y:-3.81, Z:-1.27 [[ 9.99971717e-01 9.18919561e-05 -7.52036321e-03 4.28744667e+01] [-8.34415374e-05 9.99999365e-01 1.12397767e-03 -3.81158431e+00] [ 7.52046172e-03 -1.12331837e-03 9.99971090e-01 -1.26677712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.534860624 meters 0.10245921494876127 Centerline is valid? [True, False] Translation: X:42.87, Y:-3.81, Z:-1.27 [[ 9.99971903e-01 1.56363851e-04 -7.49457272e-03 4.28744459e+01] [-1.46808748e-04 9.99999176e-01 1.27546956e-03 -3.81202540e+00] [ 7.49476599e-03 -1.27433345e-03 9.99971102e-01 -1.26684178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.564860624 meters 0.10301412117621561 Centerline is valid? [False, False] Translation: X:42.87, Y:-3.81, Z:-1.27 [[ 9.99971874e-01 1.96894112e-04 -7.49752344e-03 4.28744133e+01] [-1.86640055e-04 9.99999046e-01 1.36833431e-03 -3.81245189e+00] [ 7.49778571e-03 -1.36689648e-03 9.99970957e-01 -1.26678666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59486062399999 meters 0.09882817667935513 Centerline is valid? [False, True] Translation: X:42.87, Y:-3.81, Z:-1.27 [[ 9.99972662e-01 3.22549808e-04 -7.38729905e-03 4.28743832e+01] [-3.10160258e-04 9.99998544e-01 1.67822623e-03 -3.81317647e+00] [ 7.38782961e-03 -1.67588910e-03 9.99971305e-01 -1.26706462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.624860624 meters 0.09728199089285067 Centerline is valid? [True, True] Translation: X:42.90, Y:-3.82, Z:-1.27 [[ 9.99977648e-01 -3.34626720e-04 -6.67761431e-03 4.29035563e+01] [ 3.39682558e-04 9.99999657e-01 7.56012498e-04 -3.81534936e+00] [ 6.67735903e-03 -7.58263869e-04 9.99977419e-01 -1.26682664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.654860624 meters 0.09837363646704536 Centerline is valid? [True, True] Translation: X:42.93, Y:-3.82, Z:-1.27 [[ 9.99980347e-01 -9.62870859e-04 -6.19507155e-03 4.29314555e+01] [ 9.67223570e-04 9.99999287e-01 6.99650975e-04 -3.82088868e+00] [ 6.19439347e-03 -7.05629244e-04 9.99980566e-01 -1.26761017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.684860624 meters 0.10136666969486201 Centerline is valid? [True, False] Translation: X:42.93, Y:-3.82, Z:-1.27 [[ 9.99980546e-01 -9.89699513e-04 -6.15860447e-03 4.29311897e+01] [ 9.94316121e-04 9.99999227e-01 7.46602620e-04 -3.82134997e+00] [ 6.15786080e-03 -7.52711695e-04 9.99980757e-01 -1.26735206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.714860624 meters 0.09818831624035472 Centerline is valid? [False, True] Translation: X:42.93, Y:-3.82, Z:-1.27 [[ 9.99981784e-01 -8.02276732e-04 -5.98229670e-03 4.29310321e+01] [ 8.09755496e-04 9.99998894e-01 1.24783204e-03 -3.82271627e+00] [ 5.98128898e-03 -1.25265351e-03 9.99981327e-01 -1.26765142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.744860624 meters 0.10077439526726562 Centerline is valid? [True, False] Translation: X:42.93, Y:-3.82, Z:-1.27 [[ 9.99982106e-01 -6.90960121e-04 -5.94225778e-03 4.29310914e+01] [ 6.99616467e-04 9.99998697e-01 1.45478837e-03 -3.82318833e+00] [ 5.94124484e-03 -1.45891964e-03 9.99981286e-01 -1.26784092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.774860624 meters 0.09824593938122607 Centerline is valid? [False, True] Translation: X:42.93, Y:-3.82, Z:-1.27 [[ 9.99982469e-01 -6.73794576e-04 -5.88281951e-03 4.29310184e+01] [ 6.82933661e-04 9.99998563e-01 1.55165065e-03 -3.82349725e+00] [ 5.88176556e-03 -1.55564102e-03 9.99981492e-01 -1.26791527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.804860624 meters 0.09858542455036419 Centerline is valid? [True, True] Translation: X:42.96, Y:-3.83, Z:-1.27 [[ 9.99985313e-01 -6.94539011e-04 -5.37511736e-03 4.29594831e+01] [ 6.97852309e-04 9.99999568e-01 6.14563182e-04 -3.82745942e+00] [ 5.37468820e-03 -6.18305194e-04 9.99985365e-01 -1.26828424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.834860624 meters 0.1027189069506822 Centerline is valid? [True, False] Translation: X:42.96, Y:-3.83, Z:-1.27 [[ 9.99986037e-01 -8.21110815e-04 -5.22036112e-03 4.29590055e+01] [ 8.23991628e-04 9.99999509e-01 5.49714895e-04 -3.82768727e+00] [ 5.21990718e-03 -5.54008753e-04 9.99986223e-01 -1.26802930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.864860624 meters 0.10516510662397635 Centerline is valid? [False, False] Translation: X:42.96, Y:-3.83, Z:-1.27 [[ 9.99986565e-01 -6.85704602e-04 -5.13801933e-03 4.29589301e+01] [ 6.90258292e-04 9.99999371e-01 8.84552538e-04 -3.82867280e+00] [ 5.13740955e-03 -8.88087215e-04 9.99986409e-01 -1.26817497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.894860624 meters 0.10379247672186243 Centerline is valid? [False, False] Translation: X:42.96, Y:-3.83, Z:-1.27 [[ 9.99986621e-01 -6.15269671e-04 -5.13607668e-03 4.29590107e+01] [ 6.20434175e-04 9.99999304e-01 1.00400202e-03 -3.82898200e+00] [ 5.13545537e-03 -1.00717519e-03 9.99986306e-01 -1.26828073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.924860624 meters 0.09898272880143079 Centerline is valid? [False, True] Translation: X:42.96, Y:-3.83, Z:-1.27 [[ 9.99986708e-01 -5.60317114e-04 -5.12534236e-03 4.29590480e+01] [ 5.66034408e-04 9.99999219e-01 1.11411250e-03 -3.82925281e+00] [ 5.12471410e-03 -1.11699881e-03 9.99986245e-01 -1.26837481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.954860624 meters 0.09898272880143079 Centerline is valid? [True, True] Translation: X:42.99, Y:-3.83, Z:-1.27 [[ 9.99986370e-01 -6.12239632e-04 -5.18503478e-03 4.29874015e+01] [ 6.15365088e-04 9.99999630e-01 6.01210032e-04 -3.83224771e+00] [ 5.18466478e-03 -6.04392527e-04 9.99986377e-01 -1.26901731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98486062399999 meters 0.10109837506442423 Centerline is valid? [True, False] Translation: X:42.99, Y:-3.83, Z:-1.27 [[ 9.99986723e-01 -7.48059400e-04 -5.09849535e-03 4.29870184e+01] [ 7.50593171e-04 9.99999596e-01 4.95069199e-04 -3.83227614e+00] [ 5.09812295e-03 -4.98889522e-04 9.99986880e-01 -1.26870747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.014860624 meters 0.09989728738931783 Centerline is valid? [False, True] Translation: X:42.99, Y:-3.83, Z:-1.27 [[ 9.99986920e-01 -9.08273532e-04 -5.03340313e-03 4.29865672e+01] [ 9.09950312e-04 9.99999531e-01 3.30850517e-04 -3.83232205e+00] [ 5.03310027e-03 -3.35426336e-04 9.99987278e-01 -1.26825373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.044860624 meters 0.10290653368412332 Centerline is valid? [True, False] Translation: X:42.99, Y:-3.83, Z:-1.27 [[ 9.99986668e-01 -8.80547139e-04 -5.08814174e-03 4.29866828e+01] [ 8.82324129e-04 9.99999551e-01 3.47007266e-04 -3.83237395e+00] [ 5.08783390e-03 -3.51492030e-04 9.99986995e-01 -1.26825289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.074860624 meters 0.10069830359860932 Centerline is valid? [False, False] Translation: X:42.99, Y:-3.83, Z:-1.27 [[ 9.99986047e-01 -6.73439967e-04 -5.23951911e-03 4.29873074e+01] [ 6.76331592e-04 9.99999620e-01 5.50135217e-04 -3.83241690e+00] [ 5.23914664e-03 -5.53671193e-04 9.99986122e-01 -1.26871834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.104860624 meters 0.09844364956777381 Centerline is valid? [False, True] Translation: X:42.99, Y:-3.83, Z:-1.27 [[ 9.99985544e-01 -6.28234208e-04 -5.34011821e-03 4.29876419e+01] [ 6.31079204e-04 9.99999660e-01 5.31090734e-04 -3.83210679e+00] [ 5.33978274e-03 -5.34453094e-04 9.99985600e-01 -1.26888995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.134860624 meters 0.10087745576285238 Centerline is valid? [True, False] Translation: X:42.99, Y:-3.83, Z:-1.27 [[ 9.99985157e-01 -7.11963713e-04 -5.40183912e-03 4.29875588e+01] [ 7.13678077e-04 9.99999696e-01 3.15445680e-04 -3.83173722e+00] [ 5.40161289e-03 -3.19296172e-04 9.99985360e-01 -1.26857405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.164860624 meters 0.09722130125959551 Centerline is valid? [False, True] Translation: X:42.99, Y:-3.83, Z:-1.27 [[ 9.99984986e-01 -6.69029355e-04 -5.43875521e-03 4.29876596e+01] [ 6.70938882e-04 9.99999714e-01 3.49279329e-04 -3.83180031e+00] [ 5.43851998e-03 -3.52923157e-04 9.99985149e-01 -1.26861448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.194860624 meters 0.09631795296922847 Centerline is valid? [True, True] Translation: X:43.02, Y:-3.83, Z:-1.27 [[ 9.99989657e-01 -3.67425466e-04 -4.53329503e-03 4.30168270e+01] [ 3.69703690e-04 9.99999806e-01 5.01725962e-04 -3.83399100e+00] [ 4.53310980e-03 -5.03396749e-04 9.99989599e-01 -1.26871966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.224860624 meters 0.09566524500018665 Centerline is valid? [True, True] Translation: X:43.05, Y:-3.84, Z:-1.27 [[ 9.99990392e-01 4.17618445e-04 -4.36359176e-03 4.30458923e+01] [-4.15519875e-04 9.99999798e-01 4.81822689e-04 -3.83632722e+00] [ 4.36379210e-03 -4.80004900e-04 9.99990363e-01 -1.26994628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.254860624 meters 0.09479162440777426 Centerline is valid? [True, True] Translation: X:43.08, Y:-3.84, Z:-1.27 [[ 9.99989527e-01 1.62705513e-03 -4.27767018e-03 4.30761493e+01] [-1.62502902e-03 9.99998566e-01 4.77079987e-04 -3.83818048e+00] [ 4.27844028e-03 -4.70123652e-04 9.99990737e-01 -1.27003595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.284860624 meters 0.09896534151218897 Centerline is valid? [True, True] Translation: X:43.10, Y:-3.85, Z:-1.27 [[ 9.99986573e-01 1.66706067e-03 -4.90650225e-03 4.31033761e+01] [-1.66440281e-03 9.99998466e-01 5.45735688e-04 -3.84811332e+00] [ 4.90740450e-03 -5.37561964e-04 9.99987814e-01 -1.27333260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.314860624 meters 0.09358661962783295 Centerline is valid? [True, True] Translation: X:43.13, Y:-3.84, Z:-1.27 [[ 9.99988589e-01 2.10885863e-03 -4.28662565e-03 4.31329995e+01] [-2.10683622e-03 9.99997667e-01 4.76256918e-04 -3.84220860e+00] [ 4.28762001e-03 -4.67220265e-04 9.99990699e-01 -1.27153268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34486062399999 meters 0.09606102680639748 Centerline is valid? [True, True] Translation: X:43.16, Y:-3.85, Z:-1.27 [[ 9.99985344e-01 2.59770208e-03 -4.75014920e-03 4.31600004e+01] [-2.59522682e-03 9.99996493e-01 5.27180434e-04 -3.84999909e+00] [ 4.75150200e-03 -5.14844993e-04 9.99988579e-01 -1.27380597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.374860624 meters 0.09963109621986836 Centerline is valid? [True, True] Translation: X:43.19, Y:-3.86, Z:-1.28 [[ 9.99978962e-01 3.01923256e-03 -5.74111304e-03 4.31871965e+01] [-3.01562438e-03 9.99995250e-01 6.37033112e-04 -3.85868630e+00] [ 5.74300912e-03 -6.19706670e-04 9.99983317e-01 -1.27697148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.404860624 meters 0.0924135079846991 Centerline is valid? [True, True] Translation: X:43.22, Y:-3.85, Z:-1.27 [[ 9.99978451e-01 4.12589127e-03 -5.10631436e-03 4.32183042e+01] [-4.12304683e-03 9.99991339e-01 5.67445100e-04 -3.84906760e+00] [ 5.10861135e-03 -5.46379299e-04 9.99986802e-01 -1.27429661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.434860624 meters 0.09304110428885982 Centerline is valid? [True, True] Translation: X:43.25, Y:-3.85, Z:-1.28 [[ 9.99976528e-01 4.50698206e-03 -5.16048856e-03 4.32457576e+01] [-4.50409049e-03 9.99989693e-01 5.71813108e-04 -3.85253710e+00] [ 5.16301253e-03 -5.48556379e-04 9.99986521e-01 -1.27524274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.464860624 meters 0.0931395746135175 Centerline is valid? [True, True] Translation: X:43.28, Y:-3.85, Z:-1.28 [[ 9.99977642e-01 5.41551441e-03 -3.92263846e-03 4.32758835e+01] [-5.41384632e-03 9.99985250e-01 4.35739669e-04 -3.85459113e+00] [ 3.92494035e-03 -4.14493366e-04 9.99992211e-01 -1.27603253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.494860624 meters 0.10027733939297921 Centerline is valid? [True, False] Translation: X:43.28, Y:-3.85, Z:-1.28 [[ 9.99978564e-01 5.24510872e-03 -3.91922131e-03 4.32757688e+01] [-5.24455881e-03 9.99986236e-01 1.50574661e-04 -3.85396995e+00] [ 3.91995714e-03 -1.30016847e-04 9.99992308e-01 -1.27586604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.524860624 meters 0.09418882847274615 Centerline is valid? [False, True] Translation: X:43.28, Y:-3.85, Z:-1.28 [[ 9.99979481e-01 5.06179366e-03 -3.92635178e-03 4.32755836e+01] [-5.06236853e-03 9.99987177e-01 -1.36487568e-04 -3.85348237e+00] [ 3.92561056e-03 1.56361407e-04 9.99992283e-01 -1.27556428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.554860624 meters 0.09438531998226969 Centerline is valid? [True, True] Translation: X:43.30, Y:-3.86, Z:-1.28 [[ 9.99983477e-01 4.68432125e-03 -3.33221694e-03 4.33045446e+01] [-4.68311736e-03 9.99988966e-01 3.69001424e-04 -3.85692162e+00] [ 3.33390869e-03 -3.53390163e-04 9.99994380e-01 -1.27690089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.584860624 meters 0.09746434455658466 Centerline is valid? [True, True] Translation: X:43.33, Y:-3.86, Z:-1.28 [[ 9.99987571e-01 3.34628810e-03 -3.69586252e-03 4.33324037e+01] [-3.34479643e-03 9.99994322e-01 4.09711347e-04 -3.86420468e+00] [ 3.69721255e-03 -3.97344347e-04 9.99993086e-01 -1.27856779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.614860624 meters 0.09363015906417953 Centerline is valid? [True, True] Translation: X:43.36, Y:-3.86, Z:-1.28 [[ 9.99990084e-01 2.94477154e-03 -3.34055042e-03 4.33618306e+01] [-2.94355337e-03 9.99995599e-01 3.69518503e-04 -3.85995019e+00] [ 3.34162387e-03 -3.59681751e-04 9.99994352e-01 -1.27693410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.644860624 meters 0.09535133142419953 Centerline is valid? [True, True] Translation: X:43.39, Y:-3.87, Z:-1.28 [[ 9.99991912e-01 2.51849106e-03 -3.13585381e-03 4.33902843e+01] [-2.51741648e-03 9.99996771e-01 3.46572656e-04 -3.86548751e+00] [ 3.13671652e-03 -3.38675602e-04 9.99995023e-01 -1.27844977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.674860624 meters 0.09696771887497402 Centerline is valid? [True, True] Translation: X:43.42, Y:-3.87, Z:-1.28 [[ 9.99995716e-01 1.67312321e-03 -2.40175159e-03 4.34188519e+01] [-1.67249067e-03 9.99998566e-01 2.65348020e-04 -3.87061436e+00] [ 2.40219211e-03 -2.61329976e-04 9.99997081e-01 -1.27970317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.704860624 meters 0.09852725998833002 Centerline is valid? [True, True] Translation: X:43.45, Y:-3.88, Z:-1.28 [[ 9.99997385e-01 9.77970216e-04 -2.06718268e-03 4.34472959e+01] [-9.77501608e-04 9.99999496e-01 2.27687469e-04 -3.87615306e+00] [ 2.06740431e-03 -2.25666200e-04 9.99997837e-01 -1.28064513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73486062399999 meters 0.0950794020211236 Centerline is valid? [True, True] Translation: X:43.48, Y:-3.87, Z:-1.28 [[ 9.99997717e-01 8.04327263e-04 -1.97972351e-03 4.34771290e+01] [-8.03895832e-04 9.99999653e-01 2.18711029e-04 -3.87316878e+00] [ 1.97989874e-03 -2.17119038e-04 9.99998016e-01 -1.27989027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.764860624 meters 0.09905622631897741 Centerline is valid? [True, True] Translation: X:43.51, Y:-3.88, Z:-1.28 [[ 9.99998007e-01 6.36891802e-04 -1.89199288e-03 4.35053157e+01] [-6.36498476e-04 9.99999776e-01 2.08484983e-04 -3.88258421e+00] [ 1.89212523e-03 -2.07280317e-04 9.99998188e-01 -1.28192199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.794860624 meters 0.09490112675987723 Centerline is valid? [True, True] Translation: X:43.54, Y:-3.88, Z:-1.28 [[ 9.99998240e-01 5.01447988e-04 -1.80767682e-03 4.35360425e+01] [-5.01088203e-04 9.99999855e-01 1.99479103e-04 -3.87819203e+00] [ 1.80777658e-03 -1.98572946e-04 9.99998346e-01 -1.28068821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.824860624 meters 0.10168692330510073 Centerline is valid? [True, False] Translation: X:43.54, Y:-3.88, Z:-1.28 [[ 9.99998120e-01 4.17989303e-04 -1.89358504e-03 4.35363159e+01] [-4.18101174e-04 9.99999911e-01 -5.86839003e-05 -3.87712757e+00] [ 1.89356034e-03 5.94755001e-05 9.99998205e-01 -1.28080549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.854860624 meters 0.09448125976476049 Centerline is valid? [False, True] Translation: X:43.54, Y:-3.88, Z:-1.28 [[ 9.99997984e-01 4.07989496e-04 -1.96594358e-03 4.35364740e+01] [-4.08230754e-04 9.99999909e-01 -1.22319297e-04 -3.87691648e+00] [ 1.96589349e-03 1.23121609e-04 9.99998060e-01 -1.28081842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.884860624 meters 0.09446866017291852 Centerline is valid? [True, True] Translation: X:43.57, Y:-3.88, Z:-1.28 [[ 9.99998636e-01 5.70194409e-04 -1.54994452e-03 4.35660890e+01] [-5.69932776e-04 9.99999823e-01 1.69237652e-04 -3.88023016e+00] [ 1.55004075e-03 -1.68354057e-04 9.99998785e-01 -1.28144841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.914860624 meters 0.09594223934422424 Centerline is valid? [True, True] Translation: X:43.59, Y:-3.89, Z:-1.28 [[ 9.99998615e-01 5.16378731e-04 -1.58208040e-03 4.35948284e+01] [-5.16105485e-04 9.99999852e-01 1.73116842e-04 -3.88578929e+00] [ 1.58216956e-03 -1.72300082e-04 9.99998734e-01 -1.28296222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.944860624 meters 0.1009404594132626 Centerline is valid? [True, False] Translation: X:43.60, Y:-3.89, Z:-1.28 [[ 9.99998354e-01 6.55001482e-04 -1.69232509e-03 4.35955417e+01] [-6.54554510e-04 9.99999751e-01 2.64657592e-04 -3.88536229e+00] [ 1.69249801e-03 -2.63549437e-04 9.99998533e-01 -1.28367018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.974860624 meters 0.09574814266768064 Centerline is valid? [False, True] Translation: X:43.60, Y:-3.89, Z:-1.28 [[ 9.99998411e-01 6.13754702e-04 -1.67390293e-03 4.35955728e+01] [-6.13388794e-04 9.99999788e-01 2.19100457e-04 -3.88510339e+00] [ 1.67403705e-03 -2.18073356e-04 9.99998575e-01 -1.28377269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.004860624 meters 0.09911904795328445 Centerline is valid? [True, True] Translation: X:43.62, Y:-3.89, Z:-1.29 [[ 9.99998744e-01 2.66325927e-04 -1.56268710e-03 4.36237277e+01] [-2.66056459e-04 9.99999950e-01 1.72644244e-04 -3.89407140e+00] [ 1.56273300e-03 -1.72228264e-04 9.99998764e-01 -1.28647858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.034860624 meters 0.09667927856934347 Centerline is valid? [True, True] Translation: X:43.65, Y:-3.89, Z:-1.29 [[ 9.99999471e-01 -7.97582882e-05 -1.02504782e-03 4.36540055e+01] [ 7.98728889e-05 9.99999991e-01 1.11759876e-04 -3.89297262e+00] [ 1.02503890e-03 -1.11841691e-04 9.99999468e-01 -1.28615868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.064860624 meters 0.09559449055225508 Centerline is valid? [True, True] Translation: X:43.68, Y:-3.89, Z:-1.29 [[ 9.99998894e-01 -7.23189836e-04 -1.29949107e-03 4.36845601e+01] [ 7.23375766e-04 9.99999728e-01 1.42614885e-04 -3.89373767e+00] [ 1.29938758e-03 -1.43554748e-04 9.99999145e-01 -1.28696195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09486062399999 meters 0.09590551169742188 Centerline is valid? [True, True] Translation: X:43.71, Y:-3.90, Z:-1.29 [[ 9.99999356e-01 -7.39198620e-04 -8.61445727e-04 4.37146620e+01] [ 7.39280333e-04 9.99999722e-01 9.45408447e-05 -3.89692719e+00] [ 8.61375603e-04 -9.51776337e-05 9.99999624e-01 -1.28809228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.124860624 meters 0.09689962812664557 Centerline is valid? [True, True] Translation: X:43.75, Y:-3.90, Z:-1.29 [[ 9.99998871e-01 -9.83678942e-04 -1.13620251e-03 4.37450096e+01] [ 9.83821247e-04 9.99999508e-01 1.24694501e-04 -3.90113589e+00] [ 1.13607929e-03 -1.25812180e-04 9.99999347e-01 -1.28917659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.154860624 meters 0.09718950318125993 Centerline is valid? [True, True] Translation: X:43.77, Y:-3.90, Z:-1.29 [[ 9.99999735e-01 1.00604861e-04 -7.20561867e-04 4.37743167e+01] [-1.00548180e-04 9.99999992e-01 7.86974786e-05 -3.90359287e+00] [ 7.20569779e-04 -7.86250066e-05 9.99999737e-01 -1.29096174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.184860624 meters 0.09697720159590076 Centerline is valid? [True, True] Translation: X:43.80, Y:-3.91, Z:-1.29 [[ 9.99999858e-01 5.22603228e-04 -1.03591755e-04 4.38046961e+01] [-5.22602053e-04 9.99999863e-01 1.13671226e-05 -3.90523738e+00] [ 1.03597681e-04 -1.13129838e-05 9.99999995e-01 -1.29183835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.214860624 meters 0.09834641784533611 Centerline is valid? [True, True] Translation: X:43.83, Y:-3.91, Z:-1.29 [[ 9.99999533e-01 9.66166638e-04 -2.72999244e-06 4.38336884e+01] [-9.66166638e-04 9.99999533e-01 -6.49143224e-08 -3.90979195e+00] [ 2.72992845e-06 6.75519193e-08 1.00000000e+00 -1.29272363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.244860624 meters 0.09578695885975425 Centerline is valid? [True, True] Translation: X:43.86, Y:-3.91, Z:-1.29 [[ 9.99999359e-01 1.04399744e-03 -4.38764610e-04 4.38646694e+01] [-1.04397642e-03 9.99999454e-01 4.81384047e-05 -3.90740674e+00] [ 4.38814627e-04 -4.76803139e-05 9.99999903e-01 -1.29342503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.274860624 meters 0.09525663471900045 Centerline is valid? [True, True] Translation: X:43.89, Y:-3.91, Z:-1.29 [[ 9.99998525e-01 1.68177277e-03 3.50168721e-04 4.38946124e+01] [-1.68175917e-03 9.99998585e-01 -3.91550337e-05 -3.90878104e+00] [-3.50234075e-04 3.85660765e-05 9.99999938e-01 -1.29346997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.304860624 meters 0.10153830577552815 Centerline is valid? [True, False] Translation: X:43.90, Y:-3.91, Z:-1.29 [[ 9.99998899e-01 1.46630889e-03 2.27095307e-04 4.38951232e+01] [-1.46615478e-03 9.99998696e-01 -6.77285830e-04 -3.90639046e+00] [-2.28088121e-04 6.76952127e-04 9.99999745e-01 -1.29385893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.334860624 meters 0.09762381249279688 Centerline is valid? [False, True] Translation: X:43.90, Y:-3.91, Z:-1.29 [[ 9.99999155e-01 1.29279879e-03 1.35642665e-04 4.38953151e+01] [-1.29265580e-03 9.99998614e-01 -1.04902355e-03 -3.90518047e+00] [-1.36998653e-04 1.04884733e-03 9.99999441e-01 -1.29384614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.364860624 meters 0.09802491273884581 Centerline is valid? [True, True] Translation: X:43.93, Y:-3.91, Z:-1.29 [[ 9.99998499e-01 1.56780943e-03 7.37783286e-04 4.39253086e+01] [-1.56775099e-03 9.99998768e-01 -7.97837958e-05 -3.90866813e+00] [-7.37907463e-04 7.86270155e-05 9.99999725e-01 -1.29450627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.394860624 meters 0.0997568834721113 Centerline is valid? [True, True] Translation: X:43.95, Y:-3.91, Z:-1.30 [[ 9.99997367e-01 1.91939275e-03 1.25789462e-03 4.39547437e+01] [-1.91922347e-03 9.99998149e-01 -1.35770747e-04 -3.91303220e+00] [-1.25815289e-03 1.33356209e-04 9.99999200e-01 -1.29622994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.424860624 meters 0.09750187486594973 Centerline is valid? [True, True] Translation: X:43.99, Y:-3.91, Z:-1.30 [[ 9.99997609e-01 1.55806457e-03 1.53409465e-03 4.39850603e+01] [-1.55781251e-03 9.99998773e-01 -1.65486002e-04 -3.91167804e+00] [-1.53435060e-03 1.63095774e-04 9.99998810e-01 -1.29639227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.454860624 meters 0.10051426894723886 Centerline is valid? [True, False] Translation: X:43.98, Y:-3.91, Z:-1.30 [[ 9.99997876e-01 1.32564005e-03 1.57815711e-03 4.39848627e+01] [-1.32480060e-03 9.99998980e-01 -5.32840041e-04 -3.91083499e+00] [-1.57886186e-03 5.30748166e-04 9.99998613e-01 -1.29624026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48486062399999 meters 0.09698859303293403 Centerline is valid? [False, True] Translation: X:43.99, Y:-3.91, Z:-1.30 [[ 9.99997963e-01 1.30566774e-03 1.53911518e-03 4.39851676e+01] [-1.30472039e-03 9.99998959e-01 -6.16355819e-04 -3.91023230e+00] [-1.53991833e-03 6.14346449e-04 9.99998626e-01 -1.29658232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.514860624 meters 0.09776602000339894 Centerline is valid? [True, True] Translation: X:44.02, Y:-3.91, Z:-1.30 [[ 9.99998521e-01 1.14159821e-03 1.28664384e-03 4.40156443e+01] [-1.14142146e-03 9.99999339e-01 -1.38098064e-04 -3.91369997e+00] [-1.28680065e-03 1.36629256e-04 9.99999163e-01 -1.29892226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.544860624 meters 0.10050250735558855 Centerline is valid? [True, False] Translation: X:44.02, Y:-3.91, Z:-1.30 [[ 9.99998580e-01 1.15621829e-03 1.22594719e-03 4.40160128e+01] [-1.15598527e-03 9.99999314e-01 -1.90762752e-04 -3.91316240e+00] [-1.22616691e-03 1.89345304e-04 9.99999230e-01 -1.29927449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.574860624 meters 0.0991124592397022 Centerline is valid? [False, True] Translation: X:44.02, Y:-3.91, Z:-1.30 [[ 9.99998667e-01 9.71623647e-04 1.31210133e-03 4.40158048e+01] [-9.71064854e-04 9.99999438e-01 -4.26446006e-04 -3.91250791e+00] [-1.31251494e-03 4.25171302e-04 9.99999048e-01 -1.29922363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.604860624 meters 0.09719829805046572 Centerline is valid? [True, True] Translation: X:44.05, Y:-3.91, Z:-1.30 [[ 9.99997748e-01 8.66755819e-04 1.93713120e-03 4.40462028e+01] [-8.66353407e-04 9.99999603e-01 -2.08565395e-04 -3.91238247e+00] [-1.93731121e-03 2.06886685e-04 9.99998102e-01 -1.29977416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.634860624 meters 0.10070467954942805 Centerline is valid? [True, False] Translation: X:44.05, Y:-3.91, Z:-1.30 [[ 9.99997766e-01 8.43614551e-04 1.93794721e-03 4.40462200e+01] [-8.43158820e-04 9.99999617e-01 -2.35966820e-04 -3.91224351e+00] [-1.93814553e-03 2.34332296e-04 9.99998094e-01 -1.29981928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.664860624 meters 0.10018413401805755 Centerline is valid? [False, False] Translation: X:44.05, Y:-3.91, Z:-1.30 [[ 9.99997686e-01 9.27605760e-04 1.94122988e-03 4.40464306e+01] [-9.27349013e-04 9.99999561e-01 -1.33155965e-04 -3.91225413e+00] [-1.94135254e-03 1.31355459e-04 9.99998107e-01 -1.30010903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.694860624 meters 0.09833823741628066 Centerline is valid? [False, True] Translation: X:44.05, Y:-3.91, Z:-1.30 [[ 9.99997795e-01 1.11311472e-03 1.78088983e-03 4.40469500e+01] [-1.11322451e-03 9.99999379e-01 6.06580573e-05 -3.91244988e+00] [-1.78082121e-03 -6.26404537e-05 9.99998412e-01 -1.30038129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.724860624 meters 0.09801464729043187 Centerline is valid? [True, True] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99998184e-01 9.50697038e-04 1.65191764e-03 4.40773437e+01] [-9.50397246e-04 9.99999532e-01 -1.82257147e-04 -3.91510859e+00] [-1.65209014e-03 1.80686838e-04 9.99998619e-01 -1.30119789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.754860624 meters 0.10698692689601859 Centerline is valid? [True, False] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99998249e-01 1.08223678e-03 1.52652394e-03 4.40777593e+01] [-1.08213886e-03 9.99999412e-01 -6.49658448e-05 -3.91516586e+00] [-1.52659335e-03 6.33138202e-05 9.99998833e-01 -1.30141914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.784860624 meters 0.10103443460223707 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.91, Z:-1.30 [[ 9.99998322e-01 9.84937412e-04 1.54461426e-03 4.40777115e+01] [-9.84670343e-04 9.99999500e-01 -1.73654212e-04 -3.91478698e+00] [-1.54478452e-03 1.72132984e-04 9.99998792e-01 -1.30141618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.814860624 meters 0.1041376115353154 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.91, Z:-1.30 [[ 9.99998536e-01 7.55059348e-04 1.53569566e-03 4.40774416e+01] [-7.54231949e-04 9.99999570e-01 -5.39285779e-04 -3.91421264e+00] [-1.53610219e-03 5.38126719e-04 9.99998675e-01 -1.30099407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84486062399999 meters 0.1041376115353154 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.91, Z:-1.30 [[ 9.99998536e-01 7.55059348e-04 1.53569566e-03 4.40774416e+01] [-7.54231949e-04 9.99999570e-01 -5.39285779e-04 -3.91421264e+00] [-1.53610219e-03 5.38126719e-04 9.99998675e-01 -1.30099407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.874860624 meters 0.10217727395286404 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.91, Z:-1.30 [[ 9.99998659e-01 7.54780922e-04 1.45333501e-03 4.40776069e+01] [-7.53908648e-04 9.99999535e-01 -6.00642369e-04 -3.91395494e+00] [-1.45378769e-03 5.99545882e-04 9.99998764e-01 -1.30100286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.904860624 meters 0.10138886968920108 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.91, Z:-1.30 [[ 9.99998666e-01 9.14624287e-04 1.35310231e-03 4.40781560e+01] [-9.13961910e-04 9.99999462e-01 -4.90062403e-04 -3.91373223e+00] [-1.35354980e-03 4.88825066e-04 9.99998964e-01 -1.30148625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.934860624 meters 0.10702010931704423 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.91, Z:-1.30 [[ 9.99998711e-01 1.10480392e-03 1.16508872e-03 4.40787970e+01] [-1.10439403e-03 9.99999328e-01 -3.52398753e-04 -3.91373505e+00] [-1.16547726e-03 3.51111582e-04 9.99999259e-01 -1.30183775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.964860624 meters 0.10073192398056682 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.91, Z:-1.30 [[ 9.99998783e-01 1.02754552e-03 1.17361518e-03 4.40787538e+01] [-1.02699552e-03 9.99999363e-01 -4.69144577e-04 -3.91351660e+00] [-1.17409650e-03 4.67938708e-04 9.99999201e-01 -1.30180824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.994860624 meters 0.1028266615863734 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.91, Z:-1.30 [[ 9.99998730e-01 1.24366060e-03 9.97123697e-04 4.40794213e+01] [-1.24339798e-03 9.99999192e-01 -2.63958706e-04 -3.91357932e+00] [-9.97451167e-04 2.62718549e-04 9.99999468e-01 -1.30225760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.024860624 meters 0.0997439017082501 Centerline is valid? [False, True] Translation: X:44.08, Y:-3.91, Z:-1.30 [[ 9.99998894e-01 1.09191569e-03 1.00933400e-03 4.40791745e+01] [-1.09141760e-03 9.99999282e-01 -4.93896290e-04 -3.91335750e+00] [-1.00987257e-03 4.92794139e-04 9.99999369e-01 -1.30194111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.054860624 meters 0.10086527135203954 Centerline is valid? [True, False] Translation: X:44.08, Y:-3.91, Z:-1.30 [[ 9.99998673e-01 1.35279386e-03 9.07693452e-04 4.40797438e+01] [-1.35263595e-03 9.99999070e-01 -1.74550290e-04 -3.91367647e+00] [-9.07928739e-04 1.73322280e-04 9.99999573e-01 -1.30244655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.084860624 meters 0.10064546736083844 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.91, Z:-1.30 [[ 9.99998611e-01 1.44364431e-03 8.33111737e-04 4.40799284e+01] [-1.44355653e-03 9.99998952e-01 -1.05946083e-04 -3.91381471e+00] [-8.33263813e-04 1.04743292e-04 9.99999647e-01 -1.30247655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.114860624 meters 0.10289041058620345 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.91, Z:-1.30 [[ 9.99998532e-01 1.47354295e-03 8.74786496e-04 4.40797244e+01] [-1.47356680e-03 9.99998914e-01 2.66228745e-05 -3.91435036e+00] [-8.74746316e-04 -2.79118917e-05 9.99999617e-01 -1.30231002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.144860624 meters 0.10260310194153278 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.91, Z:-1.30 [[ 9.99998570e-01 1.41588661e-03 9.24373814e-04 4.40794173e+01] [-1.41588708e-03 9.99998998e-01 -1.38445969e-07 -3.91471700e+00] [-9.24373084e-04 -1.17036317e-06 9.99999573e-01 -1.30199794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.174860624 meters 0.09862843726171576 Centerline is valid? [False, True] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99998497e-01 1.44175536e-03 9.62595309e-04 4.40791414e+01] [-1.44186297e-03 9.99998954e-01 1.11113384e-04 -3.91551044e+00] [-9.62434104e-04 -1.12501148e-04 9.99999531e-01 -1.30170134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.204860624 meters 0.10666047969551094 Centerline is valid? [True, False] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99998344e-01 1.53257296e-03 9.81762988e-04 4.40790693e+01] [-1.53286796e-03 9.99998780e-01 2.99801944e-04 -3.91633182e+00] [-9.81302322e-04 -3.01306361e-04 9.99999473e-01 -1.30164695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23486062399999 meters 0.09691633491893217 Centerline is valid? [False, True] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99997916e-01 1.68733699e-03 1.14966629e-03 4.40787197e+01] [-1.68819089e-03 9.99998300e-01 7.42174409e-04 -3.91801536e+00] [-1.14841203e-03 -7.44113718e-04 9.99999064e-01 -1.30161094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.264860624 meters 0.10446152534985162 Centerline is valid? [True, False] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99997830e-01 1.77880280e-03 1.08443897e-03 4.40788273e+01] [-1.77975998e-03 9.99998027e-01 8.82322136e-04 -3.91856236e+00] [-1.08286735e-03 -8.84250262e-04 9.99999023e-01 -1.30156066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.294860624 meters 0.0979724969215313 Centerline is valid? [False, True] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99997849e-01 1.71257484e-03 1.17044632e-03 4.40784747e+01] [-1.71362054e-03 9.99998133e-01 8.93006024e-04 -3.91895474e+00] [-1.16891480e-03 -8.95009803e-04 9.99998916e-01 -1.30130577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.324860624 meters 0.10203017710032454 Centerline is valid? [True, False] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99997724e-01 1.79888603e-03 1.14720582e-03 4.40785093e+01] [-1.80010493e-03 9.99997816e-01 1.06235590e-03 -3.91956966e+00] [-1.14529226e-03 -1.06441857e-03 9.99998778e-01 -1.30128496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.354860624 meters 0.10130534896810942 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99997268e-01 1.91659069e-03 1.33782130e-03 4.40781201e+01] [-1.91860202e-03 9.99997029e-01 1.50377567e-03 -3.92141287e+00] [-1.33493521e-03 -1.50633831e-03 9.99997974e-01 -1.30121750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.384860624 meters 0.10256525986602022 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99997139e-01 1.87824751e-03 1.48146654e-03 4.40777237e+01] [-1.88064878e-03 9.99996918e-01 1.62115431e-03 -3.92210951e+00] [-1.47841704e-03 -1.62393579e-03 9.99997589e-01 -1.30109268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.414860624 meters 0.10310293869852116 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99997069e-01 1.82725901e-03 1.58831644e-03 4.40773294e+01] [-1.82992466e-03 9.99996917e-01 1.67845594e-03 -3.92278736e+00] [-1.58524457e-03 -1.68135752e-03 9.99997330e-01 -1.30083290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.444860624 meters 0.10550149162947026 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99996803e-01 1.95947516e-03 1.59815818e-03 4.40774385e+01] [-1.96248698e-03 9.99996297e-01 1.88517014e-03 -3.92348553e+00] [-1.59445832e-03 -1.88830048e-03 9.99996946e-01 -1.30094904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.474860624 meters 0.1086111270935436 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99997169e-01 1.78583984e-03 1.57264796e-03 4.40772792e+01] [-1.78838561e-03 9.99997090e-01 1.61886382e-03 -3.92303691e+00] [-1.56975236e-03 -1.62167174e-03 9.99997453e-01 -1.30065196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.504860624 meters 0.10125177922619608 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99997324e-01 1.80271837e-03 1.45018090e-03 4.40776266e+01] [-1.80494699e-03 9.99997190e-01 1.53695406e-03 -3.92262951e+00] [-1.44740613e-03 -1.53956745e-03 9.99997767e-01 -1.30076601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.534860624 meters 0.10457620303305418 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99997546e-01 1.77482591e-03 1.32569069e-03 4.40778849e+01] [-1.77666130e-03 9.99997463e-01 1.38458920e-03 -3.92219309e+00] [-1.32322993e-03 -1.38694111e-03 9.99998163e-01 -1.30074658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.564860624 meters 0.10284246373212169 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99997837e-01 1.72455053e-03 1.16242734e-03 4.40780451e+01] [-1.72587063e-03 9.99997866e-01 1.13559538e-03 -3.92183555e+00] [-1.16046647e-03 -1.13759912e-03 9.99998680e-01 -1.30049649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59486062399999 meters 0.10499605196514114 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99997856e-01 1.80136566e-03 1.02099986e-03 4.40784778e+01] [-1.80251006e-03 9.99997747e-01 1.12105736e-03 -3.92151232e+00] [-1.01897812e-03 -1.12289532e-03 9.99998850e-01 -1.30069183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.624860624 meters 0.10598799321980189 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99998238e-01 1.63893601e-03 9.15404114e-04 4.40784826e+01] [-1.63964874e-03 9.99998353e-01 7.78392523e-04 -3.92074714e+00] [-9.14126870e-04 -7.79892093e-04 9.99999278e-01 -1.30036738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.654860624 meters 0.10481698983835495 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99998570e-01 1.45209650e-03 8.67012228e-04 4.40782884e+01] [-1.45250169e-03 9.99998836e-01 4.66889964e-04 -3.92024363e+00] [-8.66333250e-04 -4.68148633e-04 9.99999515e-01 -1.29995211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.684860624 meters 0.10348971270777606 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99998632e-01 1.45996704e-03 7.77906897e-04 4.40784694e+01] [-1.46028207e-03 9.99998852e-01 4.04552941e-04 -3.92003511e+00] [-7.77315370e-04 -4.05688351e-04 9.99999616e-01 -1.29992276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.714860624 meters 0.10151371513591462 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99998773e-01 1.33521097e-03 8.19058655e-04 4.40782087e+01] [-1.33543024e-03 9.99999073e-01 2.67225156e-04 -3.91995512e+00] [-8.18701094e-04 -2.68318624e-04 9.99999629e-01 -1.29968646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.744860624 meters 0.10287709406733288 Centerline is valid? [False, False] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99998673e-01 1.44432077e-03 7.53351635e-04 4.40782929e+01] [-1.44464178e-03 9.99998866e-01 4.25736981e-04 -3.92054403e+00] [-7.52735880e-04 -4.26824739e-04 9.99999626e-01 -1.29962302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.774860624 meters 0.09740616372755162 Centerline is valid? [False, True] Translation: X:44.08, Y:-3.92, Z:-1.30 [[ 9.99998168e-01 1.79521435e-03 6.64592548e-04 4.40788099e+01] [-1.79582430e-03 9.99997966e-01 9.18318230e-04 -3.92152476e+00] [-6.62942618e-04 -9.19510038e-04 9.99999358e-01 -1.30008975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.804860624 meters 0.0970511478210397 Centerline is valid? [True, True] Translation: X:44.11, Y:-3.92, Z:-1.30 [[ 9.99998516e-01 1.71848909e-03 1.24896395e-04 4.41094146e+01] [-1.71848736e-03 9.99998523e-01 -1.39413474e-05 -3.92473760e+00] [-1.24920168e-04 1.37266938e-05 9.99999992e-01 -1.30030215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.834860624 meters 0.0974298278317762 Centerline is valid? [True, True] Translation: X:44.14, Y:-3.93, Z:-1.30 [[ 9.99998661e-01 1.57363403e-03 -4.49072170e-04 4.41390641e+01] [-1.57361200e-03 9.99998761e-01 4.94034259e-05 -3.92971589e+00] [ 4.49149357e-04 -4.86966944e-05 9.99999898e-01 -1.30176425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.864860624 meters 0.09851402272756375 Centerline is valid? [True, True] Translation: X:44.17, Y:-3.94, Z:-1.30 [[ 9.99999079e-01 1.30092275e-03 -3.85908769e-04 4.41676022e+01] [-1.30090651e-03 9.99999153e-01 4.23472056e-05 -3.93557996e+00] [ 3.85963533e-04 -4.18451354e-05 9.99999925e-01 -1.30262744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.894860624 meters 0.09719802512917933 Centerline is valid? [True, True] Translation: X:44.20, Y:-3.94, Z:-1.30 [[ 9.99999065e-01 1.31338113e-03 -3.80447718e-04 4.41967674e+01] [-1.31336536e-03 9.99999137e-01 4.17179140e-05 -3.93724610e+00] [ 3.80502181e-04 -4.12182082e-05 9.99999927e-01 -1.30296851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.924860624 meters 0.09991130195225842 Centerline is valid? [True, True] Translation: X:44.22, Y:-3.95, Z:-1.30 [[ 9.99999595e-01 -4.28856914e-04 -7.91774650e-04 4.42247150e+01] [ 4.28926382e-04 9.99999904e-01 8.75690803e-05 -3.94715988e+00] [ 7.91737020e-04 -8.79086579e-05 9.99999683e-01 -1.30446579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.954860624 meters 0.09829298368088188 Centerline is valid? [True, True] Translation: X:44.25, Y:-3.95, Z:-1.30 [[ 9.99999317e-01 -1.16698221e-03 -5.82870192e-05 4.42547607e+01] [ 1.16698257e-03 9.99999319e-01 6.14182306e-06 -3.94833788e+00] [ 5.82798121e-05 -6.20983881e-06 9.99999998e-01 -1.30453840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98486062399999 meters 0.10078436978273804 Centerline is valid? [True, False] Translation: X:44.26, Y:-3.95, Z:-1.31 [[ 9.99999636e-01 -8.52436353e-04 -3.43723185e-05 4.42550711e+01] [ 8.52454780e-04 9.99999491e-01 5.39718302e-04 -3.94949338e+00] [ 3.39122255e-05 -5.39747406e-04 9.99999854e-01 -1.30504279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.014860624 meters 0.10364494715983345 Centerline is valid? [False, False] Translation: X:44.25, Y:-3.95, Z:-1.31 [[ 9.99999701e-01 -7.72276527e-04 5.04053420e-05 4.42548857e+01] [ 7.72235508e-04 9.99999375e-01 8.08791039e-04 -3.95048406e+00] [-5.10299209e-05 -8.08751872e-04 9.99999672e-01 -1.30503632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.044860624 meters 0.10420975647619951 Centerline is valid? [False, False] Translation: X:44.26, Y:-3.95, Z:-1.31 [[ 9.99999903e-01 -4.40053405e-04 3.64701632e-05 4.42553459e+01] [ 4.40003438e-04 9.99998980e-01 1.35895312e-03 -3.95151336e+00] [-3.70681379e-05 -1.35893694e-03 9.99999076e-01 -1.30564622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.074860624 meters 0.10604523697940614 Centerline is valid? [False, False] Translation: X:44.25, Y:-3.95, Z:-1.31 [[ 9.99999888e-01 -4.41395292e-04 1.72744893e-04 4.42549861e+01] [ 4.41123427e-04 9.99998669e-01 1.57068244e-03 -3.95252888e+00] [-1.73437955e-04 -1.57060606e-03 9.99998752e-01 -1.30550253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.104860624 meters 0.10772377301564502 Centerline is valid? [False, False] Translation: X:44.25, Y:-3.95, Z:-1.31 [[ 9.99999796e-01 -5.74034736e-04 2.81375002e-04 4.42546002e+01] [ 5.73623849e-04 9.99998772e-01 1.45819603e-03 -3.95260342e+00] [-2.82211712e-04 -1.45803433e-03 9.99998897e-01 -1.30527442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.134860624 meters 0.1055436102433617 Centerline is valid? [False, False] Translation: X:44.25, Y:-3.95, Z:-1.31 [[ 9.99999828e-01 -5.30793675e-04 2.48762677e-04 4.42546514e+01] [ 5.30411755e-04 9.99998685e-01 1.53283860e-03 -3.95298688e+00] [-2.49575970e-04 -1.53270639e-03 9.99998794e-01 -1.30526423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.164860624 meters 0.1043231007108484 Centerline is valid? [False, False] Translation: X:44.25, Y:-3.95, Z:-1.31 [[ 9.99999855e-01 -5.07782773e-04 1.78039277e-04 4.42547950e+01] [ 5.07509634e-04 9.99998699e-01 1.53085347e-03 -3.95297114e+00] [-1.78816386e-04 -1.53076290e-03 9.99998812e-01 -1.30525403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.194860624 meters 0.1066827671964326 Centerline is valid? [False, False] Translation: X:44.26, Y:-3.95, Z:-1.31 [[ 9.99999922e-01 -3.86343145e-04 7.70845721e-05 4.42550786e+01] [ 3.86214926e-04 9.99998553e-01 1.65649489e-03 -3.95325190e+00] [-7.77244360e-05 -1.65646499e-03 9.99998625e-01 -1.30533387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.224860624 meters 0.11220628295505064 Centerline is valid? [False, False] Translation: X:44.25, Y:-3.95, Z:-1.31 [[ 9.99999916e-01 -3.54107423e-04 2.05279617e-04 4.42546444e+01] [ 3.53722765e-04 9.99998187e-01 1.87084592e-03 -3.95413175e+00] [-2.05941726e-04 -1.87077316e-03 9.99998229e-01 -1.30506165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.254860624 meters 0.10158458258535151 Centerline is valid? [False, False] Translation: X:44.25, Y:-3.95, Z:-1.30 [[ 9.99999857e-01 -4.63666310e-04 2.68210334e-04 4.42542360e+01] [ 4.63181115e-04 9.99998261e-01 1.80625213e-03 -3.95444582e+00] [-2.69047366e-04 -1.80612764e-03 9.99998333e-01 -1.30467030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.284860624 meters 0.1026969398200136 Centerline is valid? [False, False] Translation: X:44.25, Y:-3.95, Z:-1.30 [[ 9.99999855e-01 -4.47219955e-04 2.98980806e-04 4.42541450e+01] [ 4.46654103e-04 9.99998114e-01 1.88999845e-03 -3.95493366e+00] [-2.99825488e-04 -1.88986464e-03 9.99998169e-01 -1.30463284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.314860624 meters 0.10447892856386287 Centerline is valid? [False, False] Translation: X:44.25, Y:-3.96, Z:-1.30 [[ 9.99999938e-01 -2.38353018e-04 2.58483809e-04 4.42543881e+01] [ 2.37783814e-04 9.99997552e-01 2.19988478e-03 -3.95572527e+00] [-2.59007525e-04 -2.19982318e-03 9.99997547e-01 -1.30484761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34486062399999 meters 0.10584404659736077 Centerline is valid? [False, False] Translation: X:44.25, Y:-3.96, Z:-1.30 [[ 9.99999830e-01 -2.29100853e-04 5.37044660e-04 4.42535696e+01] [ 2.27727748e-04 9.99996709e-01 2.55544851e-03 -3.95753648e+00] [-5.37628348e-04 -2.55532577e-03 9.99996591e-01 -1.30447220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.374860624 meters 0.10823891231480029 Centerline is valid? [False, False] Translation: X:44.25, Y:-3.96, Z:-1.30 [[ 9.99999755e-01 -2.28127109e-04 6.62055895e-04 4.42531407e+01] [ 2.26330803e-04 9.99996297e-01 2.71203066e-03 -3.95843973e+00] [-6.62672131e-04 -2.71188015e-03 9.99996103e-01 -1.30420209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.404860624 meters 0.10864192907727752 Centerline is valid? [False, False] Translation: X:44.25, Y:-3.96, Z:-1.30 [[ 9.99999770e-01 -4.54136104e-05 6.76466879e-04 4.42530988e+01] [ 4.33172633e-05 9.99995198e-01 3.09865727e-03 -3.95967122e+00] [-6.76604352e-04 -3.09862726e-03 9.99994970e-01 -1.30419878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.434860624 meters 0.11129164850615982 Centerline is valid? [False, False] Translation: X:44.25, Y:-3.96, Z:-1.30 [[ 9.99999619e-01 3.85760233e-05 8.72002693e-04 4.42525991e+01] [-4.16274237e-05 9.99993876e-01 3.49955436e-03 -3.96134872e+00] [-8.71862354e-04 -3.49958933e-03 9.99993496e-01 -1.30401122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.464860624 meters 0.11268396565112315 Centerline is valid? [False, False] Translation: X:44.25, Y:-3.96, Z:-1.30 [[ 9.99999614e-01 8.12340183e-05 8.74446397e-04 4.42524595e+01] [-8.44204193e-05 9.99993355e-01 3.64448666e-03 -3.96206725e+00] [-8.74144531e-04 -3.64455908e-03 9.99992977e-01 -1.30383159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.494860624 meters 0.11081322246098063 Centerline is valid? [False, False] Translation: X:44.25, Y:-3.96, Z:-1.30 [[ 9.99999582e-01 1.39463679e-04 9.03703947e-04 4.42524200e+01] [-1.42892166e-04 9.99992789e-01 3.79486357e-03 -3.96257313e+00] [-9.03168185e-04 -3.79499111e-03 9.99992391e-01 -1.30386638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.524860624 meters 0.11513998075226951 Centerline is valid? [False, False] Translation: X:44.25, Y:-3.96, Z:-1.30 [[ 9.99999515e-01 2.62624066e-04 9.49160141e-04 4.42521967e+01] [-2.66496634e-04 9.99991632e-01 4.08217407e-03 -3.96385146e+00] [-9.48080122e-04 -4.08242504e-03 9.99991217e-01 -1.30368829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.554860624 meters 0.11625527077647224 Centerline is valid? [False, False] Translation: X:44.25, Y:-3.96, Z:-1.30 [[ 9.99995165e-01 -3.10683170e-03 1.33255304e-04 4.42546394e+01] [ 3.10677134e-03 9.99995072e-01 4.50804319e-04 -3.96359744e+00] [-1.34655220e-04 -4.50388145e-04 9.99999890e-01 -1.30490767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.584860624 meters 0.11731690270175799 Centerline is valid? [False, False] Translation: X:44.25, Y:-3.96, Z:-1.31 [[ 9.99995758e-01 -2.91198604e-03 6.38666280e-05 4.42548782e+01] [ 2.91193980e-03 9.99995506e-01 7.12551111e-04 -3.96418197e+00] [-6.59412799e-05 -7.12362113e-04 9.99999744e-01 -1.30505594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.614860624 meters 0.11689964249155783 Centerline is valid? [False, False] Translation: X:44.26, Y:-3.96, Z:-1.31 [[ 9.99996540e-01 -2.63059016e-03 -2.78544456e-05 4.42554226e+01] [ 2.63061880e-03 9.99995953e-01 1.08384272e-03 -3.96470306e+00] [ 2.50031869e-05 -1.08391224e-03 9.99999412e-01 -1.30556983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.644860624 meters 0.11262585093974467 Centerline is valid? [False, False] Translation: X:44.26, Y:-3.96, Z:-1.31 [[ 9.99996164e-01 -2.76475669e-03 -1.67153734e-04 4.42553525e+01] [ 2.76488747e-03 9.99995868e-01 7.87311306e-04 -3.96424394e+00] [ 1.64976319e-04 -7.87770447e-04 9.99999676e-01 -1.30507061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.674860624 meters 0.10422345451322446 Centerline is valid? [False, False] Translation: X:44.26, Y:-3.96, Z:-1.31 [[ 9.99996969e-01 -2.43597811e-03 -3.57706872e-04 4.42561180e+01] [ 2.43639657e-03 9.99996343e-01 1.17409775e-03 -3.96468565e+00] [ 3.54845487e-04 -1.17496570e-03 9.99999247e-01 -1.30561754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.704860624 meters 0.10467727032063258 Centerline is valid? [False, False] Translation: X:44.26, Y:-3.96, Z:-1.31 [[ 9.99996826e-01 -2.48059882e-03 -4.41216207e-04 4.42562311e+01] [ 2.48106650e-03 9.99996358e-01 1.06261455e-03 -3.96443013e+00] [ 4.38578679e-04 -1.06370587e-03 9.99999338e-01 -1.30554665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73486062399999 meters 0.10467727032063258 Centerline is valid? [False, False] Translation: X:44.26, Y:-3.96, Z:-1.31 [[ 9.99996826e-01 -2.48059882e-03 -4.41216207e-04 4.42562311e+01] [ 2.48106650e-03 9.99996358e-01 1.06261455e-03 -3.96443013e+00] [ 4.38578679e-04 -1.06370587e-03 9.99999338e-01 -1.30554665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.764860624 meters 0.10413600942161043 Centerline is valid? [False, False] Translation: X:44.26, Y:-3.96, Z:-1.31 [[ 9.99997121e-01 -2.33000678e-03 -5.74313207e-04 4.42565803e+01] [ 2.33070531e-03 9.99996541e-01 1.21864703e-03 -3.96469267e+00] [ 5.71471765e-04 -1.21998207e-03 9.99999093e-01 -1.30567211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.794860624 meters 0.10018493684544905 Centerline is valid? [False, False] Translation: X:44.26, Y:-3.96, Z:-1.31 [[ 9.99997242e-01 -2.23741173e-03 -7.14219308e-04 4.42566745e+01] [ 2.23829003e-03 9.99996737e-01 1.23131746e-03 -3.96498391e+00] [ 7.11462013e-04 -1.23291269e-03 9.99998987e-01 -1.30541735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.824860624 meters 0.10242072946279643 Centerline is valid? [False, False] Translation: X:44.26, Y:-3.97, Z:-1.31 [[ 9.99997634e-01 -1.98036114e-03 -9.00256300e-04 4.42572694e+01] [ 1.98167823e-03 9.99996964e-01 1.46448074e-03 -3.96531806e+00] [ 8.97353366e-04 -1.46626130e-03 9.99998522e-01 -1.30570923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.854860624 meters 0.10618765979844261 Centerline is valid? [False, False] Translation: X:44.26, Y:-3.96, Z:-1.31 [[ 9.99997459e-01 -2.06059847e-03 -9.14133607e-04 4.42572125e+01] [ 2.06178671e-03 9.99997028e-01 1.30081700e-03 -3.96499086e+00] [ 9.11450429e-04 -1.30269844e-03 9.99998736e-01 -1.30559147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.884860624 meters 0.10703903232430599 Centerline is valid? [False, False] Translation: X:44.26, Y:-3.96, Z:-1.31 [[ 9.99997448e-01 -1.93866239e-03 -1.15961110e-03 4.42577270e+01] [ 1.94017153e-03 9.99997271e-01 1.30171329e-03 -3.96477505e+00] [ 1.15708435e-03 -1.30395982e-03 9.99998480e-01 -1.30561791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.914860624 meters 0.10651668485652188 Centerline is valid? [False, False] Translation: X:44.26, Y:-3.96, Z:-1.31 [[ 9.99997713e-01 -1.63639150e-03 -1.37697177e-03 4.42585578e+01] [ 1.63860878e-03 9.99997360e-01 1.61067421e-03 -3.96492660e+00] [ 1.37433244e-03 -1.61292684e-03 9.99997755e-01 -1.30615903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.944860624 meters 0.10607560664051613 Centerline is valid? [False, False] Translation: X:44.26, Y:-3.96, Z:-1.31 [[ 9.99997555e-01 -1.68297163e-03 -1.43472741e-03 4.42585439e+01] [ 1.68512196e-03 9.99997457e-01 1.49888119e-03 -3.96484632e+00] [ 1.43220119e-03 -1.50129521e-03 9.99997847e-01 -1.30597174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.974860624 meters 0.09969245337727133 Centerline is valid? [False, True] Translation: X:44.26, Y:-3.97, Z:-1.31 [[ 9.99997937e-01 -1.25446284e-03 -1.59736871e-03 4.42593380e+01] [ 1.25768474e-03 9.99997174e-01 2.01759606e-03 -3.96565095e+00] [ 1.59483319e-03 -2.01960088e-03 9.99996689e-01 -1.30660326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.004860624 meters 0.10674582987887346 Centerline is valid? [True, False] Translation: X:44.26, Y:-3.97, Z:-1.31 [[ 9.99998017e-01 -1.14457670e-03 -1.62999846e-03 4.42592561e+01] [ 1.14812525e-03 9.99996970e-01 2.17776005e-03 -3.96650579e+00] [ 1.62750090e-03 -2.17962717e-03 9.99996300e-01 -1.30638717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.034860624 meters 0.09773562321766374 Centerline is valid? [False, True] Translation: X:44.26, Y:-3.97, Z:-1.31 [[ 9.99997898e-01 -1.18654186e-03 -1.67196055e-03 4.42591646e+01] [ 1.19009431e-03 9.99997033e-01 2.12533507e-03 -3.96665951e+00] [ 1.66943379e-03 -2.12732039e-03 9.99996344e-01 -1.30613049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.064860624 meters 0.0980333987455407 Centerline is valid? [True, True] Translation: X:44.29, Y:-3.97, Z:-1.31 [[ 9.99996984e-01 -1.21504475e-03 -2.13462595e-03 4.42893833e+01] [ 1.21555884e-03 9.99999233e-01 2.39554286e-04 -3.97021982e+00] [ 2.13433324e-03 -2.42148327e-04 9.99997693e-01 -1.30645845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09486062399999 meters 0.09812119822701683 Centerline is valid? [True, True] Translation: X:44.32, Y:-3.97, Z:-1.31 [[ 9.99996032e-01 -1.74809601e-03 -2.20922522e-03 4.43190554e+01] [ 1.74864811e-03 9.99998440e-01 2.48000191e-04 -3.97426618e+00] [ 2.20878825e-03 -2.51862364e-04 9.99997529e-01 -1.30690932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.124860624 meters 0.09854103058384797 Centerline is valid? [True, True] Translation: X:44.35, Y:-3.98, Z:-1.31 [[ 9.99994158e-01 -2.73529816e-03 -2.04981788e-03 4.43488656e+01] [ 2.73577538e-03 9.99996231e-01 2.30043510e-04 -3.98048070e+00] [ 2.04918091e-03 -2.35650007e-04 9.99997873e-01 -1.30737023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.154860624 meters 0.101005087249278 Centerline is valid? [True, False] Translation: X:44.35, Y:-3.98, Z:-1.31 [[ 9.99995353e-01 -2.29725374e-03 -2.00402545e-03 4.43490303e+01] [ 2.29928668e-03 9.99996844e-01 1.01271367e-03 -3.98252274e+00] [ 2.00169267e-03 -1.01731679e-03 9.99997479e-01 -1.30774228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.184860624 meters 0.09858793795526749 Centerline is valid? [False, True] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99996437e-01 -2.07431537e-03 -1.68025654e-03 4.43484001e+01] [ 2.07727808e-03 9.99996288e-01 1.76342312e-03 -3.98532834e+00] [ 1.67659241e-03 -1.76690720e-03 9.99997034e-01 -1.30772050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.214860624 meters 0.10688878620221286 Centerline is valid? [True, False] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99997208e-01 -1.62740138e-03 -1.71340877e-03 4.43488797e+01] [ 1.63164606e-03 9.99995596e-01 2.47885337e-03 -3.98692616e+00] [ 1.70936713e-03 -2.48164213e-03 9.99995460e-01 -1.30825204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.244860624 meters 0.1063819804570831 Centerline is valid? [False, False] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99997504e-01 -1.60329169e-03 -1.55606872e-03 4.43485271e+01] [ 1.60743660e-03 9.99995154e-01 2.66611567e-03 -3.98779995e+00] [ 1.55178662e-03 -2.66861029e-03 9.99995235e-01 -1.30817074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.274860624 meters 0.10021606357136834 Centerline is valid? [False, False] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99997790e-01 -1.67143780e-03 -1.27539865e-03 4.43477164e+01] [ 1.67514710e-03 9.99994355e-01 2.91283576e-03 -3.98925208e+00] [ 1.27052283e-03 -2.91496580e-03 9.99994944e-01 -1.30777125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.304860624 meters 0.10384815935894956 Centerline is valid? [False, False] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99998171e-01 -1.48991877e-03 -1.19914204e-03 4.43477971e+01] [ 1.49381997e-03 9.99993574e-01 3.25902662e-03 -3.99010344e+00] [ 1.19427865e-03 -3.26081196e-03 9.99993970e-01 -1.30808353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.334860624 meters 0.10321232807549735 Centerline is valid? [False, False] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99998133e-01 -1.55846870e-03 -1.14231009e-03 4.43474374e+01] [ 1.56217876e-03 9.99993485e-01 3.25418594e-03 -3.99056909e+00] [ 1.13723110e-03 -3.25596436e-03 9.99994053e-01 -1.30771791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.364860624 meters 0.10173231869716952 Centerline is valid? [False, False] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99998299e-01 -1.51315186e-03 -1.05439848e-03 4.43472301e+01] [ 1.51676940e-03 9.99992938e-01 3.43858807e-03 -3.99130789e+00] [ 1.04918793e-03 -3.44018150e-03 9.99993532e-01 -1.30767178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.394860624 meters 0.1040054798710519 Centerline is valid? [False, False] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99998803e-01 -1.27401733e-03 -8.78287833e-04 4.43469142e+01] [ 1.27757087e-03 9.99990953e-01 4.05736814e-03 -3.99323731e+00] [ 8.73110730e-04 -4.05848536e-03 9.99991383e-01 -1.30767842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.424860624 meters 0.10333241157528363 Centerline is valid? [False, False] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99998683e-01 -1.40423915e-03 -8.13155576e-04 4.43465042e+01] [ 1.40744003e-03 9.99991211e-01 3.94925613e-03 -3.99338598e+00] [ 8.07602730e-04 -3.95039540e-03 9.99991871e-01 -1.30728092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.454860624 meters 0.10480915346950284 Centerline is valid? [False, False] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99998648e-01 -1.39964643e-03 -8.63586040e-04 4.43466206e+01] [ 1.40303830e-03 9.99991255e-01 3.93963304e-03 -3.99336307e+00] [ 8.58064394e-04 -3.94083936e-03 9.99991867e-01 -1.30728006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48486062399999 meters 0.10441910848890334 Centerline is valid? [False, False] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99998353e-01 -1.55842020e-03 -9.30061438e-04 4.43464392e+01] [ 1.56184443e-03 9.99991963e-01 3.69242873e-03 -3.99310302e+00] [ 9.24299608e-04 -3.69387526e-03 9.99992750e-01 -1.30683982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.514860624 meters 0.10434528845631122 Centerline is valid? [False, False] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99998228e-01 -1.62052911e-03 -9.57820982e-04 4.43463799e+01] [ 1.62394377e-03 9.99992291e-01 3.57506879e-03 -3.99298313e+00] [ 9.52020095e-04 -3.57661790e-03 9.99993151e-01 -1.30669902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.544860624 meters 0.10758731497826611 Centerline is valid? [False, False] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99998522e-01 -1.37675371e-03 -1.03007262e-03 4.43468703e+01] [ 1.38077342e-03 9.99991395e-01 3.91187945e-03 -3.99343376e+00] [ 1.02467806e-03 -3.91329596e-03 9.99991818e-01 -1.30719069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.574860624 meters 0.1013635283837031 Centerline is valid? [False, False] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99998507e-01 -1.31578141e-03 -1.12016164e-03 4.43471150e+01] [ 1.32016410e-03 9.99991442e-01 3.92084637e-03 -3.99337369e+00] [ 1.11499307e-03 -3.92231931e-03 9.99991686e-01 -1.30726563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.604860624 meters 0.10029649036545722 Centerline is valid? [False, False] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99998382e-01 -1.38748577e-03 -1.14458189e-03 4.43470298e+01] [ 1.39180621e-03 9.99991877e-01 3.78256813e-03 -3.99332687e+00] [ 1.13932433e-03 -3.78415505e-03 9.99992191e-01 -1.30705904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.634860624 meters 0.1020616423084041 Centerline is valid? [False, False] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99998265e-01 -1.32584686e-03 -1.30824288e-03 4.43473416e+01] [ 1.33071893e-03 9.99992157e-01 3.73031711e-03 -3.99320708e+00] [ 1.30328679e-03 -3.73205154e-03 9.99992187e-01 -1.30705929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.664860624 meters 0.10084715485286976 Centerline is valid? [False, False] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99997870e-01 -1.47079959e-03 -1.44781239e-03 4.43474711e+01] [ 1.47572891e-03 9.99993099e-01 3.40950665e-03 -3.99248993e+00] [ 1.44278770e-03 -3.41163597e-03 9.99993140e-01 -1.30684797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.694860624 meters 0.10075100771740174 Centerline is valid? [False, False] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99997553e-01 -1.51778471e-03 -1.60915252e-03 4.43478896e+01] [ 1.52282369e-03 9.99993927e-01 3.13486023e-03 -3.99167481e+00] [ 1.60438471e-03 -3.13730302e-03 9.99993792e-01 -1.30692955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.724860624 meters 0.09959997624370977 Centerline is valid? [False, True] Translation: X:44.35, Y:-3.99, Z:-1.31 [[ 9.99997266e-01 -1.50166482e-03 -1.79223762e-03 4.43483513e+01] [ 1.50697453e-03 9.99994469e-01 2.96495147e-03 -3.99101918e+00] [ 1.78777535e-03 -2.96764423e-03 9.99993998e-01 -1.30704138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.754860624 meters 0.09894909995975189 Centerline is valid? [True, True] Translation: X:44.38, Y:-3.99, Z:-1.31 [[ 9.99996039e-01 1.37821429e-03 -2.45401632e-03 4.43788173e+01] [-1.37753043e-03 9.99999012e-01 2.80340355e-04 -3.99201562e+00] [ 2.45440027e-03 -2.76958762e-04 9.99996950e-01 -1.30750443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.784860624 meters 0.09955797979456481 Centerline is valid? [True, True] Translation: X:44.41, Y:-4.00, Z:-1.31 [[ 9.99993976e-01 2.70182804e-03 -2.17902894e-03 4.44076053e+01] [-2.70129366e-03 9.99996321e-01 2.48141926e-04 -3.99647765e+00] [ 2.17969136e-03 -2.42254235e-04 9.99997595e-01 -1.30875102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.814860624 meters 0.0998808289139204 Centerline is valid? [True, True] Translation: X:44.44, Y:-4.00, Z:-1.31 [[ 9.99989094e-01 4.30685128e-03 -1.80627780e-03 4.44375989e+01] [-4.30648627e-03 9.99990706e-01 2.05923070e-04 -4.00001602e+00] [ 1.80714789e-03 -1.98142114e-04 9.99998347e-01 -1.31003191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84486062399999 meters 0.09556611402913767 Centerline is valid? [True, True] Translation: X:44.47, Y:-4.00, Z:-1.31 [[ 9.99984678e-01 5.01470009e-03 -2.34458400e-03 4.44669748e+01] [-5.01408993e-03 9.99987394e-01 2.66046592e-04 -3.99534406e+00] [ 2.34588859e-03 -2.54286560e-04 9.99997216e-01 -1.30857932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.874860624 meters 0.09477679859689779 Centerline is valid? [True, True] Translation: X:44.50, Y:-4.00, Z:-1.31 [[ 9.99984189e-01 5.33881425e-03 -1.76600079e-03 4.44956099e+01] [-5.33846949e-03 9.99985730e-01 1.99876950e-04 -3.99677496e+00] [ 1.76704269e-03 -1.90446048e-04 9.99998421e-01 -1.30878348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.904860624 meters 0.09600407739188323 Centerline is valid? [True, True] Translation: X:44.52, Y:-4.00, Z:-1.31 [[ 9.99981781e-01 5.73332647e-03 -1.88837915e-03 4.45228359e+01] [-5.73293378e-03 9.99983544e-01 2.13298087e-04 -4.00118659e+00] [ 1.88957098e-03 -2.02468249e-04 9.99998194e-01 -1.31020246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.934860624 meters 0.093018049111107 Centerline is valid? [True, True] Translation: X:44.55, Y:-4.00, Z:-1.31 [[ 9.99979945e-01 6.07443419e-03 -1.79172435e-03 4.45523362e+01] [-6.07408097e-03 9.99981532e-01 2.02518052e-04 -3.99872982e+00] [ 1.79292145e-03 -1.91630912e-04 9.99998374e-01 -1.30992181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.964860624 meters 0.09501680232875973 Centerline is valid? [True, True] Translation: X:44.58, Y:-4.01, Z:-1.31 [[ 9.99982263e-01 5.38603114e-03 -2.54232155e-03 4.45806970e+01] [-5.38531531e-03 9.99985458e-01 2.88329002e-04 -4.00534482e+00] [ 2.54383753e-03 -2.74632685e-04 9.99996727e-01 -1.31150152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.994860624 meters 0.09576053749776645 Centerline is valid? [True, True] Translation: X:44.61, Y:-4.01, Z:-1.31 [[ 9.99982635e-01 5.14990989e-03 -2.86505711e-03 4.46096405e+01] [-5.14900105e-03 9.99986691e-01 3.24501466e-04 -4.00941510e+00] [ 2.86669013e-03 -3.09743649e-04 9.99995843e-01 -1.31353386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.024860624 meters 0.09643384830328551 Centerline is valid? [True, True] Translation: X:44.64, Y:-4.01, Z:-1.31 [[ 9.99982405e-01 4.72823821e-03 -3.58231942e-03 4.46383078e+01] [-4.72681409e-03 9.99988746e-01 4.05904339e-04 -4.01348861e+00] [ 3.58419832e-03 -3.88964239e-04 9.99993501e-01 -1.31451868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.054860624 meters 0.09490477724917051 Centerline is valid? [True, True] Translation: X:44.67, Y:-4.01, Z:-1.31 [[ 9.99985766e-01 4.34644769e-03 -3.09459327e-03 4.46675913e+01] [-4.34538453e-03 9.99990497e-01 3.50196765e-04 -4.01242286e+00] [ 3.09608597e-03 -3.36744582e-04 9.99995150e-01 -1.31430783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.084860624 meters 0.09594916515321635 Centerline is valid? [True, True] Translation: X:44.70, Y:-4.02, Z:-1.32 [[ 9.99983454e-01 4.62546509e-03 -3.42008087e-03 4.46954657e+01] [-4.62416984e-03 9.99989234e-01 3.86529231e-04 -4.01656287e+00] [ 3.42183193e-03 -3.70707800e-04 9.99994077e-01 -1.31511001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.114860624 meters 0.0956799191133653 Centerline is valid? [True, True] Translation: X:44.72, Y:-4.02, Z:-1.32 [[ 9.99983850e-01 4.42395917e-03 -3.56768626e-03 4.47237009e+01] [-4.42254920e-03 9.99990139e-01 4.02999692e-04 -4.01856682e+00] [ 3.56943394e-03 -3.87214916e-04 9.99993555e-01 -1.31582708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.144860624 meters 0.09672934784525634 Centerline is valid? [True, True] Translation: X:44.75, Y:-4.02, Z:-1.32 [[ 9.99984830e-01 3.90853599e-03 -3.88109781e-03 4.47516385e+01] [-3.90686535e-03 9.99992272e-01 4.37943482e-04 -4.02290884e+00] [ 3.88277954e-03 -4.22773912e-04 9.99992373e-01 -1.31687336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.174860624 meters 0.09653756363971071 Centerline is valid? [True, True] Translation: X:44.78, Y:-4.03, Z:-1.32 [[ 9.99984602e-01 4.31735690e-03 -3.48651673e-03 4.47802412e+01] [-4.31601043e-03 9.99990609e-01 3.93626261e-04 -4.02583639e+00] [ 3.48818341e-03 -3.78572358e-04 9.99993845e-01 -1.31723319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.204860624 meters 0.09444834721549977 Centerline is valid? [True, True] Translation: X:44.81, Y:-4.02, Z:-1.32 [[ 9.99987217e-01 4.18123845e-03 -2.84293351e-03 4.48096962e+01] [-4.18034411e-03 9.99991211e-01 3.20453231e-04 -4.02494201e+00] [ 2.84424841e-03 -3.08564694e-04 9.99995908e-01 -1.31724803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23486062399999 meters 0.09758926760973427 Centerline is valid? [True, True] Translation: X:44.84, Y:-4.03, Z:-1.32 [[ 9.99985848e-01 4.77332632e-03 -2.34920448e-03 4.48367673e+01] [-4.77271872e-03 9.99988576e-01 2.64181853e-04 -4.03357472e+00] [ 2.35043867e-03 -2.52966023e-04 9.99997206e-01 -1.31923749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.264860624 meters 0.09558596115293885 Centerline is valid? [True, True] Translation: X:44.87, Y:-4.03, Z:-1.32 [[ 9.99978067e-01 6.34392987e-03 -1.90279270e-03 4.48666929e+01] [-6.34353295e-03 9.99979857e-01 2.14562710e-04 -4.03197175e+00] [ 1.90411554e-03 -2.02487576e-04 9.99998167e-01 -1.31835616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.294860624 meters 0.09882928924584962 Centerline is valid? [True, True] Translation: X:44.89, Y:-4.04, Z:-1.32 [[ 9.99968439e-01 7.71363061e-03 -1.90266037e-03 4.48948619e+01] [-7.71323630e-03 9.99970230e-01 2.14491882e-04 -4.04032453e+00] [ 1.90425823e-03 -1.99809443e-04 9.99998167e-01 -1.32037005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.324860624 meters 0.0997479810289407 Centerline is valid? [True, True] Translation: X:44.92, Y:-4.04, Z:-1.32 [[ 9.99957465e-01 8.89850523e-03 -2.42600947e-03 4.49236512e+01] [-8.89786723e-03 9.99960376e-01 2.73650023e-04 -4.04379860e+00] [ 2.42834842e-03 -2.52052073e-04 9.99997020e-01 -1.32166832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.354860624 meters 0.09850371605305323 Centerline is valid? [True, True] Translation: X:44.95, Y:-4.04, Z:-1.32 [[ 9.99940976e-01 1.04872740e-02 -2.83938075e-03 4.49534745e+01] [-1.04864063e-02 9.99944965e-01 3.20315787e-04 -4.04404859e+00] [ 2.84258373e-03 -2.90521980e-04 9.99995918e-01 -1.32235176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.384860624 meters 0.09564116120060813 Centerline is valid? [True, True] Translation: X:44.98, Y:-4.04, Z:-1.32 [[ 9.99903503e-01 1.32483659e-02 -4.17911961e-03 4.49848047e+01] [-1.32465057e-02 9.99912150e-01 4.72479326e-04 -4.04072920e+00] [ 4.18501205e-03 -4.17075001e-04 9.99991156e-01 -1.32330353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.414860624 meters 0.09929075419457144 Centerline is valid? [True, True] Translation: X:45.01, Y:-4.05, Z:-1.33 [[ 9.99890481e-01 1.41410952e-02 -4.36530426e-03 4.50118211e+01] [-1.41390835e-02 9.99899917e-01 4.91359238e-04 -4.04959617e+00] [ 4.37181572e-03 -4.29584024e-04 9.99990351e-01 -1.32672833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.444860624 meters 0.10006900835825129 Centerline is valid? [True, False] Translation: X:45.01, Y:-4.05, Z:-1.33 [[ 9.99890943e-01 1.40350051e-02 -4.59577709e-03 4.50124879e+01] [-1.40350185e-02 9.99901504e-01 2.93467990e-05 -4.04796403e+00] [ 4.59573631e-03 3.51582178e-05 9.99989439e-01 -1.32698870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.474860624 meters 0.09238400202777648 Centerline is valid? [False, True] Translation: X:45.01, Y:-4.05, Z:-1.33 [[ 9.99895060e-01 1.37261887e-02 -4.63250426e-03 4.50123680e+01] [-1.37287067e-02 9.99905626e-01 -5.12176411e-04 -4.04664949e+00] [ 4.62503684e-03 5.75720955e-04 9.99989139e-01 -1.32668666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.504860624 meters 0.09371727899534237 Centerline is valid? [True, True] Translation: X:45.04, Y:-4.05, Z:-1.33 [[ 9.99890566e-01 1.39741906e-02 -4.85562581e-03 4.50398194e+01] [-1.39717534e-02 9.99902247e-01 5.35507424e-04 -4.05136091e+00] [ 4.86263444e-03 -4.67607216e-04 9.99988068e-01 -1.32794371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.534860624 meters 0.09549883329459077 Centerline is valid? [True, True] Translation: X:45.07, Y:-4.06, Z:-1.33 [[ 9.99880951e-01 1.48087880e-02 -4.33403724e-03 4.50676651e+01] [-1.48068533e-02 9.99890258e-01 4.78150453e-04 -4.05647166e+00] [ 4.34064245e-03 -4.13920076e-04 9.99990494e-01 -1.32953503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.564860624 meters 0.09395390636401507 Centerline is valid? [True, True] Translation: X:45.10, Y:-4.05, Z:-1.33 [[ 9.99872930e-01 1.52145908e-02 -4.75821445e-03 4.50965645e+01] [-1.52122641e-02 9.99884149e-01 5.24784131e-04 -4.05340634e+00] [ 4.76564758e-03 -4.52334231e-04 9.99988542e-01 -1.32969258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59486062399999 meters 0.09066216220953556 Centerline is valid? [True, True] Translation: X:45.13, Y:-4.05, Z:-1.33 [[ 9.99862749e-01 1.59589871e-02 -4.44907761e-03 4.51266995e+01] [-1.59569601e-02 9.99872559e-01 4.90725108e-04 -4.04876375e+00] [ 4.45634209e-03 -4.19664001e-04 9.99989982e-01 -1.32860141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.624860624 meters 0.0912592847796005 Centerline is valid? [True, True] Translation: X:45.16, Y:-4.05, Z:-1.33 [[ 9.99869584e-01 1.55359071e-02 -4.41019432e-03 4.51556312e+01] [-1.55339144e-02 9.99879223e-01 4.85730880e-04 -4.05033253e+00] [ 4.41720794e-03 -4.17159952e-04 9.99990157e-01 -1.32965132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.654860624 meters 0.0912592847796005 Centerline is valid? [True, True] Translation: X:45.18, Y:-4.05, Z:-1.33 [[ 9.99871104e-01 1.54377818e-02 -4.41033089e-03 4.51830619e+01] [-1.54357936e-02 9.99880744e-01 4.84493752e-04 -4.05325960e+00] [ 4.41728444e-03 -4.16354345e-04 9.99990157e-01 -1.33033560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.684860624 meters 0.09632972103944253 Centerline is valid? [True, True] Translation: X:45.21, Y:-4.06, Z:-1.33 [[ 9.99889475e-01 1.42121784e-02 -4.36494398e-03 4.52105917e+01] [-1.42102150e-02 9.99898914e-01 4.80498839e-04 -4.06462718e+00] [ 4.37133169e-03 -4.18418940e-04 9.99990358e-01 -1.33293090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.714860624 meters 0.09671043056231347 Centerline is valid? [True, True] Translation: X:45.24, Y:-4.07, Z:-1.33 [[ 9.99887679e-01 1.40946693e-02 -5.09610448e-03 4.52394891e+01] [-1.40919938e-02 9.99900546e-01 5.60527283e-04 -4.06676471e+00] [ 5.10349810e-03 -4.88650051e-04 9.99986858e-01 -1.33417790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.744860624 meters 0.09504402512320703 Centerline is valid? [True, True] Translation: X:45.27, Y:-4.06, Z:-1.33 [[ 9.99897823e-01 1.33184980e-02 -5.19246315e-03 4.52687963e+01] [-1.33157118e-02 9.99911179e-01 5.70793185e-04 -4.06310378e+00] [ 5.19960406e-03 -5.01593520e-04 9.99986356e-01 -1.33437835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.774860624 meters 0.09947618912426677 Centerline is valid? [True, True] Translation: X:45.29, Y:-4.07, Z:-1.34 [[ 9.99902035e-01 1.31056069e-02 -4.91555816e-03 4.52949175e+01] [-1.31031206e-02 9.99914006e-01 5.37669637e-04 -4.07222441e+00] [ 4.92218194e-03 -4.73207813e-04 9.99987774e-01 -1.33766149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.804860624 meters 0.0956155645849837 Centerline is valid? [True, True] Translation: X:45.32, Y:-4.07, Z:-1.34 [[ 9.99902156e-01 1.30407849e-02 -5.06134448e-03 4.53241444e+01] [-1.30381444e-02 9.99914846e-01 5.54346791e-04 -4.06638378e+00] [ 5.06814260e-03 -4.88302012e-04 9.99987038e-01 -1.33579311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.834860624 meters 0.11261212332469228 Centerline is valid? [True, False] Translation: X:45.40, Y:-4.07, Z:-1.34 [[ 9.99910343e-01 1.29588630e-02 -3.37256846e-03 4.54025617e+01] [-1.29621911e-02 9.99915520e-01 -9.66834177e-04 -4.07298187e+00] [ 3.35975447e-03 1.01046337e-03 9.99993845e-01 -1.33678706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.864860624 meters 0.09396784896175872 Centerline is valid? [False, True] Translation: X:45.35, Y:-4.07, Z:-1.34 [[ 9.99884868e-01 1.50749202e-02 -1.73152300e-03 4.53479142e+01] [-1.50715185e-02 9.99884495e-01 1.96108921e-03 -4.06664945e+00] [ 1.76088626e-03 -1.93476674e-03 9.99996578e-01 -1.33779840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.894860624 meters 0.09497804016651579 Centerline is valid? [True, True] Translation: X:45.38, Y:-4.07, Z:-1.34 [[ 9.99881851e-01 1.51611245e-02 -2.53464802e-03 4.53750558e+01] [-1.51604600e-02 9.99885034e-01 2.81174099e-04 -4.06984716e+00] [ 2.53861954e-03 -2.42714449e-04 9.99996748e-01 -1.33820775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.924860624 meters 0.09461094254847383 Centerline is valid? [True, True] Translation: X:45.40, Y:-4.07, Z:-1.34 [[ 9.99882574e-01 1.52266475e-02 -1.72819527e-03 4.54041603e+01] [-1.52263393e-02 9.99884054e-01 1.91350955e-04 -4.07124296e+00] [ 1.73090852e-03 -1.65014398e-04 9.99998488e-01 -1.33854601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.954860624 meters 0.09474773612317955 Centerline is valid? [True, True] Translation: X:45.43, Y:-4.07, Z:-1.34 [[ 9.99875616e-01 1.56297337e-02 -2.11287124e-03 4.54329475e+01] [-1.56292734e-02 9.99877828e-01 2.34183571e-04 -4.07342687e+00] [ 2.11627333e-03 -2.01131800e-04 9.99997740e-01 -1.33887641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98486062399999 meters 0.09558131587355996 Centerline is valid? [True, True] Translation: X:45.46, Y:-4.08, Z:-1.34 [[ 9.99874753e-01 1.56536511e-02 -2.33262321e-03 4.54604301e+01] [-1.56530911e-02 9.99877450e-01 2.58122600e-04 -4.07552468e+00] [ 2.33637791e-03 -2.21577507e-04 9.99997246e-01 -1.34102174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.014860624 meters 0.09600510962338109 Centerline is valid? [True, True] Translation: X:45.49, Y:-4.08, Z:-1.34 [[ 9.99862839e-01 1.63403242e-02 -2.70122039e-03 4.54896085e+01] [-1.63395773e-02 9.99866456e-01 2.98366659e-04 -4.07884944e+00] [ 2.70573507e-03 -2.54188936e-04 9.99996307e-01 -1.34222207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.044860624 meters 0.09074962375748691 Centerline is valid? [True, True] Translation: X:45.52, Y:-4.07, Z:-1.34 [[ 9.99862540e-01 1.64123350e-02 -2.35287047e-03 4.55191635e+01] [-1.64117675e-02 9.99865284e-01 2.60311420e-04 -4.07131603e+00] [ 2.35682582e-03 -2.21660875e-04 9.99997198e-01 -1.33988422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.074860624 meters 0.09416047394663449 Centerline is valid? [True, True] Translation: X:45.55, Y:-4.08, Z:-1.34 [[ 9.99863670e-01 1.63672098e-02 -2.18075332e-03 4.55461864e+01] [-1.63667238e-02 9.99866027e-01 2.40549262e-04 -4.08062538e+00] [ 2.18439828e-03 -2.04824680e-04 9.99997593e-01 -1.34229984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.104860624 meters 0.0931091038213324 Centerline is valid? [True, True] Translation: X:45.58, Y:-4.08, Z:-1.34 [[ 9.99871136e-01 1.58832095e-02 -2.33152541e-03 4.55751681e+01] [-1.58826515e-02 9.99873830e-01 2.57630000e-04 -4.08096594e+00] [ 2.33532323e-03 -2.20565995e-04 9.99997249e-01 -1.34204914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.134860624 meters 0.09217642909906842 Centerline is valid? [True, True] Translation: X:45.60, Y:-4.08, Z:-1.34 [[ 9.99873898e-01 1.56370384e-02 -2.76954715e-03 4.56035493e+01] [-1.56362512e-02 9.99877700e-01 3.05672821e-04 -4.08234532e+00] [ 2.77398825e-03 -2.62328940e-04 9.99996118e-01 -1.34195849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.164860624 meters 0.09794210132281891 Centerline is valid? [True, True] Translation: X:45.63, Y:-4.10, Z:-1.35 [[ 9.99884387e-01 1.48102400e-02 -3.44509855e-03 4.56307918e+01] [-1.48090111e-02 9.99890268e-01 3.81950203e-04 -4.09588706e+00] [ 3.45037729e-03 -3.30887542e-04 9.99993993e-01 -1.34636080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.194860624 meters 0.09430155701769137 Centerline is valid? [True, True] Translation: X:45.66, Y:-4.09, Z:-1.35 [[ 9.99908419e-01 1.28842335e-02 -4.14123372e-03 4.56615307e+01] [-1.28824392e-02 9.99916912e-01 4.59656056e-04 -4.09239906e+00] [ 4.14681195e-03 -4.06264769e-04 9.99991319e-01 -1.34562443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.224860624 meters 0.09442778873613991 Centerline is valid? [True, True] Translation: X:45.69, Y:-4.10, Z:-1.35 [[ 9.99927495e-01 1.13426869e-02 -4.04332403e-03 4.56912016e+01] [-1.13409663e-02 9.99935589e-01 4.48219297e-04 -4.09571422e+00] [ 4.04814761e-03 -4.02331597e-04 9.99991725e-01 -1.34658654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.254860624 meters 0.09426557344468661 Centerline is valid? [True, True] Translation: X:45.72, Y:-4.10, Z:-1.35 [[ 9.99934717e-01 1.04076817e-02 -4.71606349e-03 4.57208238e+01] [-1.04053307e-02 9.99945726e-01 5.22765741e-04 -4.09888741e+00] [ 4.72124831e-03 -4.73659413e-04 9.99988743e-01 -1.34687266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.284860624 meters 0.09656333928530163 Centerline is valid? [True, True] Translation: X:45.75, Y:-4.11, Z:-1.35 [[ 9.99947056e-01 9.07555702e-03 -4.84975476e-03 4.57487179e+01] [-9.07305854e-03 9.99958695e-01 5.36929812e-04 -4.10616217e+00] [ 4.85442737e-03 -4.92899276e-04 9.99988096e-01 -1.34884088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.314860624 meters 0.09790176276815786 Centerline is valid? [True, True] Translation: X:45.78, Y:-4.11, Z:-1.35 [[ 9.99963284e-01 7.43028192e-03 -4.26865864e-03 4.57766985e+01] [-7.42833492e-03 9.99972298e-01 4.71787940e-04 -4.11100778e+00] [ 4.27204591e-03 -4.40061592e-04 9.99990778e-01 -1.34903614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34486062399999 meters 0.10002150601986376 Centerline is valid? [True, False] Translation: X:45.78, Y:-4.11, Z:-1.35 [[ 9.99966034e-01 7.06999236e-03 -4.23636938e-03 4.57762054e+01] [-7.07027874e-03 9.99975004e-01 -5.26266043e-05 -4.11010859e+00] [ 4.23589141e-03 8.25771291e-05 9.99991025e-01 -1.34842243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.374860624 meters 0.10021466366709747 Centerline is valid? [False, False] Translation: X:45.78, Y:-4.11, Z:-1.35 [[ 9.99967757e-01 6.82194690e-03 -4.23616505e-03 4.57759472e+01] [-6.82381450e-03 9.99976627e-01 -4.26572705e-04 -4.10936526e+00] [ 4.23315598e-03 4.55465756e-04 9.99990936e-01 -1.34805531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.404860624 meters 0.10353426425809159 Centerline is valid? [False, False] Translation: X:45.78, Y:-4.11, Z:-1.35 [[ 9.99970328e-01 6.53155999e-03 -4.08437098e-03 4.57756349e+01] [-6.53492589e-03 9.99978318e-01 -8.11291818e-04 -4.10860255e+00] [ 4.07898342e-03 8.37958807e-04 9.99991330e-01 -1.34802424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.434860624 meters 0.10164802740759998 Centerline is valid? [False, False] Translation: X:45.78, Y:-4.11, Z:-1.35 [[ 9.99971188e-01 6.36645293e-03 -4.13416033e-03 4.57755751e+01] [-6.37116578e-03 9.99979068e-01 -1.12780988e-03 -4.10795573e+00] [ 4.12689365e-03 1.15411681e-03 9.99990818e-01 -1.34777685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.464860624 meters 0.0965586938048575 Centerline is valid? [False, True] Translation: X:45.78, Y:-4.11, Z:-1.35 [[ 9.99972799e-01 6.12097285e-03 -4.11511376e-03 4.57754021e+01] [-6.12730948e-03 9.99980059e-01 -1.52900266e-03 -4.10696151e+00] [ 4.10567272e-03 1.55417564e-03 9.99990364e-01 -1.34758012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.494860624 meters 0.09802659387376113 Centerline is valid? [True, True] Translation: X:45.80, Y:-4.11, Z:-1.35 [[ 9.99970736e-01 6.98391395e-03 -3.12271174e-03 4.58038845e+01] [-6.98288943e-03 9.99975562e-01 3.38869303e-04 -4.11338333e+00] [ 3.12500206e-03 -3.17053836e-04 9.99995067e-01 -1.34966603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.524860624 meters 0.09904555486632183 Centerline is valid? [True, True] Translation: X:45.83, Y:-4.12, Z:-1.35 [[ 9.99962711e-01 8.20333044e-03 -2.69857960e-03 4.58327606e+01] [-8.20257023e-03 9.99966316e-01 2.92654038e-04 -4.11740833e+00] [ 2.70088944e-03 -2.70507836e-04 9.99996316e-01 -1.35061302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.554860624 meters 0.09537833419450893 Centerline is valid? [True, True] Translation: X:45.86, Y:-4.11, Z:-1.35 [[ 9.99955371e-01 8.98742254e-03 -2.91258482e-03 4.58623974e+01] [-8.98654321e-03 9.99959571e-01 3.14854774e-04 -4.11339898e+00] [ 2.91529680e-03 -2.88666653e-04 9.99995709e-01 -1.34903805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.584860624 meters 0.09499903862827727 Centerline is valid? [True, True] Translation: X:45.89, Y:-4.12, Z:-1.35 [[ 9.99952991e-01 9.30675214e-03 -2.72021534e-03 4.58915774e+01] [-9.30598579e-03 9.99956655e-01 2.94243724e-04 -4.11527872e+00] [ 2.72283589e-03 -2.68915606e-04 9.99996257e-01 -1.34984821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.614860624 meters 0.09808401982319247 Centerline is valid? [True, True] Translation: X:45.92, Y:-4.12, Z:-1.35 [[ 9.99937147e-01 1.06776988e-02 -3.41895635e-03 4.59194934e+01] [-1.06764955e-02 9.99942936e-01 3.70004240e-04 -4.12366178e+00] [ 3.42271205e-03 -3.33478512e-04 9.99994087e-01 -1.35303080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.644860624 meters 0.09534968773920409 Centerline is valid? [True, True] Translation: X:45.95, Y:-4.12, Z:-1.35 [[ 9.99935050e-01 1.07954304e-02 -3.65448169e-03 4.59490803e+01] [-1.07940585e-02 9.99941664e-01 3.94917702e-04 -4.12167603e+00] [ 3.65853181e-03 -3.55445362e-04 9.99993244e-01 -1.35245037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.674860624 meters 0.09411234972730673 Centerline is valid? [True, True] Translation: X:45.98, Y:-4.12, Z:-1.35 [[ 9.99931474e-01 1.12997252e-02 -3.05988904e-03 4.59784123e+01] [-1.12987704e-02 9.99936113e-01 3.29159592e-04 -4.12179759e+00] [ 3.06341296e-03 -2.94564052e-04 9.99995264e-01 -1.35206282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.704860624 meters 0.09699472960182436 Centerline is valid? [True, True] Translation: X:46.01, Y:-4.13, Z:-1.35 [[ 9.99927689e-01 1.16906852e-02 -2.81860339e-03 4.60057841e+01] [-1.16898751e-02 9.99931625e-01 3.03733248e-04 -4.13028136e+00] [ 2.82196151e-03 -2.70762163e-04 9.99995982e-01 -1.35450222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73486062399999 meters 0.09616284418743477 Centerline is valid? [True, True] Translation: X:46.03, Y:-4.13, Z:-1.36 [[ 9.99914671e-01 1.25963721e-02 -3.46158048e-03 4.60349010e+01] [-1.25951549e-02 9.99920608e-01 3.73202900e-04 -4.13153362e+00] [ 3.46600667e-03 -3.29571912e-04 9.99993939e-01 -1.35532892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.764860624 meters 0.09231873282468596 Centerline is valid? [True, True] Translation: X:46.06, Y:-4.13, Z:-1.35 [[ 9.99911315e-01 1.27201004e-02 -3.94487644e-03 4.60644435e+01] [-1.27185209e-02 9.99919026e-01 4.25212576e-04 -4.12698811e+00] [ 3.94996575e-03 -3.75001873e-04 9.99992129e-01 -1.35367824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.794860624 meters 0.09611663203000141 Centerline is valid? [True, True] Translation: X:46.09, Y:-4.14, Z:-1.36 [[ 9.99903562e-01 1.31881443e-02 -4.35201887e-03 4.60910051e+01] [-1.31862290e-02 9.99912948e-01 4.68496912e-04 -4.13704817e+00] [ 4.35781862e-03 -4.11065014e-04 9.99990420e-01 -1.35712259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.824860624 meters 0.09675559156081336 Centerline is valid? [True, True] Translation: X:46.12, Y:-4.14, Z:-1.36 [[ 9.99903326e-01 1.34191866e-02 -3.64202556e-03 4.61186543e+01] [-1.34178489e-02 9.99909900e-01 3.91494489e-04 -4.14082254e+00] [ 3.64695095e-03 -3.42588493e-04 9.99993291e-01 -1.35766976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.854860624 meters 0.0970468497367558 Centerline is valid? [True, True] Translation: X:46.15, Y:-4.14, Z:-1.36 [[ 9.99897098e-01 1.37913889e-02 -3.94858200e-03 4.61467923e+01] [-1.37898179e-02 9.99904826e-01 4.24801333e-04 -4.14372035e+00] [ 3.95406480e-03 -3.70307394e-04 9.99992114e-01 -1.35857422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.884860624 meters 0.09353299032017999 Centerline is valid? [True, True] Translation: X:46.18, Y:-4.14, Z:-1.36 [[ 9.99900072e-01 1.35250491e-02 -4.11319729e-03 4.61764474e+01] [-1.35233433e-02 9.99908458e-01 4.42252451e-04 -4.13972777e+00] [ 4.11880225e-03 -3.86584079e-04 9.99991443e-01 -1.35727555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.914860624 meters 0.09885713244442464 Centerline is valid? [True, True] Translation: X:46.20, Y:-4.15, Z:-1.36 [[ 9.99905350e-01 1.33334274e-02 -3.39280579e-03 4.62032994e+01] [-1.33322691e-02 9.99911055e-01 3.63805678e-04 -4.15247426e+00] [ 3.39735480e-03 -3.18537444e-04 9.99994178e-01 -1.36093880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.944860624 meters 0.09474740153204518 Centerline is valid? [True, True] Translation: X:46.23, Y:-4.15, Z:-1.36 [[ 9.99914767e-01 1.24526626e-02 -3.92295091e-03 4.62334470e+01] [-1.24511015e-02 9.99922393e-01 4.22119812e-04 -4.14744405e+00] [ 3.92790298e-03 -3.73238774e-04 9.99992216e-01 -1.35947652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.974860624 meters 0.0975387663602347 Centerline is valid? [True, True] Translation: X:46.26, Y:-4.16, Z:-1.36 [[ 9.99926871e-01 1.10441420e-02 -4.92735998e-03 4.62618564e+01] [-1.10416619e-02 9.99938898e-01 5.30258687e-04 -4.15614227e+00] [ 4.93291516e-03 -4.75813667e-04 9.99987720e-01 -1.36149449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.004860624 meters 0.09568537074781593 Centerline is valid? [True, True] Translation: X:46.29, Y:-4.16, Z:-1.36 [[ 9.99935659e-01 1.03038423e-02 -4.74429904e-03 4.62909231e+01] [-1.03015405e-02 9.99946808e-01 5.09356547e-04 -4.15578651e+00] [ 4.74929501e-03 -4.60450186e-04 9.99988616e-01 -1.36137753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.034860624 meters 0.09972418664131469 Centerline is valid? [True, True] Translation: X:46.32, Y:-4.17, Z:-1.36 [[ 9.99941821e-01 1.00521012e-02 -3.91277591e-03 4.63171884e+01] [-1.00505376e-02 9.99949404e-01 4.19055579e-04 -4.16664871e+00] [ 3.91679033e-03 -3.79705697e-04 9.99992257e-01 -1.36390587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.064860624 meters 0.09925673203987073 Centerline is valid? [True, True] Translation: X:46.35, Y:-4.17, Z:-1.36 [[ 9.99953656e-01 9.02343496e-03 -3.35607118e-03 4.63469389e+01] [-9.02227602e-03 9.99959234e-01 3.60304214e-04 -4.16908735e+00] [ 3.35918554e-03 -3.30008116e-04 9.99994303e-01 -1.36416739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09486062399999 meters 0.09709525291221527 Centerline is valid? [True, True] Translation: X:46.38, Y:-4.17, Z:-1.36 [[ 9.99969221e-01 6.99182241e-03 -3.55980350e-03 4.63770876e+01] [-6.99050434e-03 9.99975493e-01 3.82574349e-04 -4.16869455e+00] [ 3.56239115e-03 -3.57677752e-04 9.99993591e-01 -1.36396956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.124860624 meters 0.09794515338214266 Centerline is valid? [True, True] Translation: X:46.41, Y:-4.17, Z:-1.36 [[ 9.99972646e-01 6.19786545e-03 -4.03655613e-03 4.64051488e+01] [-6.19616826e-03 9.99980710e-01 4.32825034e-04 -4.17402511e+00] [ 4.03916085e-03 -4.07802013e-04 9.99991759e-01 -1.36484403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.154860624 meters 0.09815443772457601 Centerline is valid? [True, True] Translation: X:46.43, Y:-4.18, Z:-1.37 [[ 9.99979224e-01 5.43105445e-03 -3.47203249e-03 4.64333494e+01] [-5.42980306e-03 9.99985190e-01 3.69744076e-04 -4.17810047e+00] [ 3.47398917e-03 -3.50883941e-04 9.99993904e-01 -1.36530769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.184860624 meters 0.09877510508587661 Centerline is valid? [True, True] Translation: X:46.46, Y:-4.18, Z:-1.37 [[ 9.99983322e-01 4.80561343e-03 -3.20336030e-03 4.64605936e+01] [-4.80454461e-03 9.99988400e-01 3.41270297e-04 -4.18278430e+00] [ 3.20496315e-03 -3.25873918e-04 9.99994811e-01 -1.36622841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.214860624 meters 0.10028789768037201 Centerline is valid? [True, False] Translation: X:46.46, Y:-4.18, Z:-1.37 [[ 9.99984180e-01 4.77329503e-03 -2.97573520e-03 4.64598498e+01] [-4.77166819e-03 9.99988462e-01 5.53560839e-04 -4.18413959e+00] [ 2.97834318e-03 -5.39352861e-04 9.99995419e-01 -1.36581371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.244860624 meters 0.10232970382163295 Centerline is valid? [False, False] Translation: X:46.46, Y:-4.18, Z:-1.37 [[ 9.99984928e-01 4.67925520e-03 -2.87201951e-03 4.64593286e+01] [-4.67768363e-03 9.99988906e-01 5.53673582e-04 -4.18477287e+00] [ 2.87457843e-03 -5.40230838e-04 9.99995722e-01 -1.36534777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.274860624 meters 0.10261101900609278 Centerline is valid? [False, False] Translation: X:46.46, Y:-4.19, Z:-1.36 [[ 9.99985139e-01 4.68934290e-03 -2.78069949e-03 4.64588851e+01] [-4.68728762e-03 9.99988737e-01 7.45178711e-04 -4.18580011e+00] [ 2.78416257e-03 -7.32133698e-04 9.99995856e-01 -1.36497168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.304860624 meters 0.10426257903065812 Centerline is valid? [False, False] Translation: X:46.46, Y:-4.19, Z:-1.36 [[ 9.99986268e-01 4.60585079e-03 -2.50016260e-03 4.64579381e+01] [-4.60338009e-03 9.99988911e-01 9.93070608e-04 -4.18742022e+00] [ 2.50470881e-03 -9.81547772e-04 9.99996381e-01 -1.36439990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.334860624 meters 0.10554922699700757 Centerline is valid? [False, False] Translation: X:46.46, Y:-4.19, Z:-1.36 [[ 9.99985888e-01 4.70007722e-03 -2.47637768e-03 4.64577782e+01] [-4.69705368e-03 9.99988218e-01 1.22535884e-03 -4.18838727e+00] [ 2.48210778e-03 -1.21370987e-03 9.99996183e-01 -1.36424118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.364860624 meters 0.1005612940842626 Centerline is valid? [False, False] Translation: X:46.46, Y:-4.19, Z:-1.36 [[ 9.99995517e-01 8.35375755e-04 -2.87529104e-03 4.64587312e+01] [-8.43131093e-04 9.99996007e-01 -2.69708145e-03 -4.18881189e+00] [ 2.87302649e-03 2.69949361e-03 9.99992229e-01 -1.36449600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.394860624 meters 0.09757974265613846 Centerline is valid? [False, True] Translation: X:46.46, Y:-4.19, Z:-1.36 [[ 9.99995683e-01 8.72549688e-04 -2.80580241e-03 4.64586639e+01] [-8.79666769e-04 9.99996397e-01 -2.53632553e-03 -4.18928180e+00] [ 2.80357923e-03 2.53878275e-03 9.99992847e-01 -1.36461058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.424860624 meters 0.09977492708234534 Centerline is valid? [True, True] Translation: X:46.49, Y:-4.20, Z:-1.37 [[ 9.99994915e-01 1.06079931e-03 -3.00755467e-03 4.64863474e+01] [-1.05982378e-03 9.99999385e-01 3.25937137e-04 -4.19762077e+00] [ 3.00789857e-03 -3.22748001e-04 9.99995424e-01 -1.36707571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.454860624 meters 0.10062197104577215 Centerline is valid? [True, False] Translation: X:46.49, Y:-4.20, Z:-1.37 [[ 9.99994924e-01 1.15696643e-03 -2.96873333e-03 4.64864605e+01] [-1.15548760e-03 9.99999208e-01 4.99800849e-04 -4.19789004e+00] [ 2.96930923e-03 -4.96367978e-04 9.99995468e-01 -1.36730904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48486062399999 meters 0.10186835001286323 Centerline is valid? [False, False] Translation: X:46.49, Y:-4.20, Z:-1.37 [[ 9.99995414e-01 1.03506010e-03 -2.84622996e-03 4.64862570e+01] [-1.03393778e-03 9.99999387e-01 3.95761065e-04 -4.19777408e+00] [ 2.84663785e-03 -3.92816425e-04 9.99995871e-01 -1.36734870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.514860624 meters 0.10186835001286323 Centerline is valid? [False, False] Translation: X:46.49, Y:-4.20, Z:-1.37 [[ 9.99995414e-01 1.03506010e-03 -2.84622996e-03 4.64862570e+01] [-1.03393778e-03 9.99999387e-01 3.95761065e-04 -4.19777408e+00] [ 2.84663785e-03 -3.92816425e-04 9.99995871e-01 -1.36734870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.544860624 meters 0.10186835001286323 Centerline is valid? [False, False] Translation: X:46.49, Y:-4.20, Z:-1.37 [[ 9.99995414e-01 1.03506010e-03 -2.84622996e-03 4.64862570e+01] [-1.03393778e-03 9.99999387e-01 3.95761065e-04 -4.19777408e+00] [ 2.84663785e-03 -3.92816425e-04 9.99995871e-01 -1.36734870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.574860624 meters 0.10070321894465857 Centerline is valid? [False, False] Translation: X:46.49, Y:-4.20, Z:-1.37 [[ 9.99995118e-01 1.05408123e-03 -2.94174201e-03 4.64865709e+01] [-1.05320930e-03 9.99999401e-01 2.97931791e-04 -4.19721430e+00] [ 2.94205430e-03 -2.94832067e-04 9.99995629e-01 -1.36750600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.604860624 meters 0.09665473999857703 Centerline is valid? [False, True] Translation: X:46.49, Y:-4.20, Z:-1.37 [[ 9.99994797e-01 1.07443370e-03 -3.04151831e-03 4.64869473e+01] [-1.07382897e-03 9.99999403e-01 2.00450177e-04 -4.19663678e+00] [ 3.04173186e-03 -1.97183063e-04 9.99995354e-01 -1.36773442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.634860624 meters 0.09529340445826531 Centerline is valid? [True, True] Translation: X:46.52, Y:-4.20, Z:-1.37 [[ 9.99989971e-01 2.82960842e-03 -3.47150510e-03 4.65166617e+01] [-2.82835529e-03 9.99995933e-01 3.65831918e-04 -4.19613673e+00] [ 3.47252614e-03 -3.56009600e-04 9.99993907e-01 -1.36773475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.664860624 meters 0.09440623202978932 Centerline is valid? [True, True] Translation: X:46.55, Y:-4.20, Z:-1.37 [[ 9.99989372e-01 3.49908258e-03 -3.00205306e-03 4.65455249e+01] [-3.49815190e-03 9.99993832e-01 3.15212447e-04 -4.19645464e+00] [ 3.00313749e-03 -3.04707459e-04 9.99995444e-01 -1.36759891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.694860624 meters 0.09754692102708329 Centerline is valid? [True, True] Translation: X:46.57, Y:-4.20, Z:-1.37 [[ 9.99988303e-01 4.07660831e-03 -2.60282452e-03 4.65730246e+01] [-4.07591165e-03 9.99991656e-01 2.72902765e-04 -4.20445430e+00] [ 2.60391532e-03 -2.62290690e-04 9.99996575e-01 -1.37078183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.724860624 meters 0.09446531816305233 Centerline is valid? [True, True] Translation: X:46.60, Y:-4.20, Z:-1.37 [[ 9.99983759e-01 4.61208538e-03 -3.34833186e-03 4.66027686e+01] [-4.61093458e-03 9.99989308e-01 3.51330944e-04 -4.20065942e+00] [ 3.34991643e-03 -3.35886299e-04 9.99994333e-01 -1.37016805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.754860624 meters 0.09807526729382071 Centerline is valid? [True, True] Translation: X:46.63, Y:-4.21, Z:-1.37 [[ 9.99981775e-01 5.21252553e-03 -3.04616405e-03 4.66299934e+01] [-5.21157823e-03 9.99986369e-01 3.18837281e-04 -4.20975771e+00] [ 3.04778447e-03 -3.02956148e-04 9.99995310e-01 -1.37322059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.784860624 meters 0.1060789607994017 Centerline is valid? [True, False] Translation: X:46.63, Y:-4.21, Z:-1.37 [[ 9.99982332e-01 5.04785105e-03 -3.13940687e-03 4.66302972e+01] [-5.04824137e-03 9.99987251e-01 -1.16417045e-04 -4.20828774e+00] [ 3.13877919e-03 1.32263472e-04 9.99995065e-01 -1.37338767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.814860624 meters 0.09588770755784619 Centerline is valid? [False, True] Translation: X:46.63, Y:-4.21, Z:-1.37 [[ 9.99982499e-01 5.00130940e-03 -3.16038566e-03 4.66305048e+01] [-5.00215853e-03 9.99987455e-01 -2.60832378e-04 -4.20768438e+00] [ 3.15904151e-03 2.76636563e-04 9.99994972e-01 -1.37359530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84486062399999 meters 0.09669756392913557 Centerline is valid? [True, True] Translation: X:46.66, Y:-4.21, Z:-1.38 [[ 9.99982487e-01 5.06775728e-03 -3.05685733e-03 4.66582715e+01] [-5.06682374e-03 9.99987115e-01 3.13059298e-04 -4.21154552e+00] [ 3.05840445e-03 -2.97565258e-04 9.99995279e-01 -1.37529078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.874860624 meters 0.098027040512906 Centerline is valid? [True, True] Translation: X:46.69, Y:-4.22, Z:-1.38 [[ 9.99981372e-01 4.92751501e-03 -3.60199606e-03 4.66855175e+01] [-4.92621758e-03 9.99987798e-01 3.68981512e-04 -4.21640641e+00] [ 3.60377027e-03 -3.51230423e-04 9.99993445e-01 -1.37626138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.904860624 meters 0.09931125960629376 Centerline is valid? [True, True] Translation: X:46.71, Y:-4.22, Z:-1.38 [[ 9.99982908e-01 4.86581803e-03 -3.24147585e-03 4.67131905e+01] [-4.86476842e-03 9.99988112e-01 3.31613490e-04 -4.22064155e+00] [ 3.24305088e-03 -3.15838793e-04 9.99994691e-01 -1.37743240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.934860624 meters 0.09896475546421045 Centerline is valid? [True, True] Translation: X:46.74, Y:-4.22, Z:-1.38 [[ 9.99987011e-01 4.35481300e-03 -2.64821171e-03 4.67420034e+01] [-4.35411103e-03 9.99990484e-01 2.70783740e-04 -4.22271397e+00] [ 2.64936572e-03 -2.59249615e-04 9.99996457e-01 -1.37778848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.964860624 meters 0.09568145389667126 Centerline is valid? [True, True] Translation: X:46.77, Y:-4.22, Z:-1.38 [[ 9.99990754e-01 3.53347263e-03 -2.45085403e-03 4.67718493e+01] [-3.53286758e-03 9.99993728e-01 2.51159118e-04 -4.22026966e+00] [ 2.45172613e-03 -2.42498253e-04 9.99996965e-01 -1.37724194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.994860624 meters 0.09870827290078553 Centerline is valid? [True, True] Translation: X:46.80, Y:-4.23, Z:-1.38 [[ 9.99998163e-01 8.95149623e-04 -1.69473208e-03 4.68009115e+01] [-8.94856558e-04 9.99999585e-01 1.73677672e-04 -4.22913537e+00] [ 1.69488684e-03 -1.72160811e-04 9.99998549e-01 -1.37822857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.024860624 meters 0.09830545729657895 Centerline is valid? [True, True] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999169e-01 -7.52316344e-04 -1.04731394e-03 4.68314772e+01] [ 7.52429498e-04 9.99999711e-01 1.07652263e-04 -4.23151673e+00] [ 1.04723265e-03 -1.08440203e-04 9.99999446e-01 -1.37863385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.054860624 meters 0.10131888922829733 Centerline is valid? [True, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999372e-01 -5.29595554e-04 -9.87311319e-04 4.68317626e+01] [ 5.30120199e-04 9.99999718e-01 5.31201774e-04 -4.23229375e+00] [ 9.87029719e-04 -5.31724834e-04 9.99999372e-01 -1.37920775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.084860624 meters 0.10379055989025726 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999468e-01 -7.15298003e-04 -7.43074945e-04 4.68312367e+01] [ 7.15652625e-04 9.99999630e-01 4.77079952e-04 -4.23246484e+00] [ 7.42733415e-04 -4.77611481e-04 9.99999610e-01 -1.37916055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.114860624 meters 0.10649937367336426 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999616e-01 -8.26201588e-04 -2.91071824e-04 4.68306049e+01] [ 8.26423570e-04 9.99999367e-01 7.63341681e-04 -4.23379182e+00] [ 2.90440965e-04 -7.63581936e-04 9.99999666e-01 -1.37947551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.144860624 meters 0.10565382757293927 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999664e-01 -8.14237669e-04 -9.60102243e-05 4.68304182e+01] [ 8.14329489e-04 9.99999207e-01 9.60223343e-04 -4.23446291e+00] [ 9.52282982e-05 -9.60301204e-04 9.99999534e-01 -1.37977210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.174860624 meters 0.10812017799053142 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.24, Z:-1.38 [[ 9.99999771e-01 -6.76340919e-04 -1.64146495e-05 4.68305913e+01] [ 6.76360659e-04 9.99999010e-01 1.23394881e-03 -4.23502923e+00] [ 1.55800631e-05 -1.23395963e-03 9.99999239e-01 -1.38023905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.204860624 meters 0.11336183066728775 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999571e-01 -9.18862517e-04 1.16465249e-04 4.68301824e+01] [ 9.18750659e-04 9.99999120e-01 9.56881710e-04 -4.23467673e+00] [-1.17344389e-04 -9.56774297e-04 9.99999535e-01 -1.38003121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23486062399999 meters 0.10702292274116866 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999369e-01 -1.11117420e-03 1.65495852e-04 4.68302725e+01] [ 1.11105868e-03 9.99999140e-01 6.96498213e-04 -4.23354440e+00] [-1.66269641e-04 -6.96313898e-04 9.99999744e-01 -1.38032307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.264860624 meters 0.1104472031062164 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999330e-01 -1.15193670e-03 1.17775041e-04 4.68304829e+01] [ 1.15186604e-03 9.99999158e-01 5.98272016e-04 -4.23297685e+00] [-1.18464113e-04 -5.98135954e-04 9.99999814e-01 -1.38047797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.294860624 meters 0.10931598940670434 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999263e-01 -1.21159268e-03 7.92129506e-05 4.68307934e+01] [ 1.21155832e-03 9.99999173e-01 4.32330164e-04 -4.23212219e+00] [-7.97366932e-05 -4.32233874e-04 9.99999903e-01 -1.38080996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.324860624 meters 0.10914114266161032 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999270e-01 -1.20790790e-03 -1.30735399e-05 4.68312606e+01] [ 1.20791201e-03 9.99999220e-01 3.19197510e-04 -4.23129586e+00] [ 1.26879685e-05 -3.19213069e-04 9.99999949e-01 -1.38119894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.354860624 meters 0.10497363794487737 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999354e-01 -1.13058047e-03 -1.15419509e-04 4.68317855e+01] [ 1.13061810e-03 9.99999308e-01 3.26485885e-04 -4.23073365e+00] [ 1.15050310e-04 -3.26616170e-04 9.99999940e-01 -1.38165930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.384860624 meters 0.10688341282559181 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999262e-01 -1.19761902e-03 -2.04487237e-04 4.68322515e+01] [ 1.19763586e-03 9.99999279e-01 8.22558204e-05 -4.22947982e+00] [ 2.04388578e-04 -8.25006610e-05 9.99999976e-01 -1.38207303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.414860624 meters 0.11677691934031163 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999332e-01 -1.10883353e-03 -3.25075572e-04 4.68328513e+01] [ 1.10885804e-03 9.99999382e-01 7.52232820e-05 -4.22882804e+00] [ 3.24991961e-04 -7.55836944e-05 9.99999944e-01 -1.38255573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.444860624 meters 0.11238010698015538 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999231e-01 -1.18543868e-03 -3.64452220e-04 4.68330688e+01] [ 1.18539499e-03 9.99999290e-01 -1.20078394e-04 -4.22795595e+00] [ 3.64594307e-04 1.19646282e-04 9.99999926e-01 -1.38274266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.474860624 meters 0.1093669389208496 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999083e-01 -1.25453746e-03 -5.09215227e-04 4.68334941e+01] [ 1.25433300e-03 9.99999133e-01 -4.01651541e-04 -4.22667610e+00] [ 5.09718672e-04 4.01012447e-04 9.99999790e-01 -1.38291085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.504860624 meters 0.10463246229120875 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999203e-01 -1.09665956e-03 -6.25557935e-04 4.68339613e+01] [ 1.09650352e-03 9.99999368e-01 -2.49730367e-04 -4.22665689e+00] [ 6.25831408e-04 2.49044241e-04 9.99999773e-01 -1.38323427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.534860624 meters 0.11069269420045107 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999313e-01 -9.50017715e-04 -6.85919429e-04 4.68342790e+01] [ 9.49959001e-04 9.99999545e-01 -8.59198594e-05 -4.22692057e+00] [ 6.86000743e-04 8.52682051e-05 9.99999761e-01 -1.38349089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.564860624 meters 0.10633945347176156 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999475e-01 -7.36678650e-04 -7.11940943e-04 4.68346715e+01] [ 7.36841723e-04 9.99999702e-01 2.28819436e-04 -4.22738529e+00] [ 7.11772165e-04 -2.29343904e-04 9.99999720e-01 -1.38395053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59486062399999 meters 0.10975816449300911 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999631e-01 -5.26908790e-04 -6.79167759e-04 4.68348448e+01] [ 5.27329611e-04 9.99999669e-01 6.19582374e-04 -4.22846325e+00] [ 6.78841070e-04 -6.19940290e-04 9.99999577e-01 -1.38428019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.624860624 meters 0.10933371837762983 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999680e-01 -5.65554080e-04 -5.65808427e-04 4.68345916e+01] [ 5.65939146e-04 9.99999608e-01 6.80630127e-04 -4.22886409e+00] [ 5.65423272e-04 -6.80950123e-04 9.99999608e-01 -1.38423918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.654860624 meters 0.11049049948837333 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999790e-01 -3.36131675e-04 -5.54744260e-04 4.68348741e+01] [ 3.36727526e-04 9.99999366e-01 1.07435574e-03 -4.22966873e+00] [ 5.54382784e-04 -1.07454232e-03 9.99999269e-01 -1.38465491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.684860624 meters 0.11150156950139645 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999862e-01 -3.21042489e-04 -4.14697866e-04 4.68346375e+01] [ 3.21553810e-04 9.99999188e-01 1.23351880e-03 -4.23027588e+00] [ 4.14301517e-04 -1.23365197e-03 9.99999153e-01 -1.38473945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.714860624 meters 0.10976105918061849 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999931e-01 -3.69615001e-04 -3.12616174e-05 4.68337460e+01] [ 3.69664910e-04 9.99998633e-01 1.61186197e-03 -4.23223779e+00] [ 3.06658063e-05 -1.61187341e-03 9.99998700e-01 -1.38452167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.744860624 meters 0.13691230043893943 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999897e-01 -4.43020914e-04 1.02325921e-04 4.68333357e+01] [ 4.42847834e-04 9.99998482e-01 1.68533643e-03 -4.23284961e+00] [-1.03072404e-04 -1.68529094e-03 9.99998575e-01 -1.38432969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.774860624 meters 0.11977988915067946 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999851e-01 -4.82321287e-04 2.53874179e-04 4.68329709e+01] [ 4.81869420e-04 9.99998305e-01 1.77694730e-03 -4.23330691e+00] [-2.54730808e-04 -1.77682470e-03 9.99998389e-01 -1.38425568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.804860624 meters 0.11788281256899268 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999783e-01 -5.28493683e-04 3.93379593e-04 4.68324468e+01] [ 5.27742905e-04 9.99998044e-01 1.90619526e-03 -4.23429681e+00] [-3.94386235e-04 -1.90598725e-03 9.99998106e-01 -1.38381182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.834860624 meters 0.11533662451031124 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.23, Z:-1.38 [[ 9.99999811e-01 -4.51189052e-04 4.17132933e-04 4.68324431e+01] [ 4.50323376e-04 9.99997750e-01 2.07307106e-03 -4.23480466e+00] [-4.18067341e-04 -2.07288283e-03 9.99997764e-01 -1.38383993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.864860624 meters 0.1133429399466352 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.24, Z:-1.38 [[ 9.99999849e-01 -3.66251837e-04 4.09756042e-04 4.68324971e+01] [ 3.65345489e-04 9.99997492e-01 2.20981448e-03 -4.23529405e+00] [-4.10564363e-04 -2.20966444e-03 9.99997474e-01 -1.38386908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.894860624 meters 0.11682646338130895 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.24, Z:-1.38 [[ 9.99999774e-01 -4.21893970e-04 5.23470789e-04 4.68321978e+01] [ 4.20716113e-04 9.99997384e-01 2.24816472e-03 -4.23571696e+00] [-5.24417907e-04 -2.24794398e-03 9.99997336e-01 -1.38377639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.924860624 meters 0.11837468891467721 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.24, Z:-1.38 [[ 9.99999600e-01 -5.83883304e-04 6.78163890e-04 4.68316499e+01] [ 5.82419060e-04 9.99997503e-01 2.15732443e-03 -4.23606750e+00] [-6.79421822e-04 -2.15692859e-03 9.99997443e-01 -1.38343079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.954860624 meters 0.12154414686396002 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.24, Z:-1.38 [[ 9.99999722e-01 -4.77603366e-04 5.72269809e-04 4.68318562e+01] [ 4.76330581e-04 9.99997418e-01 2.22217408e-03 -4.23629952e+00] [-5.73329649e-04 -2.22190087e-03 9.99997367e-01 -1.38336737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98486062399999 meters 0.11547675247912274 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.24, Z:-1.38 [[ 9.99999638e-01 -6.22330967e-04 5.80406165e-04 4.68315287e+01] [ 6.21151350e-04 9.99997746e-01 2.03036940e-03 -4.23624784e+00] [-5.81668419e-04 -2.03000815e-03 9.99997770e-01 -1.38292307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.014860624 meters 0.1196545635789819 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.24, Z:-1.38 [[ 9.99999833e-01 -3.54303983e-04 4.55958561e-04 4.68320212e+01] [ 3.53222562e-04 9.99997130e-01 2.36965177e-03 -4.23681229e+00] [-4.56796830e-04 -2.36949032e-03 9.99997088e-01 -1.38323012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.044860624 meters 0.12159470700753944 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.24, Z:-1.38 [[ 9.99999785e-01 -4.87784541e-04 4.37900921e-04 4.68317012e+01] [ 4.86837247e-04 9.99997547e-01 2.16076745e-03 -4.23678839e+00] [-4.38953836e-04 -2.16055380e-03 9.99997570e-01 -1.38270215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.074860624 meters 0.12173818870027935 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.24, Z:-1.38 [[ 9.99999912e-01 -2.42695106e-04 3.41944801e-04 4.68320267e+01] [ 2.41853862e-04 9.99996950e-01 2.45807436e-03 -4.23749247e+00] [-3.42540321e-04 -2.45799144e-03 9.99996920e-01 -1.38284975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.104860624 meters 0.12040310022223417 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.24, Z:-1.38 [[ 9.99999973e-01 -5.10187202e-05 2.26155978e-04 4.68320798e+01] [ 5.04085277e-05 9.99996361e-01 2.69728989e-03 -4.23856128e+00] [-2.26292768e-04 -2.69727842e-03 9.99996337e-01 -1.38257078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.134860624 meters 0.11450934528686144 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.24, Z:-1.38 [[ 9.99999959e-01 2.61999743e-04 1.16169846e-04 4.68325152e+01] [-2.62357427e-04 9.99995192e-01 3.08972071e-03 -4.23951841e+00] [-1.15359781e-04 -3.08975106e-03 9.99995220e-01 -1.38282704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.164860624 meters 0.11083415186392036 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.24, Z:-1.38 [[ 9.99999916e-01 4.08882972e-04 -5.28206505e-06 4.68325126e+01] [-4.08863455e-04 9.99994541e-01 3.27878107e-03 -4.24038070e+00] [ 6.62267397e-06 -3.27877864e-03 9.99994625e-01 -1.38246054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.194860624 meters 0.11114997441818629 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.24, Z:-1.38 [[ 9.99999870e-01 4.91263174e-04 -1.35656795e-04 4.68324890e+01] [-4.90805013e-04 9.99994245e-01 3.35698226e-03 -4.24096768e+00] [ 1.37305176e-04 -3.35691524e-03 9.99994356e-01 -1.38203662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.224860624 meters 0.11984629723875632 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.24, Z:-1.38 [[ 9.99999827e-01 5.56300090e-04 -1.91739499e-04 4.68323264e+01] [-5.55640024e-04 9.99993978e-01 3.42554451e-03 -4.24169003e+00] [ 1.93643975e-04 -3.42543738e-03 9.99994114e-01 -1.38159985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.254860624 meters 0.11249974032868709 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.24, Z:-1.38 [[ 9.99999729e-01 7.06717912e-04 -2.04677425e-04 4.68322341e+01] [-7.05962207e-04 9.99993020e-01 3.66900949e-03 -4.24268805e+00] [ 2.07268951e-04 -3.66886400e-03 9.99993248e-01 -1.38143606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.284860624 meters 0.11193674274105692 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.24, Z:-1.38 [[ 9.99999590e-01 8.74737904e-04 -2.35496052e-04 4.68321809e+01] [-8.73798491e-04 9.99991777e-01 3.96005795e-03 -4.24383052e+00] [ 2.38958129e-04 -3.95985055e-03 9.99992131e-01 -1.38126215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.314860624 meters 0.10749011629289024 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.25, Z:-1.38 [[ 9.99999063e-01 1.35857886e-03 -1.69373067e-04 4.68320195e+01] [-1.35774350e-03 9.99987374e-01 4.83830948e-03 -4.24676069e+00] [ 1.75944154e-04 -4.83807498e-03 9.99988281e-01 -1.38119161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34486062399999 meters 0.11115703360549345 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.25, Z:-1.38 [[ 9.99996669e-01 -2.42367498e-03 -8.87970647e-04 4.68335044e+01] [ 2.42441859e-03 9.99996711e-01 8.37305989e-04 -4.24681452e+00] [ 8.85938369e-04 -8.39456013e-04 9.99999255e-01 -1.38128444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.374860624 meters 0.10890734170384188 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.25, Z:-1.38 [[ 9.99997114e-01 -2.26158567e-03 -8.10903234e-04 4.68333181e+01] [ 2.26257003e-03 9.99996702e-01 1.21504760e-03 -4.24820099e+00] [ 8.08152626e-04 -1.21687882e-03 9.99998933e-01 -1.38122443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.404860624 meters 0.1101534068125886 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.25, Z:-1.38 [[ 9.99998247e-01 -1.80270647e-03 -5.05647572e-04 4.68327981e+01] [ 1.80390476e-03 9.99995542e-01 2.37944938e-03 -4.25204957e+00] [ 5.01355869e-04 -2.38035735e-03 9.99997041e-01 -1.38128694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.434860624 meters 0.10779284735609432 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.25, Z:-1.38 [[ 9.99998677e-01 -1.57598298e-03 -4.03056454e-04 4.68324987e+01] [ 1.57714859e-03 9.99994528e-01 2.90816145e-03 -4.25391332e+00] [ 3.98471035e-04 -2.90879328e-03 9.99995690e-01 -1.38116893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.464860624 meters 0.10779284735609432 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.25, Z:-1.38 [[ 9.99998677e-01 -1.57598298e-03 -4.03056454e-04 4.68324987e+01] [ 1.57714859e-03 9.99994528e-01 2.90816145e-03 -4.25391332e+00] [ 3.98471035e-04 -2.90879328e-03 9.99995690e-01 -1.38116893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.494860624 meters 0.11341742483125286 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.26, Z:-1.38 [[ 9.99998997e-01 -1.38944406e-03 -2.74777662e-04 4.68320543e+01] [ 1.39037390e-03 9.99993208e-01 3.41322137e-03 -4.25587691e+00] [ 2.70033316e-04 -3.41359999e-03 9.99994137e-01 -1.38088439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.524860624 meters 0.1132390311179677 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.26, Z:-1.38 [[ 9.99999613e-01 -8.52599108e-04 -2.18615785e-04 4.68323602e+01] [ 8.53537575e-04 9.99990265e-01 4.32922463e-03 -4.25814880e+00] [ 2.14922564e-04 -4.32940955e-03 9.99990605e-01 -1.38145255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.554860624 meters 0.10996001978705315 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.26, Z:-1.38 [[ 9.99999731e-01 -7.22018904e-04 -1.32373312e-04 4.68319916e+01] [ 7.22633316e-04 9.99988686e-01 4.70175452e-03 -4.25959978e+00] [ 1.28977059e-04 -4.70184892e-03 9.99988938e-01 -1.38118583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.584860624 meters 0.10914001595676213 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.26, Z:-1.38 [[ 9.99999809e-01 -6.18072311e-04 -9.29994710e-07 4.68315083e+01] [ 6.18069106e-04 9.99987011e-01 5.05914079e-03 -4.26109168e+00] [-2.19693221e-06 -5.05914040e-03 9.99987202e-01 -1.38085356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.614860624 meters 0.11019873509030437 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.26, Z:-1.38 [[ 9.99999919e-01 -3.84100008e-04 1.21887299e-04 4.68309786e+01] [ 3.83405624e-04 9.99983984e-01 5.64671460e-03 -4.26335308e+00] [-1.24054250e-04 -5.64666741e-03 9.99984050e-01 -1.38043024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.644860624 meters 0.1122767842260378 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.26, Z:-1.38 [[ 9.99999960e-01 -2.57351794e-04 1.18561666e-04 4.68308587e+01] [ 2.56648397e-04 9.99982591e-01 5.89505230e-03 -4.26436888e+00] [-1.20076705e-04 -5.89502163e-03 9.99982617e-01 -1.38024495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.674860624 meters 0.11242912615130822 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.26, Z:-1.38 [[ 9.99993239e-01 -3.60743631e-03 -7.12631563e-04 4.68330737e+01] [ 3.60911362e-03 9.99990687e-01 2.36660011e-03 -4.26460786e+00] [ 7.04087567e-04 -2.36915608e-03 9.99996946e-01 -1.38112729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.704860624 meters 0.11315846246981166 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.27, Z:-1.38 [[ 9.99995051e-01 -3.05289058e-03 -7.60255841e-04 4.68332606e+01] [ 3.05533302e-03 9.99990108e-01 3.23248496e-03 -4.26714198e+00] [ 7.50379898e-04 -3.23479180e-03 9.99994487e-01 -1.38125829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73486062399999 meters 0.1094774351556137 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.27, Z:-1.38 [[ 9.99995369e-01 -2.92438434e-03 -8.42794425e-04 4.68332476e+01] [ 2.92724604e-03 9.99989886e-01 3.41449721e-03 -4.26788436e+00] [ 8.32800599e-04 -3.41694847e-03 9.99993815e-01 -1.38101364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.764860624 meters 0.10716347385273722 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.27, Z:-1.38 [[ 9.99995730e-01 -2.76134341e-03 -9.56094122e-04 4.68334691e+01] [ 2.76476218e-03 9.99989723e-01 3.59310612e-03 -4.26842338e+00] [ 9.46162496e-04 -3.59573415e-03 9.99993088e-01 -1.38099081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.794860624 meters 0.10773467294561226 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.27, Z:-1.38 [[ 9.99996076e-01 -2.58249707e-03 -1.08571812e-03 4.68337573e+01] [ 2.58657710e-03 9.99989535e-01 3.77345218e-03 -4.26893695e+00] [ 1.07596183e-03 -3.77624567e-03 9.99992291e-01 -1.38100618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.824860624 meters 0.1056540951042785 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.27, Z:-1.38 [[ 9.99996657e-01 -2.23241695e-03 -1.30471168e-03 4.68340767e+01] [ 2.23783652e-03 9.99988813e-01 4.16724662e-03 -4.27001557e+00] [ 1.29539406e-03 -4.17015242e-03 9.99990466e-01 -1.38084880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.854860624 meters 0.1033366793485288 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.27, Z:-1.38 [[ 9.99996731e-01 -2.06824189e-03 -1.50312037e-03 4.68344985e+01] [ 2.07461921e-03 9.99988801e-01 4.25362059e-03 -4.27019809e+00] [ 1.49430602e-03 -4.25672509e-03 9.99989824e-01 -1.38087316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.884860624 meters 0.10035956616924 Centerline is valid? [False, False] Translation: X:46.83, Y:-4.27, Z:-1.38 [[ 9.99996725e-01 -1.94415688e-03 -1.66445309e-03 4.68347287e+01] [ 1.95138879e-03 9.99988616e-01 4.35437902e-03 -4.27061571e+00] [ 1.65596855e-03 -4.35761276e-03 9.99989134e-01 -1.38073282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.914860624 meters 0.10052220772369705 Centerline is valid? [False, False] Translation: X:46.84, Y:-4.27, Z:-1.38 [[ 9.99997120e-01 -1.50732449e-03 -1.86778544e-03 4.68353119e+01] [ 1.51636579e-03 9.99987095e-01 4.84872402e-03 -4.27181682e+00] [ 1.86045274e-03 -4.85154230e-03 9.99986501e-01 -1.38099228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.944860624 meters 0.10119300539564387 Centerline is valid? [False, False] Translation: X:46.84, Y:-4.27, Z:-1.38 [[ 9.99997208e-01 -1.33217207e-03 -1.95183161e-03 4.68356325e+01] [ 1.34199788e-03 9.99986391e-01 5.04151869e-03 -4.27222614e+00] [ 1.94508888e-03 -5.04412396e-03 9.99985387e-01 -1.38121508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.974860624 meters 0.09979714414529094 Centerline is valid? [False, True] Translation: X:46.84, Y:-4.27, Z:-1.38 [[ 9.99997111e-01 -1.23062323e-03 -2.06499816e-03 4.68359160e+01] [ 1.24113716e-03 9.99986235e-01 5.09796525e-03 -4.27236169e+00] [ 2.05869606e-03 -5.10051347e-03 9.99984873e-01 -1.38129267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.004860624 meters 0.09774889946317392 Centerline is valid? [True, True] Translation: X:46.87, Y:-4.27, Z:-1.38 [[ 9.99996772e-01 1.30178187e-04 -2.53754956e-03 4.68659367e+01] [-1.29464812e-04 9.99999952e-01 2.81289795e-04 -4.27014801e+00] [ 2.53758606e-03 -2.80960363e-04 9.99996741e-01 -1.37945939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.034860624 meters 0.09796021870781803 Centerline is valid? [True, True] Translation: X:46.90, Y:-4.27, Z:-1.38 [[ 9.99996431e-01 1.51208176e-03 -2.20258106e-03 4.68958260e+01] [-1.51154860e-03 9.99998828e-01 2.43707495e-04 -4.27475327e+00] [ 2.20294698e-03 -2.40377316e-04 9.99997545e-01 -1.38069860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.064860624 meters 0.09522680947990057 Centerline is valid? [True, True] Translation: X:46.93, Y:-4.27, Z:-1.38 [[ 9.99990741e-01 3.78954523e-03 -2.03882153e-03 4.69269008e+01] [-3.78909164e-03 9.99992796e-01 2.26294303e-04 -4.27430074e+00] [ 2.03966440e-03 -2.18566926e-04 9.99997896e-01 -1.38081418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09486062399999 meters 0.09818097525962588 Centerline is valid? [True, True] Translation: X:46.95, Y:-4.28, Z:-1.38 [[ 9.99988519e-01 4.06896626e-03 -2.53098595e-03 4.69538683e+01] [-4.06827241e-03 9.99991686e-01 2.79231392e-04 -4.28305041e+00] [ 2.53210109e-03 -2.68931446e-04 9.99996758e-01 -1.38289712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.124860624 meters 0.0959359927006502 Centerline is valid? [True, True] Translation: X:46.98, Y:-4.28, Z:-1.38 [[ 9.99989555e-01 4.19899050e-03 -1.80497687e-03 4.69824591e+01] [-4.19863831e-03 9.99991166e-01 1.98868710e-04 -4.28285891e+00] [ 1.80579597e-03 -1.91288188e-04 9.99998351e-01 -1.38292270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.154860624 meters 0.10200098383417339 Centerline is valid? [True, False] Translation: X:46.98, Y:-4.28, Z:-1.38 [[ 9.99996514e-01 7.02258828e-04 -2.54553530e-03 4.69846379e+01] [-7.11202735e-04 9.99993572e-01 -3.51436565e-03 -4.28250359e+00] [ 2.54305094e-03 3.51616379e-03 9.99990585e-01 -1.38405105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.184860624 meters 0.1025070312291147 Centerline is valid? [False, False] Translation: X:46.98, Y:-4.28, Z:-1.38 [[ 9.99996747e-01 8.69615149e-04 -2.39775865e-03 4.69846204e+01] [-8.77091267e-04 9.99994752e-01 -3.11867431e-03 -4.28343076e+00] [ 2.39503402e-03 3.12076722e-03 9.99992262e-01 -1.38445188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.214860624 meters 0.09967291575606659 Centerline is valid? [False, True] Translation: X:46.98, Y:-4.29, Z:-1.38 [[ 9.99997387e-01 9.60510196e-04 -2.07431961e-03 4.69841835e+01] [-9.65743866e-04 9.99996350e-01 -2.52355184e-03 -4.28511812e+00] [ 2.07188814e-03 2.52554850e-03 9.99994664e-01 -1.38472751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.244860624 meters 0.10049890772084677 Centerline is valid? [True, False] Translation: X:46.98, Y:-4.29, Z:-1.39 [[ 9.99997110e-01 1.28495798e-03 -2.03217031e-03 4.69845030e+01] [-1.28887350e-03 9.99997313e-01 -1.92663621e-03 -4.28629377e+00] [ 2.02968921e-03 1.92924985e-03 9.99996079e-01 -1.38532470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.274860624 meters 0.10334959038687366 Centerline is valid? [False, False] Translation: X:46.98, Y:-4.29, Z:-1.39 [[ 9.99996729e-01 1.59327806e-03 -2.00104715e-03 4.69848361e+01] [-1.59597232e-03 9.99997821e-01 -1.34555091e-03 -4.28744706e+00] [ 1.99889896e-03 1.34874013e-03 9.99997093e-01 -1.38590605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.304860624 meters 0.10383377242995777 Centerline is valid? [False, False] Translation: X:46.98, Y:-4.29, Z:-1.39 [[ 9.99997970e-01 1.36007305e-03 -1.48678999e-03 4.69837033e+01] [-1.36175293e-03 9.99998435e-01 -1.12944079e-03 -4.28892708e+00] [ 1.48525154e-03 1.13146314e-03 9.99998257e-01 -1.38563849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.334860624 meters 0.10081286482683074 Centerline is valid? [False, False] Translation: X:46.98, Y:-4.29, Z:-1.39 [[ 9.99997944e-01 1.48364065e-03 -1.38248382e-03 4.69837413e+01] [-1.48478003e-03 9.99998559e-01 -8.23492604e-04 -4.28956847e+00] [ 1.38126006e-03 8.25543595e-04 9.99998705e-01 -1.38596560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.364860624 meters 0.10360413808738937 Centerline is valid? [False, False] Translation: X:46.98, Y:-4.29, Z:-1.39 [[ 9.99998094e-01 1.43087943e-03 -1.32869935e-03 4.69836473e+01] [-1.43198443e-03 9.99998629e-01 -8.31067707e-04 -4.28968452e+00] [ 1.32750837e-03 8.32968799e-04 9.99998772e-01 -1.38597028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.394860624 meters 0.10545402235125835 Centerline is valid? [False, False] Translation: X:46.98, Y:-4.29, Z:-1.39 [[ 9.99997867e-01 1.58642068e-03 -1.32254503e-03 4.69839095e+01] [-1.58719349e-03 9.99998570e-01 -5.83486413e-04 -4.29000844e+00] [ 1.32161749e-03 5.85584303e-04 9.99998955e-01 -1.38635308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.424860624 meters 0.10548935470008003 Centerline is valid? [False, False] Translation: X:46.98, Y:-4.29, Z:-1.39 [[ 9.99998403e-01 1.28432580e-03 -1.24280967e-03 4.69835263e+01] [-1.28553729e-03 9.99998699e-01 -9.74491946e-04 -4.28934108e+00] [ 1.24155649e-03 9.76088068e-04 9.99998753e-01 -1.38604774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.454860624 meters 0.10323956889988573 Centerline is valid? [False, False] Translation: X:46.98, Y:-4.29, Z:-1.39 [[ 9.99997898e-01 1.52109697e-03 -1.37518361e-03 4.69842249e+01] [-1.52208183e-03 9.99998586e-01 -7.15404577e-04 -4.28950204e+00] [ 1.37409346e-03 7.17496215e-04 9.99998799e-01 -1.38665013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48486062399999 meters 0.10085849438349458 Centerline is valid? [False, False] Translation: X:46.98, Y:-4.29, Z:-1.39 [[ 9.99997838e-01 1.50957423e-03 -1.42985755e-03 4.69843741e+01] [-1.51067799e-03 9.99998562e-01 -7.71170452e-04 -4.28932350e+00] [ 1.42869135e-03 7.73328839e-04 9.99998680e-01 -1.38671911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.514860624 meters 0.10087569385541843 Centerline is valid? [False, False] Translation: X:46.98, Y:-4.29, Z:-1.39 [[ 9.99997627e-01 1.54103141e-03 -1.53985510e-03 4.69846347e+01] [-1.54223542e-03 9.99998506e-01 -7.81013494e-04 -4.28915984e+00] [ 1.53864923e-03 7.83386460e-04 9.99998509e-01 -1.38677847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.544860624 meters 0.10048826035577996 Centerline is valid? [False, False] Translation: X:46.99, Y:-4.29, Z:-1.39 [[ 9.99997250e-01 1.55085996e-03 -1.75893340e-03 4.69851583e+01] [-1.55256111e-03 9.99998328e-01 -9.66194368e-04 -4.28841848e+00] [ 1.75743202e-03 9.68922563e-04 9.99997986e-01 -1.38691700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.574860624 meters 0.10014207410575329 Centerline is valid? [False, False] Translation: X:46.99, Y:-4.29, Z:-1.39 [[ 9.99997222e-01 1.52955218e-03 -1.79361125e-03 4.69855070e+01] [-1.53150850e-03 9.99998233e-01 -1.08984963e-03 -4.28770652e+00] [ 1.79194110e-03 1.09259354e-03 9.99997798e-01 -1.38727438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.604860624 meters 0.09911128082202664 Centerline is valid? [False, True] Translation: X:46.99, Y:-4.29, Z:-1.39 [[ 9.99996610e-01 1.55625170e-03 -2.08759908e-03 4.69862423e+01] [-1.55913824e-03 9.99997830e-01 -1.38179426e-03 -4.28623599e+00] [ 2.08544413e-03 1.38504443e-03 9.99996866e-01 -1.38752118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.634860624 meters 0.09689628846672381 Centerline is valid? [True, True] Translation: X:47.02, Y:-4.29, Z:-1.39 [[ 9.99994785e-01 3.15500512e-03 -6.89540223e-04 4.70161586e+01] [-3.15495153e-03 9.99995020e-01 7.87919813e-05 -4.28616698e+00] [ 6.89785378e-04 -7.66161044e-05 9.99999759e-01 -1.38850756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.664860624 meters 0.09736526919891912 Centerline is valid? [True, True] Translation: X:47.05, Y:-4.29, Z:-1.39 [[ 9.99990224e-01 4.30537819e-03 -1.00823894e-03 4.70456840e+01] [-4.30526442e-03 9.99990726e-01 1.14982229e-04 -4.28965073e+00] [ 1.00872464e-03 -1.10640370e-04 9.99999485e-01 -1.38970604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.694860624 meters 0.09750537077805176 Centerline is valid? [True, True] Translation: X:47.07, Y:-4.29, Z:-1.39 [[ 9.99985235e-01 5.16463063e-03 -1.68984303e-03 4.70739898e+01] [-5.16431281e-03 9.99986646e-01 1.92384684e-04 -4.29285280e+00] [ 1.69081406e-03 -1.83654965e-04 9.99998554e-01 -1.38998734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.724860624 meters 0.10052241904393346 Centerline is valid? [True, False] Translation: X:47.07, Y:-4.29, Z:-1.39 [[ 9.99986044e-01 4.95922706e-03 -1.82159112e-03 4.70741265e+01] [-4.95969272e-03 9.99987669e-01 -2.51204084e-04 -4.29177566e+00] [ 1.82032288e-03 2.60235110e-04 9.99998309e-01 -1.38977537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.754860624 meters 0.09567935372453525 Centerline is valid? [False, True] Translation: X:47.07, Y:-4.29, Z:-1.39 [[ 9.99986681e-01 4.73726232e-03 -2.04849970e-03 4.70746766e+01] [-4.73910964e-03 9.99988367e-01 -8.97883201e-04 -4.28968081e+00] [ 2.04422236e-03 9.07579306e-04 9.99997499e-01 -1.38994169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.784860624 meters 0.09574808983296446 Centerline is valid? [True, True] Translation: X:47.10, Y:-4.29, Z:-1.39 [[ 9.99981058e-01 5.40401764e-03 -2.94629039e-03 4.71031663e+01] [-5.40307090e-03 9.99985349e-01 3.29197455e-04 -4.29252770e+00] [ 2.94802621e-03 -3.13272203e-04 9.99995605e-01 -1.39130437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.814860624 meters 0.10056472027859535 Centerline is valid? [True, False] Translation: X:47.10, Y:-4.29, Z:-1.39 [[ 9.99982314e-01 5.14815005e-03 -2.97806929e-03 4.71032535e+01] [-5.14860475e-03 9.99986735e-01 -1.45035641e-04 -4.29123470e+00] [ 2.97728312e-03 1.60365977e-04 9.99995555e-01 -1.39130907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84486062399999 meters 0.1005375916695232 Centerline is valid? [False, False] Translation: X:47.10, Y:-4.29, Z:-1.39 [[ 9.99983368e-01 4.84563409e-03 -3.12772647e-03 4.71036177e+01] [-4.84827077e-03 9.99987898e-01 -8.35971794e-04 -4.28908915e+00] [ 3.12363781e-03 8.51121956e-04 9.99994759e-01 -1.39137994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.874860624 meters 0.09825880861675006 Centerline is valid? [False, True] Translation: X:47.10, Y:-4.29, Z:-1.39 [[ 9.99984864e-01 4.53908058e-03 -3.10937186e-03 4.71036460e+01] [-4.54342043e-03 9.99988712e-01 -1.39009425e-03 -4.28749781e+00] [ 3.10302701e-03 1.40420039e-03 9.99994200e-01 -1.39142161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.904860624 meters 0.10090392970504014 Centerline is valid? [True, False] Translation: X:47.10, Y:-4.29, Z:-1.39 [[ 9.99986746e-01 4.15120517e-03 -3.04541421e-03 4.71034044e+01] [-4.15725886e-03 9.99989390e-01 -1.98417334e-03 -4.28605293e+00] [ 3.03714519e-03 1.99680762e-03 9.99993394e-01 -1.39122704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.934860624 meters 0.09669777473858966 Centerline is valid? [False, True] Translation: X:47.10, Y:-4.28, Z:-1.39 [[ 9.99987963e-01 3.85160401e-03 -3.03942840e-03 4.71036331e+01] [-3.85938239e-03 9.99989282e-01 -2.55745715e-03 -4.28416279e+00] [ 3.02954552e-03 2.56915668e-03 9.99992111e-01 -1.39153795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.964860624 meters 0.10232703337865344 Centerline is valid? [True, False] Translation: X:47.10, Y:-4.28, Z:-1.39 [[ 9.99988887e-01 3.64582895e-03 -2.98911459e-03 4.71036047e+01] [-3.65448388e-03 9.99989131e-01 -2.89515221e-03 -4.28319906e+00] [ 2.97852688e-03 2.90604370e-03 9.99991342e-01 -1.39160142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.994860624 meters 0.10241481773604927 Centerline is valid? [False, False] Translation: X:47.10, Y:-4.28, Z:-1.39 [[ 9.99989582e-01 3.47800770e-03 -2.95636976e-03 4.71036469e+01] [-3.48739506e-03 9.99988875e-01 -3.17609744e-03 -4.28231542e+00] [ 2.94529038e-03 3.18637438e-03 9.99990586e-01 -1.39171069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.024860624 meters 0.09968100017382786 Centerline is valid? [False, True] Translation: X:47.10, Y:-4.28, Z:-1.39 [[ 9.99989781e-01 3.40094498e-03 -2.97844060e-03 4.71039526e+01] [-3.41107033e-03 9.99988399e-01 -3.40109112e-03 -4.28137092e+00] [ 2.96683912e-03 3.41121604e-03 9.99989781e-01 -1.39204517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.054860624 meters 0.09903767864861951 Centerline is valid? [True, True] Translation: X:47.13, Y:-4.28, Z:-1.39 [[ 9.99990610e-01 3.65169897e-03 -2.33327852e-03 4.71326081e+01] [-3.65109459e-03 9.99993300e-01 2.63231540e-04 -4.28408932e+00] [ 2.33422413e-03 -2.54710048e-04 9.99997243e-01 -1.39334161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.084860624 meters 0.10196923937811765 Centerline is valid? [True, False] Translation: X:47.13, Y:-4.28, Z:-1.39 [[ 9.99992134e-01 3.14790183e-03 -2.41298669e-03 4.71325263e+01] [-3.14950039e-03 9.99994823e-01 -6.58969150e-04 -4.28169857e+00] [ 2.41089983e-03 6.66563669e-04 9.99996872e-01 -1.39301841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.114860624 meters 0.10115393309699354 Centerline is valid? [False, False] Translation: X:47.13, Y:-4.28, Z:-1.39 [[ 9.99992455e-01 3.01103347e-03 -2.45449352e-03 4.71327636e+01] [-3.01344897e-03 9.99994978e-01 -9.81008964e-04 -4.28056553e+00] [ 2.45152735e-03 9.88398053e-04 9.99996507e-01 -1.39322314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.144860624 meters 0.10207039637137139 Centerline is valid? [False, False] Translation: X:47.13, Y:-4.28, Z:-1.39 [[ 9.99992722e-01 2.88964121e-03 -2.49114012e-03 4.71330309e+01] [-2.89279103e-03 9.99995020e-01 -1.26173690e-03 -4.27946141e+00] [ 2.48748174e-03 1.26893407e-03 9.99996101e-01 -1.39347799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.174860624 meters 0.09735080452595848 Centerline is valid? [False, True] Translation: X:47.13, Y:-4.28, Z:-1.39 [[ 9.99992673e-01 2.81191271e-03 -2.59769483e-03 4.71333547e+01] [-2.81580520e-03 9.99994917e-01 -1.49600069e-03 -4.27852909e+00] [ 2.59347500e-03 1.50330433e-03 9.99995507e-01 -1.39361512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20486062399999 meters 0.10397974234135998 Centerline is valid? [True, False] Translation: X:47.13, Y:-4.28, Z:-1.39 [[ 9.99993336e-01 2.55438171e-03 -2.60843406e-03 4.71332795e+01] [-2.55952052e-03 9.99994787e-01 -1.96864267e-03 -4.27736306e+00] [ 2.60339180e-03 1.97530589e-03 9.99994660e-01 -1.39345029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23486062399999 meters 0.10433960771000123 Centerline is valid? [False, False] Translation: X:47.13, Y:-4.28, Z:-1.39 [[ 9.99993528e-01 2.54294553e-03 -2.54517098e-03 4.71334262e+01] [-2.54801356e-03 9.99994774e-01 -1.98997595e-03 -4.27692812e+00] [ 2.54009728e-03 1.99644820e-03 9.99994781e-01 -1.39382238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.264860624 meters 0.10503161837195137 Centerline is valid? [False, False] Translation: X:47.13, Y:-4.28, Z:-1.39 [[ 9.99992900e-01 2.69710168e-03 -2.63150525e-03 4.71339926e+01] [-2.70192152e-03 9.99994676e-01 -1.82975818e-03 -4.27678328e+00] [ 2.62655620e-03 1.83685531e-03 9.99994864e-01 -1.39436581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.294860624 meters 0.10421701755018244 Centerline is valid? [False, False] Translation: X:47.13, Y:-4.28, Z:-1.39 [[ 9.99993141e-01 2.50877745e-03 -2.72468376e-03 4.71342044e+01] [-2.51481556e-03 9.99994385e-01 -2.21491617e-03 -4.27562906e+00] [ 2.71911173e-03 2.22175306e-03 9.99993835e-01 -1.39439669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.324860624 meters 0.09646063055319551 Centerline is valid? [False, True] Translation: X:47.13, Y:-4.28, Z:-1.39 [[ 9.99993050e-01 2.52995966e-03 -2.73837898e-03 4.71345910e+01] [-2.53601780e-03 9.99994340e-01 -2.21110027e-03 -4.27518045e+00] [ 2.73276948e-03 2.21802948e-03 9.99993806e-01 -1.39489968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.354860624 meters 0.09646063055319551 Centerline is valid? [True, True] Translation: X:47.16, Y:-4.28, Z:-1.40 [[ 9.99994058e-01 2.40712484e-03 -2.46787308e-03 4.71627544e+01] [-2.40647175e-03 9.99997069e-01 2.67571636e-04 -4.27935531e+00] [ 2.46850992e-03 -2.61631179e-04 9.99996919e-01 -1.39639820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.384860624 meters 0.10520951252979618 Centerline is valid? [True, False] Translation: X:47.16, Y:-4.28, Z:-1.40 [[ 9.99994706e-01 2.16989351e-03 -2.42459762e-03 4.71627273e+01] [-2.17018986e-03 9.99997638e-01 -1.19600467e-04 -4.27832958e+00] [ 2.42433237e-03 1.24861671e-04 9.99997054e-01 -1.39644805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.414860624 meters 0.0972730577988767 Centerline is valid? [False, True] Translation: X:47.16, Y:-4.28, Z:-1.40 [[ 9.99994207e-01 2.13827087e-03 -2.64827145e-03 4.71636204e+01] [-2.13948695e-03 9.99997607e-01 -4.56451318e-04 -4.27669713e+00] [ 2.64728910e-03 4.62114616e-04 9.99996389e-01 -1.39708310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.444860624 meters 0.09630106347022736 Centerline is valid? [True, True] Translation: X:47.19, Y:-4.28, Z:-1.40 [[ 9.99992140e-01 2.63464156e-03 -2.96295093e-03 4.71928123e+01] [-2.63370503e-03 9.99996481e-01 3.19938024e-04 -4.27710135e+00] [ 2.96378342e-03 -3.12131971e-04 9.99995559e-01 -1.39766192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.474860624 meters 0.10337239295020206 Centerline is valid? [True, False] Translation: X:47.19, Y:-4.28, Z:-1.40 [[ 9.99992829e-01 2.32245937e-03 -2.99144849e-03 4.71929720e+01] [-2.32341749e-03 9.99997251e-01 -3.16851282e-04 -4.27517767e+00] [ 2.99070439e-03 3.23799393e-04 9.99995475e-01 -1.39778711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.504860624 meters 0.10229575215997021 Centerline is valid? [False, False] Translation: X:47.19, Y:-4.27, Z:-1.40 [[ 9.99992356e-01 2.24123389e-03 -3.20382538e-03 4.71936416e+01] [-2.24356073e-03 9.99997222e-01 -7.22861144e-04 -4.27350256e+00] [ 3.20219638e-03 7.30043596e-04 9.99994606e-01 -1.39811979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.534860624 meters 0.0945777295996439 Centerline is valid? [False, True] Translation: X:47.19, Y:-4.27, Z:-1.40 [[ 9.99991109e-01 2.05616883e-03 -3.68151186e-03 4.71948430e+01] [-2.06250749e-03 9.99996396e-01 -1.71878672e-03 -4.26944681e+00] [ 3.67796447e-03 1.72636458e-03 9.99991746e-01 -1.39855708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.564860624 meters 0.0968790097641306 Centerline is valid? [True, True] Translation: X:47.22, Y:-4.28, Z:-1.40 [[ 9.99989487e-01 3.38404018e-03 -3.09431679e-03 4.72236702e+01] [-3.38305495e-03 9.99994225e-01 3.23577679e-04 -4.27565759e+00] [ 3.09539392e-03 -3.13106034e-04 9.99995160e-01 -1.40097567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59486062399999 meters 0.09321525856162298 Centerline is valid? [True, True] Translation: X:47.25, Y:-4.27, Z:-1.40 [[ 9.99986698e-01 4.66220618e-03 -2.20640798e-03 4.72548671e+01] [-4.66170805e-03 9.99989108e-01 2.30854129e-04 -4.26915115e+00] [ 2.20746023e-03 -2.20565429e-04 9.99997539e-01 -1.39946263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.624860624 meters 0.09501415039518835 Centerline is valid? [True, True] Translation: X:47.28, Y:-4.27, Z:-1.40 [[ 9.99978871e-01 6.34488962e-03 -1.41384941e-03 4.72839985e+01] [-6.34468757e-03 9.99979861e-01 1.47349940e-04 -4.27034426e+00] [ 1.41475586e-03 -1.38376394e-04 9.99998990e-01 -1.40013747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.654860624 meters 0.0963549121002798 Centerline is valid? [True, True] Translation: X:47.31, Y:-4.27, Z:-1.40 [[ 9.99974063e-01 7.06730618e-03 -1.38803515e-03 4.73120497e+01] [-7.06711331e-03 9.99975017e-01 1.43807699e-04 -4.27365473e+00] [ 1.38901681e-03 -1.33994567e-04 9.99999026e-01 -1.40174868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.684860624 meters 0.09379115582825938 Centerline is valid? [True, True] Translation: X:47.34, Y:-4.27, Z:-1.40 [[ 9.99971059e-01 7.59914382e-03 -3.66603306e-04 4.73417190e+01] [-7.59913083e-03 9.99971126e-01 3.68034632e-05 -4.26979053e+00] [ 3.66872396e-04 -3.40165316e-05 9.99999932e-01 -1.40125011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.714860624 meters 0.09254819725851711 Centerline is valid? [True, True] Translation: X:47.37, Y:-4.27, Z:-1.40 [[ 9.99971765e-01 7.41643180e-03 -1.21107397e-03 4.73705231e+01] [-7.41628571e-03 9.99972491e-01 1.25074790e-04 -4.26799945e+00] [ 1.21196827e-03 -1.16089588e-04 9.99999259e-01 -1.40149918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.744860624 meters 0.0957969657898569 Centerline is valid? [True, True] Translation: X:47.40, Y:-4.27, Z:-1.40 [[ 9.99973012e-01 7.32979188e-03 -5.00205749e-04 4.73983697e+01] [-7.32976742e-03 9.99973136e-01 5.07120494e-05 -4.27314432e+00] [ 5.00564020e-04 -4.70442890e-05 9.99999874e-01 -1.40354732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.774860624 meters 0.0963051659389307 Centerline is valid? [True, True] Translation: X:47.43, Y:-4.28, Z:-1.40 [[ 9.99974177e-01 7.17531067e-03 -4.00704756e-04 4.74273610e+01] [-7.17529508e-03 9.99974256e-01 4.03265536e-05 -4.27508581e+00] [ 4.00983796e-04 -3.74503374e-05 9.99999919e-01 -1.40456867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.804860624 meters 0.09796412357424335 Centerline is valid? [True, True] Translation: X:47.45, Y:-4.28, Z:-1.41 [[ 9.99978492e-01 6.55850205e-03 -4.84538606e-05 4.74545446e+01] [-6.55850190e-03 9.99978493e-01 3.16584763e-06 -4.27970836e+00] [ 4.84735817e-05 -2.84799481e-06 9.99999999e-01 -1.40534287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.834860624 meters 0.09815419169621688 Centerline is valid? [True, True] Translation: X:47.48, Y:-4.28, Z:-1.41 [[ 9.99982027e-01 5.99538571e-03 2.76961419e-05 4.74829024e+01] [-5.99538558e-03 9.99982028e-01 -4.78397738e-06 -4.28108317e+00] [-2.77243259e-05 4.61784235e-06 1.00000000e+00 -1.40649965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.864860624 meters 0.0981606552680584 Centerline is valid? [True, True] Translation: X:47.51, Y:-4.28, Z:-1.41 [[ 9.99987584e-01 4.98107163e-03 -1.43117946e-04 4.75123488e+01] [-4.98106965e-03 9.99987594e-01 1.41569011e-05 -4.28278284e+00] [ 1.43186687e-04 -1.34438448e-05 9.99999990e-01 -1.40761773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.894860624 meters 0.09859181349606126 Centerline is valid? [True, True] Translation: X:47.54, Y:-4.29, Z:-1.41 [[ 9.99993387e-01 3.62941671e-03 -2.28899701e-04 4.75412217e+01] [-3.62941161e-03 9.99993413e-01 2.26933212e-05 -4.28502796e+00] [ 2.28980557e-04 -2.18623999e-05 9.99999974e-01 -1.40895483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.924860624 meters 0.1009874790858379 Centerline is valid? [True, False] Translation: X:47.54, Y:-4.28, Z:-1.41 [[ 9.99994587e-01 3.28897140e-03 -9.59830963e-05 4.75408474e+01] [-3.28900897e-03 9.99994514e-01 -3.93925891e-04 -4.28399690e+00] [ 9.46869587e-05 3.94239448e-04 9.99999918e-01 -1.40883194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95486062399999 meters 0.10219131360748607 Centerline is valid? [False, False] Translation: X:47.54, Y:-4.28, Z:-1.41 [[ 9.99995317e-01 3.06030841e-03 1.52174719e-05 4.75406702e+01] [-3.06029768e-03 9.99995099e-01 -6.61152086e-04 -4.28315065e+00] [-1.72407266e-05 6.61102420e-04 9.99999781e-01 -1.40892575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98486062399999 meters 0.09982088227522942 Centerline is valid? [False, True] Translation: X:47.54, Y:-4.28, Z:-1.41 [[ 9.99995416e-01 3.02687147e-03 7.77140929e-05 4.75408263e+01] [-3.02682016e-03 9.99995207e-01 -6.52165280e-04 -4.28270385e+00] [-7.96877408e-05 6.51927064e-04 9.99999784e-01 -1.40934973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.014860624 meters 0.1043020647047152 Centerline is valid? [True, False] Translation: X:47.54, Y:-4.28, Z:-1.41 [[ 9.99996146e-01 2.76121993e-03 2.90533708e-04 4.75405636e+01] [-2.76096036e-03 9.99995792e-01 -8.90060513e-04 -4.28179119e+00] [-2.92990139e-04 8.89254931e-04 9.99999562e-01 -1.40960874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.044860624 meters 0.09964662533253678 Centerline is valid? [False, True] Translation: X:47.54, Y:-4.28, Z:-1.41 [[ 9.99996248e-01 2.72421056e-03 2.87863237e-04 4.75408049e+01] [-2.72393051e-03 9.99995821e-01 -9.68786720e-04 -4.28116901e+00] [-2.90501213e-04 9.67998966e-04 9.99999489e-01 -1.40994264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.074860624 meters 0.10517406777088067 Centerline is valid? [True, False] Translation: X:47.54, Y:-4.28, Z:-1.41 [[ 9.99996901e-01 2.46701063e-03 3.33528437e-04 4.75406562e+01] [-2.46656975e-03 9.99996092e-01 -1.31586845e-03 -4.28013967e+00] [-3.36773395e-04 1.31504170e-03 9.99999079e-01 -1.40988066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.104860624 meters 0.10302359948602384 Centerline is valid? [False, False] Translation: X:47.54, Y:-4.28, Z:-1.41 [[ 9.99997193e-01 2.35089022e-03 2.94300324e-04 4.75408948e+01] [-2.35042963e-03 9.99996028e-01 -1.55572441e-03 -4.27909319e+00] [-2.97956493e-04 1.55502832e-03 9.99998747e-01 -1.41010378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.134860624 meters 0.1012711401794151 Centerline is valid? [False, False] Translation: X:47.54, Y:-4.28, Z:-1.41 [[ 9.99997866e-01 2.04902153e-03 2.62893564e-04 4.75412054e+01] [-2.04845220e-03 9.99995595e-01 -2.14793125e-03 -4.27671431e+00] [-2.67293564e-04 2.14738814e-03 9.99997659e-01 -1.41047104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.164860624 meters 0.10183256724956315 Centerline is valid? [False, False] Translation: X:47.54, Y:-4.28, Z:-1.41 [[ 9.99998379e-01 1.77915292e-03 2.75938099e-04 4.75411672e+01] [-1.77843949e-03 9.99995130e-01 -2.56454118e-03 -4.27533181e+00] [-2.80499466e-04 2.56404628e-03 9.99996673e-01 -1.41049333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.194860624 meters 0.1028440940585539 Centerline is valid? [False, False] Translation: X:47.54, Y:-4.27, Z:-1.41 [[ 9.99998153e-01 1.91969636e-03 -9.42594841e-05 4.75425364e+01] [-1.91995740e-03 9.99994089e-01 -2.85216875e-03 -4.27325385e+00] [ 8.87836290e-05 2.85234445e-03 9.99995928e-01 -1.41135898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.224860624 meters 0.10402847119423789 Centerline is valid? [False, False] Translation: X:47.54, Y:-4.27, Z:-1.41 [[ 9.99998317e-01 1.82176783e-03 -2.15472400e-04 4.75429896e+01] [-1.82243993e-03 9.99993342e-01 -3.16129479e-03 -4.27183287e+00] [ 2.09711820e-04 3.16168216e-03 9.99994980e-01 -1.41163760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.254860624 meters 0.1036454197700246 Centerline is valid? [False, False] Translation: X:47.54, Y:-4.27, Z:-1.41 [[ 9.99998390e-01 1.76341804e-03 -3.32261011e-04 4.75434757e+01] [-1.76453785e-03 9.99992661e-01 -3.40068342e-03 -4.27054601e+00] [ 3.26261746e-04 3.40126423e-03 9.99994162e-01 -1.41201546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.284860624 meters 0.10496628281333258 Centerline is valid? [False, False] Translation: X:47.54, Y:-4.27, Z:-1.41 [[ 9.99998246e-01 1.78850984e-03 -5.55568997e-04 4.75442773e+01] [-1.79054389e-03 9.99991616e-01 -3.68253683e-03 -4.26904948e+00] [ 5.48978086e-04 3.68352515e-03 9.99993065e-01 -1.41245126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.314860624 meters 0.10301439132634085 Centerline is valid? [False, False] Translation: X:47.54, Y:-4.27, Z:-1.41 [[ 9.99984685e-01 5.52863474e-03 -2.52224247e-04 4.75436892e+01] [-5.52865905e-03 9.99984712e-01 -9.57952403e-05 -4.26712085e+00] [ 2.51690775e-04 9.71882351e-05 9.99999964e-01 -1.41249813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34486062399999 meters 0.1030980488381449 Centerline is valid? [False, False] Translation: X:47.54, Y:-4.26, Z:-1.41 [[ 9.99986344e-01 5.20762926e-03 -4.38686294e-04 4.75439342e+01] [-5.20798188e-03 9.99986113e-01 -8.06531605e-04 -4.26499366e+00] [ 4.34480084e-04 8.08805261e-04 9.99999579e-01 -1.41227016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.374860624 meters 0.10283378673253397 Centerline is valid? [False, False] Translation: X:47.54, Y:-4.26, Z:-1.41 [[ 9.99986266e-01 5.20244486e-03 -6.34597162e-04 4.75445609e+01] [-5.20312622e-03 9.99985884e-01 -1.07680279e-03 -4.26368512e+00] [ 6.28986196e-04 1.08008989e-03 9.99999219e-01 -1.41254776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.404860624 meters 0.10222809295641128 Centerline is valid? [False, False] Translation: X:47.54, Y:-4.26, Z:-1.41 [[ 9.99987336e-01 4.98247263e-03 -7.09743477e-04 4.75446659e+01] [-4.98358383e-03 9.99986345e-01 -1.57257027e-03 -4.26231223e+00] [ 7.01898497e-04 1.57608742e-03 9.99998512e-01 -1.41243932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.434860624 meters 0.10123071728196914 Centerline is valid? [False, False] Translation: X:47.54, Y:-4.26, Z:-1.41 [[ 9.99987769e-01 4.89304066e-03 -7.21048407e-04 4.75449564e+01] [-4.89433932e-03 9.99986384e-01 -1.81045774e-03 -4.26117469e+00] [ 7.12179945e-04 1.81396466e-03 9.99998101e-01 -1.41280868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.464860624 meters 0.10067339877067055 Centerline is valid? [False, False] Translation: X:47.55, Y:-4.26, Z:-1.41 [[ 9.99988326e-01 4.75275531e-03 -8.71716184e-04 4.75454923e+01] [-4.75472560e-03 9.99986115e-01 -2.27226276e-03 -4.25924645e+00] [ 8.60904571e-04 2.27638101e-03 9.99997038e-01 -1.41312799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.494860624 meters 0.10182928262477763 Centerline is valid? [False, False] Translation: X:47.55, Y:-4.26, Z:-1.41 [[ 9.99989014e-01 4.59707095e-03 -9.15541651e-04 4.75456299e+01] [-4.59942004e-03 9.99986093e-01 -2.58043751e-03 -4.25815482e+00] [ 9.03666464e-04 2.58462013e-03 9.99996252e-01 -1.41318953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.524860624 meters 0.10272187883141125 Centerline is valid? [False, False] Translation: X:47.55, Y:-4.26, Z:-1.41 [[ 9.99991016e-01 4.13228711e-03 -9.44234320e-04 4.75456420e+01] [-4.13548208e-03 9.99985644e-01 -3.40714182e-03 -4.25546909e+00] [ 9.30141477e-04 3.41101607e-03 9.99993750e-01 -1.41316485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.554860624 meters 0.10331190959904356 Centerline is valid? [False, False] Translation: X:47.55, Y:-4.25, Z:-1.41 [[ 9.99991195e-01 4.09000588e-03 -9.39285089e-04 4.75459510e+01] [-4.09326495e-03 9.99985517e-01 -3.49443320e-03 -4.25454127e+00] [ 9.24979233e-04 3.49824717e-03 9.99993453e-01 -1.41364291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.584860624 meters 0.1038068692859285 Centerline is valid? [False, False] Translation: X:47.55, Y:-4.25, Z:-1.41 [[ 9.99990902e-01 4.14953925e-03 -9.88946049e-04 4.75464351e+01] [-4.15294700e-03 9.99985359e-01 -3.46906981e-03 -4.25393289e+00] [ 9.74536529e-04 3.47314529e-03 9.99993494e-01 -1.41417635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.614860624 meters 0.09715174439265657 Centerline is valid? [False, True] Translation: X:47.55, Y:-4.25, Z:-1.41 [[ 9.99991296e-01 4.07342122e-03 -9.03308476e-04 4.75464735e+01] [-4.07658260e-03 9.99985474e-01 -3.52599763e-03 -4.25338875e+00] [ 8.88932481e-04 3.52964935e-03 9.99993376e-01 -1.41451840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.644860624 meters 0.09659351888906381 Centerline is valid? [True, True] Translation: X:47.58, Y:-4.26, Z:-1.42 [[ 9.99994733e-01 3.21148918e-03 4.68796882e-04 4.75750844e+01] [-3.21146723e-03 9.99994842e-01 -4.75545302e-05 -4.25524645e+00] [-4.68947185e-04 4.60487539e-05 9.99999889e-01 -1.41535219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.674860624 meters 0.09730862497797452 Centerline is valid? [True, True] Translation: X:47.60, Y:-4.26, Z:-1.42 [[ 9.99995856e-01 2.63118359e-03 1.16815493e-03 4.76047805e+01] [-2.63105006e-03 9.99996532e-01 -1.15823595e-04 -4.25836148e+00] [-1.16845563e-03 1.12749641e-04 9.99999311e-01 -1.41568738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70486062399999 meters 0.09704038924592745 Centerline is valid? [True, True] Translation: X:47.63, Y:-4.26, Z:-1.42 [[ 9.99996615e-01 2.02294667e-03 1.63643347e-03 4.76347014e+01] [-2.02268436e-03 9.99997941e-01 -1.61935074e-04 -4.26018366e+00] [-1.63675769e-03 1.58624538e-04 9.99998648e-01 -1.41604059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73486062399999 meters 0.09988832077981381 Centerline is valid? [True, True] Translation: X:47.66, Y:-4.27, Z:-1.42 [[ 9.99998233e-01 9.17266534e-04 1.64072044e-03 4.76636066e+01] [-9.17001967e-04 9.99999566e-01 -1.61995743e-04 -4.26736533e+00] [-1.64086833e-03 1.60490913e-04 9.99998641e-01 -1.41863494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.764860624 meters 0.10097892109929366 Centerline is valid? [True, False] Translation: X:47.66, Y:-4.27, Z:-1.42 [[ 9.99998179e-01 6.30631732e-04 1.80100212e-03 4.76634325e+01] [-6.29793964e-04 9.99999693e-01 -4.65696754e-04 -4.26625515e+00] [-1.80129525e-03 4.64561646e-04 9.99998270e-01 -1.41890997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.794860624 meters 0.10112013435061439 Centerline is valid? [False, False] Translation: X:47.66, Y:-4.27, Z:-1.42 [[ 9.99998120e-01 6.75115680e-04 1.81766019e-03 4.76637671e+01] [-6.74393977e-04 9.99999694e-01 -3.97634108e-04 -4.26592323e+00] [-1.81792808e-03 3.96407541e-04 9.99998269e-01 -1.41944425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.824860624 meters 0.10032970726409095 Centerline is valid? [False, False] Translation: X:47.66, Y:-4.27, Z:-1.42 [[ 9.99998244e-01 5.11461647e-04 1.80302199e-03 4.76637414e+01] [-5.10262043e-04 9.99999648e-01 -6.65727093e-04 -4.26518718e+00] [-1.80336185e-03 6.64805910e-04 9.99998153e-01 -1.41938082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.854860624 meters 0.10284142888267779 Centerline is valid? [False, False] Translation: X:47.66, Y:-4.26, Z:-1.42 [[ 9.99998196e-01 5.75705734e-04 1.80999693e-03 4.76641166e+01] [-5.74657252e-04 9.99999667e-01 -5.79739058e-04 -4.26485752e+00] [-1.81033008e-03 5.78697884e-04 9.99998194e-01 -1.41995865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.884860624 meters 0.10307032806780815 Centerline is valid? [False, False] Translation: X:47.66, Y:-4.26, Z:-1.42 [[ 9.99998140e-01 2.60040884e-04 1.91113657e-03 4.76640271e+01] [-2.58148966e-04 9.99999477e-01 -9.90123688e-04 -4.26337974e+00] [-1.91139304e-03 9.89628488e-04 9.99997684e-01 -1.42018434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.914860624 meters 0.10244462066850846 Centerline is valid? [False, False] Translation: X:47.66, Y:-4.26, Z:-1.42 [[ 9.99998208e-01 3.59563999e-04 1.85858253e-03 4.76645661e+01] [-3.57867817e-04 9.99999519e-01 -9.12873206e-04 -4.26291017e+00] [-1.85890987e-03 9.12206443e-04 9.99997856e-01 -1.42079851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.944860624 meters 0.10235573930108458 Centerline is valid? [False, False] Translation: X:47.66, Y:-4.26, Z:-1.42 [[ 9.99998293e-01 2.72768027e-04 1.82719595e-03 4.76646555e+01] [-2.70811309e-04 9.99999390e-01 -1.07104761e-03 -4.26232756e+00] [-1.82748698e-03 1.07055096e-03 9.99997757e-01 -1.42085330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.974860624 meters 0.10289150257804336 Centerline is valid? [False, False] Translation: X:47.66, Y:-4.26, Z:-1.42 [[ 9.99998269e-01 2.99863139e-04 1.83618420e-03 4.76648978e+01] [-2.97947352e-04 9.99999411e-01 -1.04353696e-03 -4.26194100e+00] [-1.83649604e-03 1.04298807e-03 9.99997770e-01 -1.42122746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.004860624 meters 0.10353765844390499 Centerline is valid? [False, False] Translation: X:47.67, Y:-4.26, Z:-1.42 [[ 9.99998314e-01 4.35977900e-04 1.78372771e-03 4.76651532e+01] [-4.34387102e-04 9.99999508e-01 -8.92129282e-04 -4.26219735e+00] [-1.78411578e-03 8.91352950e-04 9.99998011e-01 -1.42139965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.034860624 meters 0.10270494435849017 Centerline is valid? [False, False] Translation: X:47.67, Y:-4.26, Z:-1.42 [[ 9.99998359e-01 6.59054577e-04 1.68722122e-03 4.76655541e+01] [-6.58046015e-04 9.99999605e-01 -5.98250797e-04 -4.26273688e+00] [-1.68761484e-03 5.97139547e-04 9.99998398e-01 -1.42167288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.064860624 meters 0.10486120844118395 Centerline is valid? [False, False] Translation: X:47.67, Y:-4.26, Z:-1.42 [[ 9.99998295e-01 6.38679718e-04 1.73246245e-03 4.76653585e+01] [-6.37697618e-04 9.99999636e-01 -5.67373945e-04 -4.26313240e+00] [-1.73282419e-03 5.66268190e-04 9.99998338e-01 -1.42151986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09486062399999 meters 0.10444018083753388 Centerline is valid? [False, False] Translation: X:47.67, Y:-4.26, Z:-1.42 [[ 9.99998092e-01 7.06690430e-04 1.82107210e-03 4.76651303e+01] [-7.06086919e-04 9.99999696e-01 -3.32025914e-04 -4.26415026e+00] [-1.82130618e-03 3.30739445e-04 9.99998287e-01 -1.42143447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.124860624 meters 0.10552055576745777 Centerline is valid? [False, False] Translation: X:47.67, Y:-4.26, Z:-1.42 [[ 9.99998140e-01 7.29145054e-04 1.78574777e-03 4.76650743e+01] [-7.28660940e-04 9.99999698e-01 -2.71734474e-04 -4.26458503e+00] [-1.78594536e-03 2.70432764e-04 9.99998369e-01 -1.42126244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.154860624 meters 0.1057770943849767 Centerline is valid? [False, False] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99998129e-01 8.67661056e-04 1.72865331e-03 4.76651925e+01] [-8.67477577e-04 9.99999618e-01 -1.06887262e-04 -4.26530177e+00] [-1.72874540e-03 1.05387494e-04 9.99998500e-01 -1.42121619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.184860624 meters 0.10613198821449124 Centerline is valid? [False, False] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99997949e-01 9.92372297e-04 1.76529170e-03 4.76650236e+01] [-9.92649762e-04 9.99999495e-01 1.56308685e-04 -4.26657041e+00] [-1.76513570e-03 -1.58060681e-04 9.99998430e-01 -1.42103099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.214860624 meters 0.10713594580319695 Centerline is valid? [False, False] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99997820e-01 1.33863175e-03 1.60257661e-03 4.76655956e+01] [-1.33952270e-03 9.99998949e-01 5.55003483e-04 -4.26754005e+00] [-1.60183198e-03 -5.57148961e-04 9.99998562e-01 -1.42129176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.244860624 meters 0.1070971152749606 Centerline is valid? [False, False] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99997854e-01 1.34224546e-03 1.57805585e-03 4.76655273e+01] [-1.34310546e-03 9.99998950e-01 5.44041102e-04 -4.26776490e+00] [-1.57732396e-03 -5.46159430e-04 9.99998607e-01 -1.42111830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.274860624 meters 0.1070971152749606 Centerline is valid? [False, False] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99997854e-01 1.34224546e-03 1.57805585e-03 4.76655273e+01] [-1.34310546e-03 9.99998950e-01 5.44041102e-04 -4.26776490e+00] [-1.57732396e-03 -5.46159430e-04 9.99998607e-01 -1.42111830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.304860624 meters 0.10980848607441251 Centerline is valid? [False, False] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99997925e-01 1.45768412e-03 1.42275308e-03 4.76657359e+01] [-1.45851821e-03 9.99998765e-01 5.85388605e-04 -4.26819456e+00] [-1.42189801e-03 -5.87462502e-04 9.99998817e-01 -1.42087249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.334860624 meters 0.10769036425153138 Centerline is valid? [False, False] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99997900e-01 1.42736906e-03 1.47064178e-03 4.76652767e+01] [-1.42828003e-03 9.99998789e-01 6.18578200e-04 -4.26897638e+00] [-1.46975706e-03 -6.20677390e-04 9.99998727e-01 -1.42034714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.364860624 meters 0.10326617329972705 Centerline is valid? [False, False] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99997973e-01 1.43994050e-03 1.40741373e-03 4.76652590e+01] [-1.44080863e-03 9.99998772e-01 6.16007880e-04 -4.26922267e+00] [-1.40652499e-03 -6.18034445e-04 9.99998820e-01 -1.42011447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.394860624 meters 0.10162230091652673 Centerline is valid? [False, False] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99998029e-01 1.48137415e-03 1.32207738e-03 4.76653143e+01] [-1.48220655e-03 9.99998704e-01 6.28856309e-04 -4.26951845e+00] [-1.32114409e-03 -6.30814661e-04 9.99998928e-01 -1.41992202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.424860624 meters 0.11007224126913515 Centerline is valid? [False, False] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99997796e-01 1.75259242e-03 1.15603971e-03 4.76659131e+01] [-1.75360137e-03 9.99998082e-01 8.72332049e-04 -4.27005164e+00] [-1.15450865e-03 -8.74357359e-04 9.99998951e-01 -1.42019795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45486062399999 meters 0.09924114397266029 Centerline is valid? [False, True] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99997760e-01 1.84837555e-03 1.03146570e-03 4.76662045e+01] [-1.84926947e-03 9.99997915e-01 8.66370015e-04 -4.27016888e+00] [-1.02986218e-03 -8.68275532e-04 9.99999093e-01 -1.42016878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48486062399999 meters 0.11001726601312656 Centerline is valid? [True, False] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99997867e-01 1.86589738e-03 8.86029416e-04 4.76663889e+01] [-1.86658706e-03 9.99997955e-01 7.78214199e-04 -4.27008098e+00] [-8.84575537e-04 -7.79866390e-04 9.99999305e-01 -1.41995757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.514860624 meters 0.10081063631480218 Centerline is valid? [False, False] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99998127e-01 1.76405031e-03 7.96005721e-04 4.76663229e+01] [-1.76447467e-03 9.99998301e-01 5.32714524e-04 -4.26979530e+00] [-7.95064634e-04 -5.34118059e-04 9.99999541e-01 -1.41956585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.544860624 meters 0.10144647005304742 Centerline is valid? [False, False] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99998490e-01 1.56739366e-03 7.50386336e-04 4.76661236e+01] [-1.56755683e-03 9.99998748e-01 2.16903053e-04 -4.26923227e+00] [-7.50045424e-04 -2.18078999e-04 9.99999695e-01 -1.41914699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.574860624 meters 0.10057940136120676 Centerline is valid? [False, False] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99998166e-01 1.84974691e-03 4.95421736e-04 4.76668727e+01] [-1.84994663e-03 9.99998208e-01 4.02970277e-04 -4.26936175e+00] [-4.94675455e-04 -4.03886041e-04 9.99999796e-01 -1.41939112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.604860624 meters 0.09854544528223855 Centerline is valid? [False, True] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99998381e-01 1.72764093e-03 5.03864543e-04 4.76667567e+01] [-1.72773313e-03 9.99998491e-01 1.82606197e-04 -4.26891604e+00] [-5.03548304e-04 -1.83476445e-04 9.99999856e-01 -1.41922849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.634860624 meters 0.10221184649415443 Centerline is valid? [True, False] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99998353e-01 1.77674017e-03 3.71729744e-04 4.76671246e+01] [-1.77678914e-03 9.99998413e-01 1.31448617e-04 -4.26853600e+00] [-3.71495604e-04 -1.32108886e-04 9.99999922e-01 -1.41933829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.664860624 meters 0.09788982001766604 Centerline is valid? [False, True] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99998149e-01 1.90609166e-03 2.63368522e-04 4.76676121e+01] [-1.90614874e-03 9.99998160e-01 2.16639520e-04 -4.26836518e+00] [-2.62955103e-04 -2.17141138e-04 9.99999942e-01 -1.41970011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.694860624 meters 0.10041901260805203 Centerline is valid? [True, False] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99997817e-01 2.08539229e-03 1.31693529e-04 4.76681653e+01] [-2.08544081e-03 9.99997757e-01 3.69366227e-04 -4.26833024e+00] [-1.30922960e-04 -3.69640060e-04 9.99999923e-01 -1.42006709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.724860624 meters 0.09589897081522117 Centerline is valid? [False, True] Translation: X:47.67, Y:-4.27, Z:-1.42 [[ 9.99997260e-01 2.33672823e-03 -1.39541634e-04 4.76690908e+01] [-2.33665850e-03 9.99997146e-01 4.97744673e-04 -4.26805969e+00] [ 1.40704330e-04 -4.97417248e-04 9.99999866e-01 -1.42054759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.754860624 meters 0.09372196239665082 Centerline is valid? [True, True] Translation: X:47.70, Y:-4.27, Z:-1.42 [[ 9.99996212e-01 2.64912564e-03 -7.46756633e-04 4.76986468e+01] [-2.64907224e-03 9.99996489e-01 7.24857297e-05 -4.26659794e+00] [ 7.46946035e-04 -7.05072429e-05 9.99999719e-01 -1.42055239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.784860624 meters 0.10049940582301727 Centerline is valid? [True, False] Translation: X:47.70, Y:-4.27, Z:-1.42 [[ 9.99995796e-01 2.77486563e-03 -8.41093468e-04 4.76990362e+01] [-2.77468642e-03 9.99996128e-01 2.14158503e-04 -4.26671571e+00] [ 8.41684473e-04 -2.11823832e-04 9.99999623e-01 -1.42080364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.814860624 meters 0.09829375163215616 Centerline is valid? [False, True] Translation: X:47.70, Y:-4.27, Z:-1.42 [[ 9.99996443e-01 2.58000220e-03 -6.76415082e-04 4.76983999e+01] [-2.57992923e-03 9.99996666e-01 1.08723643e-04 -4.26706347e+00] [ 6.76693334e-04 -1.06978154e-04 9.99999765e-01 -1.42038719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84486062399999 meters 0.09592296055062852 Centerline is valid? [True, True] Translation: X:47.73, Y:-4.27, Z:-1.42 [[ 9.99997265e-01 2.23428015e-03 -6.91895909e-04 4.77281008e+01] [-2.23423422e-03 9.99997502e-01 6.71611438e-05 -4.26612286e+00] [ 6.92044238e-04 -6.56151026e-05 9.99999758e-01 -1.42040947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.874860624 meters 0.09821535611525417 Centerline is valid? [True, True] Translation: X:47.76, Y:-4.27, Z:-1.42 [[ 9.99998900e-01 1.39907887e-03 -4.91811772e-04 4.77565717e+01] [-1.39905485e-03 9.99999020e-01 4.91810191e-05 -4.27358127e+00] [ 4.91880098e-04 -4.84928934e-05 9.99999878e-01 -1.42123908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.904860624 meters 0.09862297139169912 Centerline is valid? [True, True] Translation: X:47.79, Y:-4.28, Z:-1.42 [[ 9.99999697e-01 7.06050856e-04 -3.27159106e-04 4.77861575e+01] [-7.06040506e-04 9.99999750e-01 3.17531154e-05 -4.27917463e+00] [ 3.27181443e-04 -3.15221182e-05 9.99999946e-01 -1.42226355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.934860624 meters 0.09905894505392927 Centerline is valid? [True, True] Translation: X:47.82, Y:-4.28, Z:-1.42 [[ 9.99999978e-01 2.09538112e-04 -3.20324725e-05 4.78162642e+01] [-2.09538011e-04 9.99999978e-01 3.14308989e-06 -4.28343217e+00] [ 3.20331304e-05 -3.13637780e-06 9.99999999e-01 -1.42277807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.964860624 meters 0.09821318957787513 Centerline is valid? [True, True] Translation: X:47.85, Y:-4.29, Z:-1.42 [[ 9.99999986e-01 1.49843212e-06 -1.65164237e-04 4.78465830e+01] [-1.49575545e-06 1.00000000e+00 1.62062432e-05 -4.28504749e+00] [ 1.65164261e-04 -1.62059960e-05 9.99999986e-01 -1.42359540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.994860624 meters 0.10025155971683104 Centerline is valid? [True, False] Translation: X:47.85, Y:-4.29, Z:-1.42 [[ 9.99999935e-01 2.84656283e-04 -2.19028327e-04 4.78470930e+01] [-2.84565958e-04 9.99999875e-01 4.12313264e-04 -4.28565240e+00] [ 2.19145667e-04 -4.12250910e-04 9.99999891e-01 -1.42414185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.024860624 meters 0.10174356437057448 Centerline is valid? [False, False] Translation: X:47.85, Y:-4.29, Z:-1.42 [[ 9.99999953e-01 2.61265722e-04 -1.63048576e-04 4.78468107e+01] [-2.61188897e-04 9.99999855e-01 4.71016450e-04 -4.28625068e+00] [ 1.63171613e-04 -4.70973842e-04 9.99999876e-01 -1.42388533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.054860624 meters 0.10160308672510075 Centerline is valid? [False, False] Translation: X:47.85, Y:-4.29, Z:-1.42 [[ 9.99999848e-01 5.37186418e-04 -1.21200336e-04 4.78468559e+01] [-5.37067879e-04 9.99999380e-01 9.75963372e-04 -4.28806770e+00] [ 1.21724535e-04 -9.75898131e-04 9.99999516e-01 -1.42397690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.084860624 meters 0.10280484896373913 Centerline is valid? [False, False] Translation: X:47.85, Y:-4.29, Z:-1.42 [[ 9.99999779e-01 6.60396830e-04 -7.05013775e-05 4.78469176e+01] [-6.60307268e-04 9.99998985e-01 1.26291884e-03 -4.28874848e+00] [ 7.13353336e-05 -1.26287201e-03 9.99999200e-01 -1.42422767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.114860624 meters 0.10269877149433247 Centerline is valid? [False, False] Translation: X:47.85, Y:-4.29, Z:-1.42 [[ 9.99999830e-01 5.80042884e-04 5.07457785e-05 4.78464814e+01] [-5.80108936e-04 9.99998972e-01 1.31143821e-03 -4.28934436e+00] [-4.99850360e-05 -1.31146743e-03 9.99999139e-01 -1.42396995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.144860624 meters 0.09735966661714851 Centerline is valid? [False, True] Translation: X:47.85, Y:-4.29, Z:-1.42 [[ 9.99999732e-01 7.24623136e-04 1.07316795e-04 4.78465039e+01] [-7.24795488e-04 9.99998434e-01 1.61477737e-03 -4.29023357e+00] [-1.06146522e-04 -1.61485472e-03 9.99998690e-01 -1.42412886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.174860624 meters 0.10595224794910496 Centerline is valid? [True, False] Translation: X:47.85, Y:-4.29, Z:-1.42 [[ 9.99999782e-01 6.27949339e-04 2.01922506e-04 4.78460232e+01] [-6.28275139e-04 9.99998494e-01 1.61749454e-03 -4.29083315e+00] [-2.00906497e-04 -1.61762105e-03 9.99998671e-01 -1.42371269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20486062399999 meters 0.10825617385454579 Centerline is valid? [False, False] Translation: X:47.85, Y:-4.29, Z:-1.42 [[ 9.99999745e-01 5.65884352e-04 4.35135920e-04 4.78453824e+01] [-5.66684324e-04 9.99998146e-01 1.84052253e-03 -4.29209627e+00] [-4.34093590e-04 -1.84076864e-03 9.99998212e-01 -1.42346672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23486062399999 meters 0.10039918213596553 Centerline is valid? [False, False] Translation: X:47.85, Y:-4.29, Z:-1.42 [[ 9.99999700e-01 5.51773055e-04 5.44409872e-04 4.78450106e+01] [-5.52826259e-04 9.99997973e-01 1.93632865e-03 -4.29282124e+00] [-5.43340354e-04 -1.93662903e-03 9.99997977e-01 -1.42325254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.264860624 meters 0.10357522944533486 Centerline is valid? [False, False] Translation: X:47.85, Y:-4.29, Z:-1.42 [[ 9.99999588e-01 7.37796705e-04 5.29128204e-04 4.78451058e+01] [-7.38976467e-04 9.99997234e-01 2.23291374e-03 -4.29385080e+00] [-5.27479304e-04 -2.23330384e-03 9.99997367e-01 -1.42329666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.294860624 meters 0.10342542509785245 Centerline is valid? [False, False] Translation: X:47.84, Y:-4.30, Z:-1.42 [[ 9.99999431e-01 7.42469242e-04 7.66188594e-04 4.78443983e+01] [-7.44405836e-04 9.99996521e-01 2.53038613e-03 -4.29550109e+00] [-7.64307195e-04 -2.53095505e-03 9.99996505e-01 -1.42295716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.324860624 meters 0.10238250994738998 Centerline is valid? [False, False] Translation: X:47.84, Y:-4.30, Z:-1.42 [[ 9.99999488e-01 7.23264345e-04 7.08220685e-04 4.78441719e+01] [-7.25018327e-04 9.99996663e-01 2.47948681e-03 -4.29593960e+00] [-7.06424998e-04 -2.47999901e-03 9.99996675e-01 -1.42241921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.354860624 meters 0.1050389804361516 Centerline is valid? [False, False] Translation: X:47.84, Y:-4.30, Z:-1.42 [[ 9.99999529e-01 6.66022645e-04 7.06155160e-04 4.78439134e+01] [-6.67733981e-04 9.99996834e-01 2.42599738e-03 -4.29622132e+00] [-7.04537156e-04 -2.42646776e-03 9.99996808e-01 -1.42202802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.384860624 meters 0.0980473686250387 Centerline is valid? [False, True] Translation: X:47.84, Y:-4.30, Z:-1.42 [[ 9.99999444e-01 7.72807317e-04 7.17503534e-04 4.78434516e+01] [-7.74763382e-04 9.99995974e-01 2.72994628e-03 -4.29799813e+00] [-7.15390923e-04 -2.73050065e-03 9.99996016e-01 -1.42134474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.414860624 meters 0.10436274169860356 Centerline is valid? [True, False] Translation: X:47.84, Y:-4.30, Z:-1.42 [[ 9.99999352e-01 9.67952062e-04 6.00041845e-04 4.78436596e+01] [-9.69733364e-04 9.99995103e-01 2.97548192e-03 -4.29887328e+00] [-5.97158783e-04 -2.97606187e-03 9.99995393e-01 -1.42126352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.444860624 meters 0.10021348631672691 Centerline is valid? [False, False] Translation: X:47.84, Y:-4.30, Z:-1.42 [[ 9.99999244e-01 1.12326550e-03 5.00536614e-04 4.78437532e+01] [-1.12484341e-03 9.99994364e-01 3.16337273e-03 -4.29966827e+00] [-4.96980486e-04 -3.16393337e-03 9.99994871e-01 -1.42106421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.474860624 meters 0.10318389050510714 Centerline is valid? [False, False] Translation: X:47.84, Y:-4.30, Z:-1.42 [[ 9.99999166e-01 1.20751054e-03 4.57641672e-04 4.78437550e+01] [-1.20900076e-03 9.99993922e-01 3.27014255e-03 -4.30024714e+00] [-4.53690159e-04 -3.27069311e-03 9.99994548e-01 -1.42090623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.504860624 meters 0.09917893563350995 Centerline is valid? [False, True] Translation: X:47.84, Y:-4.30, Z:-1.42 [[ 9.99998750e-01 1.54271092e-03 3.46741487e-04 4.78438989e+01] [-1.54399421e-03 9.99991845e-01 3.73172369e-03 -4.30186447e+00] [-3.40981689e-04 -3.73225439e-03 9.99992977e-01 -1.42071364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.534860624 meters 0.09909515449696851 Centerline is valid? [True, True] Translation: X:47.87, Y:-4.30, Z:-1.42 [[ 9.99996632e-01 2.38789074e-03 1.01709345e-03 4.78737143e+01] [-2.38777836e-03 9.99997143e-01 -1.11691709e-04 -4.30394603e+00] [-1.01735725e-03 1.09262739e-04 9.99999477e-01 -1.41987210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.564860624 meters 0.09816987330701925 Centerline is valid? [True, True] Translation: X:47.90, Y:-4.31, Z:-1.42 [[ 9.99996119e-01 2.77304087e-03 2.67408839e-04 4.79042126e+01] [-2.77303317e-03 9.99996155e-01 -2.91521212e-05 -4.30615677e+00] [-2.67488651e-04 2.84104745e-05 9.99999964e-01 -1.42063867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59486062399999 meters 0.10208505435168347 Centerline is valid? [True, False] Translation: X:47.90, Y:-4.31, Z:-1.42 [[ 9.99995989e-01 2.82127425e-03 2.49828426e-04 4.79040722e+01] [-2.82129529e-03 9.99996017e-01 8.39260411e-05 -4.30688335e+00] [-2.49590652e-04 -8.46305443e-05 9.99999965e-01 -1.42036102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.624860624 meters 0.09954994437548795 Centerline is valid? [False, True] Translation: X:47.90, Y:-4.31, Z:-1.42 [[ 9.99994779e-01 3.22154953e-03 2.52624949e-04 4.79041577e+01] [-3.22175018e-03 9.99994492e-01 7.97945597e-04 -4.30912650e+00] [-2.50052936e-04 -7.98755325e-04 9.99999650e-01 -1.42047242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.654860624 meters 0.10058444982706191 Centerline is valid? [True, False] Translation: X:47.90, Y:-4.31, Z:-1.42 [[ 9.99994576e-01 3.28049967e-03 2.92282119e-04 4.79039368e+01] [-3.28078236e-03 9.99994146e-01 9.71999048e-04 -4.31003925e+00] [-2.89091765e-04 -9.72952691e-04 9.99999485e-01 -1.42024239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.684860624 meters 0.09781033236625664 Centerline is valid? [False, True] Translation: X:47.90, Y:-4.31, Z:-1.42 [[ 9.99994094e-01 3.41681649e-03 3.71524164e-04 4.79035186e+01] [-3.41732280e-03 9.99993221e-01 1.37080702e-03 -4.31179445e+00] [-3.66837849e-04 -1.37206854e-03 9.99998991e-01 -1.41982724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.714860624 meters 0.10315603009974272 Centerline is valid? [True, False] Translation: X:47.90, Y:-4.31, Z:-1.42 [[ 9.99994003e-01 3.44126112e-03 3.88734532e-04 4.79032239e+01] [-3.44183876e-03 9.99992959e-01 1.49517265e-03 -4.31259527e+00] [-3.83586515e-04 -1.49650164e-03 9.99998807e-01 -1.41945579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.744860624 meters 0.09850599314282271 Centerline is valid? [False, True] Translation: X:47.90, Y:-4.31, Z:-1.42 [[ 9.99993787e-01 3.50054687e-03 4.15169740e-04 4.79029562e+01] [-3.50124514e-03 9.99992437e-01 1.69324958e-03 -4.31359136e+00] [-4.09239301e-04 -1.69469267e-03 9.99998480e-01 -1.41913999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.774860624 meters 0.09954060868434807 Centerline is valid? [True, True] Translation: X:47.93, Y:-4.32, Z:-1.42 [[ 9.99995474e-01 3.00601563e-03 -1.26467157e-04 4.79317287e+01] [-3.00601404e-03 9.99995482e-01 1.27341949e-05 -4.31919710e+00] [ 1.26504865e-04 -1.23539752e-05 9.99999992e-01 -1.41970042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.804860624 meters 0.10461275252342225 Centerline is valid? [True, False] Translation: X:47.93, Y:-4.32, Z:-1.42 [[ 9.99995180e-01 3.10444680e-03 -4.06822005e-05 4.79314980e+01] [-3.10443472e-03 9.99995138e-01 2.93702478e-04 -4.32038477e+00] [ 4.15937864e-05 -2.93574767e-04 9.99999956e-01 -1.41961682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.834860624 meters 0.09947188406300767 Centerline is valid? [False, True] Translation: X:47.93, Y:-4.32, Z:-1.42 [[ 9.99994571e-01 3.29482667e-03 -4.47248988e-05 4.79314826e+01] [-3.29479636e-03 9.99994353e-01 6.61739861e-04 -4.32169991e+00] [ 4.69049644e-05 -6.61588909e-04 9.99999780e-01 -1.41957083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.864860624 meters 0.09739692850560842 Centerline is valid? [True, True] Translation: X:47.96, Y:-4.32, Z:-1.42 [[ 9.99997721e-01 2.03449796e-03 -6.47628258e-04 4.79617153e+01] [-2.03445147e-03 9.99997928e-01 7.24381307e-05 -4.32390942e+00] [ 6.47774291e-04 -7.11203973e-05 9.99999788e-01 -1.41955963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.894860624 meters 0.10468010193360947 Centerline is valid? [True, False] Translation: X:47.96, Y:-4.33, Z:-1.42 [[ 9.99997696e-01 2.07481303e-03 -5.49737213e-04 4.79613662e+01] [-2.07463912e-03 9.99997798e-01 3.16733617e-04 -4.32504260e+00] [ 5.50393166e-04 -3.15592381e-04 9.99999799e-01 -1.41933681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.924860624 meters 0.10600462475811047 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.33, Z:-1.42 [[ 9.99997463e-01 2.19570827e-03 -5.03819700e-04 4.79611741e+01] [-2.19539865e-03 9.99997401e-01 6.14275148e-04 -4.32626531e+00] [ 5.05167160e-04 -6.13167504e-04 9.99999684e-01 -1.41918525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95486062399999 meters 0.10651815548619181 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.33, Z:-1.42 [[ 9.99997983e-01 2.00238619e-03 -1.56195192e-04 4.79598469e+01] [-2.00224702e-03 9.99997603e-01 8.86089068e-04 -4.32848682e+00] [ 1.57969110e-04 -8.85774540e-04 9.99999595e-01 -1.41826849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98486062399999 meters 0.10178539281522386 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.33, Z:-1.42 [[ 9.99997872e-01 2.06292115e-03 1.06364362e-05 4.79593224e+01] [-2.06293253e-03 9.99997137e-01 1.21267350e-03 -4.32993823e+00] [-8.13475591e-06 -1.21269286e-03 9.99999265e-01 -1.41800798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.014860624 meters 0.10968365145073763 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.33, Z:-1.42 [[ 9.99997727e-01 2.12658948e-03 1.56522326e-04 4.79588226e+01] [-2.12682449e-03 9.99996588e-01 1.51691674e-03 -4.33137495e+00] [-1.53295932e-04 -1.51724619e-03 9.99998837e-01 -1.41771457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.044860624 meters 0.10270216380136188 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.33, Z:-1.42 [[ 9.99997423e-01 2.25467328e-03 2.65718339e-04 4.79585273e+01] [-2.25516452e-03 9.99995721e-01 1.86314943e-03 -4.33279313e+00] [-2.61516409e-04 -1.86374387e-03 9.99998229e-01 -1.41759401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.074860624 meters 0.10348047696598474 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.33, Z:-1.42 [[ 9.99997361e-01 2.25912447e-03 4.17296669e-04 4.79579759e+01] [-2.25999065e-03 9.99995268e-01 2.08700645e-03 -4.33405715e+00] [-4.12579887e-04 -2.08794402e-03 9.99997735e-01 -1.41723835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.104860624 meters 0.10524768419263919 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.34, Z:-1.42 [[ 9.99999982e-01 1.72655602e-05 1.87001925e-04 4.79574466e+01] [-1.72431361e-05 9.99999993e-01 -1.19914762e-04 -4.33579409e+00] [-1.87003994e-04 1.19911536e-04 9.99999975e-01 -1.41602115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.134860624 meters 0.10524780927987148 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.34, Z:-1.42 [[ 9.99999955e-01 1.33362337e-04 2.67043329e-04 4.79572802e+01] [-1.33407580e-04 9.99999977e-01 1.69412328e-04 -4.33684783e+00] [-2.67020729e-04 -1.69447946e-04 9.99999950e-01 -1.41602417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.164860624 meters 0.10524780927987148 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.34, Z:-1.42 [[ 9.99999955e-01 1.33362337e-04 2.67043329e-04 4.79572802e+01] [-1.33407580e-04 9.99999977e-01 1.69412328e-04 -4.33684783e+00] [-2.67020729e-04 -1.69447946e-04 9.99999950e-01 -1.41602417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.194860624 meters 0.10531351673509805 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.34, Z:-1.42 [[ 9.99999873e-01 4.40457576e-04 2.45831687e-04 4.79575890e+01] [-4.40620038e-04 9.99999684e-01 6.61204563e-04 -4.33797623e+00] [-2.45540376e-04 -6.61312797e-04 9.99999751e-01 -1.41637558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.224860624 meters 0.1083189167069656 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.34, Z:-1.42 [[ 9.99999748e-01 6.31886091e-04 3.22296998e-04 4.79571316e+01] [-6.32250728e-04 9.99999159e-01 1.13252427e-03 -4.33998408e+00] [-3.21581101e-04 -1.13272776e-03 9.99999307e-01 -1.41594329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.254860624 meters 0.10719374551945948 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.34, Z:-1.42 [[ 9.99999639e-01 7.78633442e-04 3.40394225e-04 4.79570043e+01] [-7.79109500e-04 9.99998716e-01 1.40066109e-03 -4.34110002e+00] [-3.39303187e-04 -1.40092579e-03 9.99998961e-01 -1.41578858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.284860624 meters 0.10859063154215297 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.34, Z:-1.42 [[ 9.99999549e-01 8.77165727e-04 3.62771274e-04 4.79568050e+01] [-8.77745490e-04 9.99998333e-01 1.60109164e-03 -4.34212988e+00] [-3.61366246e-04 -1.60140933e-03 9.99998652e-01 -1.41554603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.314860624 meters 0.10958258603537216 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.34, Z:-1.42 [[ 9.99999323e-01 1.07412257e-03 4.47337521e-04 4.79564058e+01] [-1.07504249e-03 9.99997298e-01 2.06128998e-03 -4.34404516e+00] [-4.45122234e-04 -2.06176949e-03 9.99997775e-01 -1.41520309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34486062399999 meters 0.1033472130703771 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.34, Z:-1.41 [[ 9.99999351e-01 1.03739219e-03 4.70038575e-04 4.79560690e+01] [-1.03835653e-03 9.99997347e-01 2.05602093e-03 -4.34462335e+00] [-4.67904428e-04 -2.05650767e-03 9.99997776e-01 -1.41476807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.374860624 meters 0.1112407411032124 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.35, Z:-1.41 [[ 9.99999095e-01 1.23302817e-03 5.37987015e-04 4.79558134e+01] [-1.23436550e-03 9.99996132e-01 2.49258371e-03 -4.34636781e+00] [-5.34911508e-04 -2.49324553e-03 9.99996749e-01 -1.41458305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.404860624 meters 0.10430848395485613 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.35, Z:-1.41 [[ 9.99998958e-01 1.31663744e-03 5.91786239e-04 4.79555927e+01] [-1.31823972e-03 9.99995445e-01 2.71533617e-03 -4.34738072e+00] [-5.88208430e-04 -2.71611346e-03 9.99996138e-01 -1.41441791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.434860624 meters 0.10261814785444887 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.35, Z:-1.41 [[ 9.99998424e-01 1.66205740e-03 6.24489904e-04 4.79558646e+01] [-1.66411101e-03 9.99993162e-01 3.30246764e-03 -4.34870489e+00] [-6.18996743e-04 -3.30350165e-03 9.99994352e-01 -1.41489264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.464860624 meters 0.11084154341107855 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.35, Z:-1.41 [[ 9.99998170e-01 1.75312728e-03 7.65331160e-04 4.79553482e+01] [-1.75592305e-03 9.99991732e-01 3.66775812e-03 -4.35040676e+00] [-7.58894785e-04 -3.66909527e-03 9.99992981e-01 -1.41454139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.494860624 meters 0.10468162319738722 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.35, Z:-1.41 [[ 9.99998170e-01 1.74942666e-03 7.73990248e-04 4.79550680e+01] [-1.75229466e-03 9.99991544e-01 3.72043479e-03 -4.35103133e+00] [-7.67475076e-04 -3.72178424e-03 9.99992780e-01 -1.41416525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.524860624 meters 0.10339118935283807 Centerline is valid? [False, False] Translation: X:47.95, Y:-4.35, Z:-1.41 [[ 9.99998162e-01 1.77228012e-03 7.31823142e-04 4.79549614e+01] [-1.77503911e-03 9.99991255e-01 3.78673537e-03 -4.35154746e+00] [-7.25105586e-04 -3.78802742e-03 9.99992563e-01 -1.41389249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.554860624 meters 0.10721125875794293 Centerline is valid? [False, False] Translation: X:47.95, Y:-4.35, Z:-1.41 [[ 9.99997999e-01 1.83383378e-03 7.99458329e-04 4.79548103e+01] [-1.83696864e-03 9.99990558e-01 3.93829468e-03 -4.35211519e+00] [-7.92228602e-04 -3.93975537e-03 9.99991925e-01 -1.41388608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.584860624 meters 0.10235260376511966 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.35, Z:-1.42 [[ 9.99998970e-01 -1.42842872e-03 -1.39649525e-04 4.79574437e+01] [ 1.42848203e-03 9.99998907e-01 3.82429742e-04 -4.35190012e+00] [ 1.39103098e-04 -3.82628835e-04 9.99999917e-01 -1.41505174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.614860624 meters 0.10891584254044046 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.35, Z:-1.41 [[ 9.99998991e-01 -1.40092987e-03 -2.34464540e-04 4.79572850e+01] [ 1.40101930e-03 9.99998946e-01 3.81684952e-04 -4.35239501e+00] [ 2.33929579e-04 -3.82013056e-04 9.99999900e-01 -1.41453758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.644860624 meters 0.10359930066795225 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.35, Z:-1.41 [[ 9.99999193e-01 -1.22392785e-03 -3.39966100e-04 4.79576247e+01] [ 1.22411620e-03 9.99999097e-01 5.54381459e-04 -4.35274391e+00] [ 3.39287270e-04 -5.54797169e-04 9.99999789e-01 -1.41470312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.674860624 meters 0.10200428621436307 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.35, Z:-1.41 [[ 9.99999247e-01 -1.17051414e-03 -3.68011624e-04 4.79576804e+01] [ 1.17074208e-03 9.99999123e-01 6.19784809e-04 -4.35303787e+00] [ 3.67285834e-04 -6.20215189e-04 9.99999740e-01 -1.41467851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70486062399999 meters 0.09982863260368582 Centerline is valid? [False, True] Translation: X:47.96, Y:-4.35, Z:-1.42 [[ 9.99999651e-01 -6.42406349e-04 -5.34676317e-04 4.79583722e+01] [ 6.43118742e-04 9.99998904e-01 1.33327769e-03 -4.35462758e+00] [ 5.33819225e-04 -1.33362108e-03 9.99998968e-01 -1.41515500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73486062399999 meters 0.10138962208014156 Centerline is valid? [True, False] Translation: X:47.96, Y:-4.36, Z:-1.42 [[ 9.99999750e-01 -3.56254813e-04 -6.11204282e-04 4.79587892e+01] [ 3.57320408e-04 9.99998415e-01 1.74421282e-03 -4.35544965e+00] [ 6.10581929e-04 -1.74443078e-03 9.99998292e-01 -1.41548854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.764860624 meters 0.10084816737978589 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.36, Z:-1.42 [[ 9.99999733e-01 -2.75274548e-04 -6.77190287e-04 4.79587172e+01] [ 2.76554762e-04 9.99998174e-01 1.89111219e-03 -4.35617960e+00] [ 6.76668475e-04 -1.89129897e-03 9.99997983e-01 -1.41520850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.794860624 meters 0.10417894054061341 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.36, Z:-1.42 [[ 9.99999787e-01 4.76306731e-05 -6.51275058e-04 4.79587074e+01] [-4.60320261e-05 9.99996987e-01 2.45443649e-03 -4.35793861e+00] [ 6.51390002e-04 -2.45440598e-03 9.99996776e-01 -1.41524159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.824860624 meters 0.1007502118608331 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.36, Z:-1.41 [[ 9.99999802e-01 7.35399998e-05 -6.25539380e-04 4.79584200e+01] [-7.19266836e-05 9.99996673e-01 2.57871175e-03 -4.35868685e+00] [ 6.25726937e-04 -2.57866625e-03 9.99996479e-01 -1.41491726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.854860624 meters 0.10319099379974829 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.36, Z:-1.42 [[ 9.99999740e-01 3.80180478e-04 -6.11940630e-04 4.79587082e+01] [-3.78307435e-04 9.99995253e-01 3.05803434e-03 -4.35985139e+00] [ 6.13100330e-04 -3.05780205e-03 9.99995137e-01 -1.41530143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.884860624 meters 0.10554759597556314 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.36, Z:-1.42 [[ 9.99999772e-01 4.10582655e-04 -5.35580178e-04 4.79584066e+01] [-4.08863542e-04 9.99994777e-01 3.20598545e-03 -4.36059938e+00] [ 5.36893703e-04 -3.20576574e-03 9.99994717e-01 -1.41509728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.914860624 meters 0.10319923602846776 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.36, Z:-1.41 [[ 9.99999778e-01 5.65185665e-04 -3.53470146e-04 4.79579334e+01] [-5.63881459e-04 9.99993073e-01 3.67899755e-03 -4.36249754e+00] [ 3.55547014e-04 -3.67879741e-03 9.99993170e-01 -1.41491019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.944860624 meters 0.1027344157901899 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.36, Z:-1.41 [[ 9.99999702e-01 6.80506046e-04 -3.63740292e-04 4.79579625e+01] [-6.79089507e-04 9.99992241e-01 3.88040830e-03 -4.36325359e+00] [ 3.66378111e-04 -3.88016013e-03 9.99992405e-01 -1.41487096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.974860624 meters 0.10201535538531502 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.36, Z:-1.41 [[ 9.99999673e-01 7.55893000e-04 -2.88507677e-04 4.79577120e+01] [-7.54697540e-04 9.99991222e-01 4.12145808e-03 -4.36422818e+00] [ 2.91620526e-04 -4.12123900e-03 9.99991465e-01 -1.41473646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.004860624 meters 0.10181212000660131 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.37, Z:-1.42 [[ 9.99995754e-01 -2.84685922e-03 -6.21795674e-04 4.79587018e+01] [ 2.84734085e-03 9.99995646e-01 7.75073426e-04 -4.36590845e+00] [ 6.19586441e-04 -7.76840600e-04 9.99999506e-01 -1.41514612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.034860624 meters 0.10884108389660704 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.37, Z:-1.41 [[ 9.99996247e-01 -2.69513140e-03 -4.92485711e-04 4.79582692e+01] [ 2.69574902e-03 9.99995575e-01 1.25775961e-03 -4.36763368e+00] [ 4.89093704e-04 -1.25908251e-03 9.99999088e-01 -1.41491821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.064860624 meters 0.10110659012167522 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.37, Z:-1.42 [[ 9.99997323e-01 -2.26493083e-03 -4.72375707e-04 4.79584644e+01] [ 2.26589114e-03 9.99995347e-01 2.04239352e-03 -4.36955745e+00] [ 4.67747629e-04 -2.04345841e-03 9.99997803e-01 -1.41527458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09486062399999 meters 0.10390628667986093 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.37, Z:-1.42 [[ 9.99998575e-01 -1.65742747e-03 -3.21157705e-04 4.79586038e+01] [ 1.65847441e-03 9.99993221e-01 3.28751549e-03 -4.37276792e+00] [ 3.15706709e-04 -3.28804344e-03 9.99994545e-01 -1.41589004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.124860624 meters 0.10295043095305006 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.37, Z:-1.42 [[ 9.99998817e-01 -1.51876532e-03 -2.45037431e-04 4.79583344e+01] [ 1.51965118e-03 9.99992161e-01 3.65642494e-03 -4.37418177e+00] [ 2.39482259e-04 -3.65679298e-03 9.99993285e-01 -1.41573169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.154860624 meters 0.1099074922390317 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.38, Z:-1.42 [[ 9.99999079e-01 -1.34257787e-03 -1.96209932e-04 4.79581891e+01] [ 1.34335934e-03 9.99990943e-01 4.03849999e-03 -4.37555197e+00] [ 1.90786154e-04 -4.03875986e-03 9.99991826e-01 -1.41565238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.184860624 meters 0.10406378563534882 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.38, Z:-1.42 [[ 9.99999171e-01 -1.28135454e-03 -1.27935860e-04 4.79579983e+01] [ 1.28188502e-03 9.99990206e-01 4.23621436e-03 -4.37633963e+00] [ 1.22506514e-04 -4.23637485e-03 9.99991019e-01 -1.41558444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.214860624 meters 0.10373476123136742 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.38, Z:-1.42 [[ 9.99999284e-01 -1.18623135e-03 -1.59696341e-04 4.79579628e+01] [ 1.18692291e-03 9.99989605e-01 4.40234094e-03 -4.37715236e+00] [ 1.54472486e-04 -4.40252733e-03 9.99990297e-01 -1.41540360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.244860624 meters 0.10230489211608561 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.38, Z:-1.42 [[ 9.99999297e-01 -1.16679292e-03 -2.09124929e-04 4.79579628e+01] [ 1.16770970e-03 9.99989467e-01 4.43874447e-03 -4.37744134e+00] [ 2.03943631e-04 -4.43898554e-03 9.99990127e-01 -1.41526912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.274860624 meters 0.10576428176072096 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.38, Z:-1.42 [[ 9.99999279e-01 -1.16098786e-03 -3.05849518e-04 4.79580561e+01] [ 1.16231942e-03 9.99989688e-01 4.39007002e-03 -4.37752334e+00] [ 3.00749546e-04 -4.39042235e-03 9.99990317e-01 -1.41511347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.304860624 meters 0.1018400727275344 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.38, Z:-1.41 [[ 9.99999281e-01 -1.11615267e-03 -4.39077379e-04 4.79581697e+01] [ 1.11807163e-03 9.99989718e-01 4.39475378e-03 -4.37772056e+00] [ 4.34167649e-04 -4.39524154e-03 9.99990247e-01 -1.41488130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.334860624 meters 0.10531748640825704 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.38, Z:-1.41 [[ 9.99999304e-01 -9.93453697e-04 -6.36104921e-04 4.79584502e+01] [ 9.96264913e-04 9.99989671e-01 4.43446188e-03 -4.37791477e+00] [ 6.31692918e-04 -4.43509253e-03 9.99989965e-01 -1.41471706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.364860624 meters 0.10534734435092805 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.38, Z:-1.41 [[ 9.99999179e-01 -1.06889600e-03 -7.06833710e-04 4.79583668e+01] [ 1.07191137e-03 9.99990268e-01 4.27949507e-03 -4.37776359e+00] [ 7.02252496e-04 -4.28024922e-03 9.99990593e-01 -1.41440231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.394860624 meters 0.10574676062981828 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.38, Z:-1.41 [[ 9.99999135e-01 -9.65812636e-04 -8.92449665e-04 4.79587834e+01] [ 9.69630726e-04 9.99990338e-01 4.28773073e-03 -4.37767544e+00] [ 8.88299897e-04 -4.28859237e-03 9.99990409e-01 -1.41442582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.424860624 meters 0.10580893506102662 Centerline is valid? [False, False] Translation: X:47.96, Y:-4.38, Z:-1.41 [[ 9.99998841e-01 -1.09647220e-03 -1.05608993e-03 4.79588229e+01] [ 1.10064649e-03 9.99991553e-01 3.96015629e-03 -4.37711255e+00] [ 1.05173881e-03 -3.96131408e-03 9.99991601e-01 -1.41400957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45486062399999 meters 0.09568783036761001 Centerline is valid? [False, True] Translation: X:47.96, Y:-4.38, Z:-1.41 [[ 9.99998351e-01 -1.06942078e-03 -1.46808121e-03 4.79592748e+01] [ 1.07482993e-03 9.99992619e-01 3.68867422e-03 -4.37649904e+00] [ 1.46412563e-03 -3.69024607e-03 9.99992119e-01 -1.41353523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48486062399999 meters 0.09635861587661874 Centerline is valid? [True, True] Translation: X:47.99, Y:-4.38, Z:-1.41 [[ 9.99998319e-01 9.37983851e-04 -1.57574573e-03 4.79889064e+01] [-9.37710670e-04 9.99999545e-01 1.74095651e-04 -4.37999249e+00] [ 1.57590832e-03 -1.72617765e-04 9.99998743e-01 -1.41435665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.514860624 meters 0.09631618552804817 Centerline is valid? [True, True] Translation: X:48.02, Y:-4.38, Z:-1.42 [[ 9.99992078e-01 3.65122142e-03 -1.58507815e-03 4.80184650e+01] [-3.65094761e-03 9.99993320e-01 1.75601258e-04 -4.38397534e+00] [ 1.58570872e-03 -1.69812830e-04 9.99998728e-01 -1.41673855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.544860624 meters 0.10107621253234253 Centerline is valid? [True, False] Translation: X:48.02, Y:-4.38, Z:-1.42 [[ 9.99992168e-01 3.58329580e-03 -1.68053239e-03 4.80186686e+01] [-3.58332057e-03 9.99993580e-01 -1.17279544e-05 -4.38342739e+00] [ 1.68047957e-03 1.77497488e-05 9.99998588e-01 -1.41675601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.574860624 meters 0.09605737391574937 Centerline is valid? [False, True] Translation: X:48.02, Y:-4.38, Z:-1.42 [[ 9.99992526e-01 3.42330127e-03 -1.79674475e-03 4.80187541e+01] [-3.42392207e-03 9.99994080e-01 -3.42550638e-04 -4.38266824e+00] [ 1.79556146e-03 3.48699992e-04 9.99998327e-01 -1.41655610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.604860624 meters 0.09726873322699915 Centerline is valid? [True, True] Translation: X:48.05, Y:-4.39, Z:-1.42 [[ 9.99990187e-01 3.97644650e-03 -1.95279618e-03 4.80468434e+01] [-3.97604462e-03 9.99992074e-01 2.09638633e-04 -4.38750981e+00] [ 1.95361432e-03 -2.01872171e-04 9.99998071e-01 -1.41859099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.634860624 meters 0.09719400495863484 Centerline is valid? [True, True] Translation: X:48.08, Y:-4.39, Z:-1.42 [[ 9.99986375e-01 4.90527170e-03 -1.78541025e-03 4.80765959e+01] [-4.90493671e-03 9.99987952e-01 1.91960670e-04 -4.39020606e+00] [ 1.78633036e-03 -1.83200730e-04 9.99998388e-01 -1.42002594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.664860624 meters 0.09722774787916635 Centerline is valid? [True, True] Translation: X:48.11, Y:-4.39, Z:-1.42 [[ 9.99982624e-01 5.42276661e-03 -2.31201196e-03 4.81056438e+01] [-5.42220806e-03 9.99985269e-01 2.47783470e-04 -4.39262958e+00] [ 2.31332158e-03 -2.35242955e-04 9.99997297e-01 -1.42113659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.694860624 meters 0.09785081063263992 Centerline is valid? [True, True] Translation: X:48.13, Y:-4.39, Z:-1.42 [[ 9.99981337e-01 6.04624502e-03 -8.76247469e-04 4.81340380e+01] [-6.04616565e-03 9.99981717e-01 9.31945196e-05 -4.39483071e+00] [ 8.76794926e-04 -8.78948430e-05 9.99999612e-01 -1.42212008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.724860624 meters 0.0995425931675151 Centerline is valid? [True, True] Translation: X:48.16, Y:-4.40, Z:-1.42 [[ 9.99981660e-01 5.97215629e-03 -1.00627034e-03 4.81613102e+01] [-5.97205236e-03 9.99982161e-01 1.06257598e-04 -4.39988711e+00] [ 1.00688698e-03 -1.00246151e-04 9.99999488e-01 -1.42364659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.754860624 meters 0.10001927056801335 Centerline is valid? [True, False] Translation: X:48.16, Y:-4.40, Z:-1.42 [[ 9.99983404e-01 5.67623428e-03 -9.86422307e-04 4.81611861e+01] [-5.67662033e-03 9.99983812e-01 -3.89008259e-04 -4.39876392e+00] [ 9.84198237e-04 3.94601348e-04 9.99999438e-01 -1.42351617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.784860624 meters 0.09369966197660272 Centerline is valid? [False, True] Translation: X:48.16, Y:-4.40, Z:-1.42 [[ 9.99984984e-01 5.39162300e-03 -9.80913227e-04 4.81610504e+01] [-5.39246570e-03 9.99985092e-01 -8.58489554e-04 -4.39768303e+00] [ 9.76269951e-04 8.63766204e-04 9.99999150e-01 -1.42332543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.814860624 meters 0.09404230136642172 Centerline is valid? [True, True] Translation: X:48.19, Y:-4.40, Z:-1.42 [[ 9.99988303e-01 4.68230971e-03 -1.21220287e-03 4.81908089e+01] [-4.68215631e-03 9.99989030e-01 1.29356425e-04 -4.40022354e+00] [ 1.21279526e-03 -1.23679189e-04 9.99999257e-01 -1.42406943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84486062399999 meters 0.09378520340515535 Centerline is valid? [True, True] Translation: X:48.22, Y:-4.40, Z:-1.42 [[ 9.99992227e-01 3.92125501e-03 -4.10815186e-04 4.82199457e+01] [-3.92123777e-03 9.99992311e-01 4.27457827e-05 -4.40101135e+00] [ 4.10979644e-04 -4.11345465e-05 9.99999915e-01 -1.42476991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.874860624 meters 0.09471280441674983 Centerline is valid? [True, True] Translation: X:48.25, Y:-4.40, Z:-1.43 [[ 9.99995081e-01 3.09001041e-03 -5.38667226e-04 4.82491447e+01] [-3.08998019e-03 9.99995224e-01 5.69258733e-05 -4.40469823e+00] [ 5.38840555e-04 -5.52611222e-05 9.99999853e-01 -1.42681051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.904860624 meters 0.09474947385797886 Centerline is valid? [True, True] Translation: X:48.28, Y:-4.41, Z:-1.43 [[ 9.99997252e-01 2.26038861e-03 6.21657330e-04 4.82787717e+01] [-2.26034698e-03 9.99997443e-01 -6.76578421e-05 -4.40709792e+00] [-6.21808674e-04 6.62524950e-05 9.99999804e-01 -1.42757165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.934860624 meters 0.095175899264126 Centerline is valid? [True, True] Translation: X:48.31, Y:-4.41, Z:-1.43 [[ 9.99999478e-01 5.76580719e-04 8.43468511e-04 4.83086379e+01] [-5.76504169e-04 9.99999830e-01 -9.09958937e-05 -4.40861957e+00] [-8.43520834e-04 9.05095831e-05 9.99999640e-01 -1.42777021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.964860624 meters 0.09681969374730454 Centerline is valid? [True, True] Translation: X:48.34, Y:-4.41, Z:-1.43 [[ 9.99999579e-01 3.31420224e-05 9.17527819e-04 4.83382676e+01] [-3.30520820e-05 9.99999995e-01 -9.80397510e-05 -4.41406713e+00] [-9.17531064e-04 9.80093834e-05 9.99999574e-01 -1.42917161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.994860624 meters 0.0987223122349109 Centerline is valid? [True, True] Translation: X:48.37, Y:-4.42, Z:-1.43 [[ 9.99999136e-01 -8.07048914e-04 1.03736598e-03 4.83675914e+01] [ 8.07164868e-04 9.99999668e-01 -1.11363450e-04 -4.41948094e+00] [-1.03727576e-03 1.12200679e-04 9.99999456e-01 -1.43075061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.024860624 meters 0.09925841975821686 Centerline is valid? [True, True] Translation: X:48.40, Y:-4.42, Z:-1.43 [[ 9.99996816e-01 -1.99402399e-03 1.54634183e-03 4.83990224e+01] [ 1.99428173e-03 9.99997998e-01 -1.65152765e-04 -4.42206928e+00] [-1.54600942e-03 1.68236080e-04 9.99998791e-01 -1.43170111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.054860624 meters 0.09516079701865293 Centerline is valid? [True, True] Translation: X:48.43, Y:-4.42, Z:-1.43 [[ 9.99995293e-01 -2.90064244e-03 1.00000748e-03 4.84310966e+01] [ 2.90075036e-03 9.99995787e-01 -1.06485225e-04 -4.41695952e+00] [-9.99694393e-04 1.09385496e-04 9.99999494e-01 -1.43037202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.084860624 meters 0.09516079701865293 Centerline is valid? [True, True] Translation: X:48.46, Y:-4.42, Z:-1.43 [[ 9.99995390e-01 -2.86713917e-03 1.00000386e-03 4.84619481e+01] [ 2.86724710e-03 9.99995884e-01 -1.06519092e-04 -4.42030748e+00] [-9.99694337e-04 1.09385859e-04 9.99999494e-01 -1.43123247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.114860624 meters 0.10354680540137404 Centerline is valid? [True, False] Translation: X:48.46, Y:-4.42, Z:-1.43 [[ 9.99995605e-01 -2.81789137e-03 9.21995210e-04 4.84624202e+01] [ 2.81799677e-03 9.99996023e-01 -1.13038300e-04 -4.41977633e+00] [-9.21673013e-04 1.15635982e-04 9.99999569e-01 -1.43168448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.144860624 meters 0.10245939045455417 Centerline is valid? [False, False] Translation: X:48.46, Y:-4.42, Z:-1.43 [[ 9.99995706e-01 -2.80431226e-03 8.51321315e-04 4.84627563e+01] [ 2.80446462e-03 9.99996052e-01 -1.77832323e-04 -4.41917571e+00] [-8.50819256e-04 1.80219060e-04 9.99999622e-01 -1.43194856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.174860624 meters 0.10464287963937492 Centerline is valid? [False, False] Translation: X:48.46, Y:-4.42, Z:-1.43 [[ 9.99995452e-01 -2.93199245e-03 7.07231899e-04 4.84633182e+01] [ 2.93240685e-03 9.99995529e-01 -5.85628136e-04 -4.41735767e+00] [-7.05511680e-04 5.87699364e-04 9.99999578e-01 -1.43232603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20486062399999 meters 0.09780835924828832 Centerline is valid? [False, True] Translation: X:48.46, Y:-4.42, Z:-1.43 [[ 9.99996034e-01 -2.76597201e-03 5.30915027e-04 4.84640123e+01] [ 2.76622306e-03 9.99996062e-01 -4.72708652e-04 -4.41706957e+00] [-5.29605438e-04 4.74175407e-04 9.99999747e-01 -1.43282378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23486062399999 meters 0.09763646007540704 Centerline is valid? [True, True] Translation: X:48.50, Y:-4.42, Z:-1.43 [[ 9.99996016e-01 -2.50422834e-03 1.30234636e-03 4.84950496e+01] [ 2.50441174e-03 9.99996854e-01 -1.39213357e-04 -4.41922274e+00] [-1.30199364e-03 1.42474414e-04 9.99999142e-01 -1.43383886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.264860624 meters 0.09635154411507812 Centerline is valid? [True, True] Translation: X:48.53, Y:-4.42, Z:-1.43 [[ 9.99998045e-01 -1.85557291e-03 6.83618928e-04 4.85264026e+01] [ 1.85562302e-03 9.99998276e-01 -7.26705311e-05 -4.41848040e+00] [-6.83482904e-04 7.39389280e-05 9.99999764e-01 -1.43475240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.294860624 meters 0.10635956781315768 Centerline is valid? [True, False] Translation: X:48.53, Y:-4.42, Z:-1.44 [[ 9.99998195e-01 -1.80734819e-03 5.86134067e-04 4.85269328e+01] [ 1.80740364e-03 9.99998362e-01 -9.40717110e-05 -4.41782945e+00] [-5.85963087e-04 9.51309221e-05 9.99999824e-01 -1.43523015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.324860624 meters 0.09778086320953117 Centerline is valid? [False, True] Translation: X:48.53, Y:-4.42, Z:-1.44 [[ 9.99998164e-01 -1.82080640e-03 5.97579180e-04 4.85272589e+01] [ 1.82091666e-03 9.99998325e-01 -1.84030237e-04 -4.41716042e+00] [-5.97243096e-04 1.85118041e-04 9.99999805e-01 -1.43570140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.354860624 meters 0.10030633227435762 Centerline is valid? [True, False] Translation: X:48.53, Y:-4.42, Z:-1.44 [[ 9.99998031e-01 -1.89236705e-03 5.96923708e-04 4.85275927e+01] [ 1.89257597e-03 9.99998148e-01 -3.49624805e-04 -4.41614352e+00] [-5.96260984e-04 3.50753841e-04 9.99999761e-01 -1.43615690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.384860624 meters 0.09884774642285196 Centerline is valid? [False, True] Translation: X:48.53, Y:-4.42, Z:-1.44 [[ 9.99998212e-01 -1.80704169e-03 5.56646548e-04 4.85280278e+01] [ 1.80718888e-03 9.99998332e-01 -2.64034085e-04 -4.41585508e+00] [-5.56168499e-04 2.65039578e-04 9.99999810e-01 -1.43663753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.414860624 meters 0.09724690567010862 Centerline is valid? [True, True] Translation: X:48.56, Y:-4.42, Z:-1.44 [[ 9.99996966e-01 -2.38164033e-03 6.29059335e-04 4.85591046e+01] [ 2.38168428e-03 9.99997161e-01 -6.91247368e-05 -4.41564176e+00] [-6.28892919e-04 7.06227478e-05 9.99999800e-01 -1.43677794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.444860624 meters 0.09691735192722452 Centerline is valid? [True, True] Translation: X:48.59, Y:-4.42, Z:-1.44 [[ 9.99994371e-01 -3.31753837e-03 5.01663416e-04 4.85903973e+01] [ 3.31756617e-03 9.99994495e-01 -5.45792442e-05 -4.41687304e+00] [-5.01479585e-04 5.62432385e-05 9.99999873e-01 -1.43689508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.474860624 meters 0.10460720214881732 Centerline is valid? [True, False] Translation: X:48.59, Y:-4.42, Z:-1.44 [[ 9.99994524e-01 -3.28351304e-03 4.12131920e-04 4.85907430e+01] [ 3.28355889e-03 9.99994603e-01 -1.10624807e-04 -4.41636462e+00] [-4.11766458e-04 1.11977461e-04 9.99999909e-01 -1.43710669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.504860624 meters 0.09847241380508108 Centerline is valid? [False, True] Translation: X:48.59, Y:-4.42, Z:-1.44 [[ 9.99994651e-01 -3.25339688e-03 3.36302815e-04 4.85911258e+01] [ 3.25345638e-03 9.99994692e-01 -1.76504025e-04 -4.41569914e+00] [-3.35726792e-04 1.77597228e-04 9.99999928e-01 -1.43741086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.534860624 meters 0.0999177662386175 Centerline is valid? [True, True] Translation: X:48.62, Y:-4.42, Z:-1.44 [[ 9.99994362e-01 -3.26331803e-03 7.91039781e-04 4.86225771e+01] [ 3.26338768e-03 9.99994671e-01 -8.67800619e-05 -4.42055302e+00] [-7.90752375e-04 8.93610422e-05 9.99999683e-01 -1.43844435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.564860624 meters 0.1004379861415526 Centerline is valid? [True, False] Translation: X:48.62, Y:-4.42, Z:-1.44 [[ 9.99994372e-01 -3.32034840e-03 4.80048912e-04 4.86234062e+01] [ 3.32057111e-03 9.99994379e-01 -4.63869484e-04 -4.41865541e+00] [-4.78506005e-04 4.65460910e-04 9.99999777e-01 -1.43879223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59486062399999 meters 0.10166601272995267 Centerline is valid? [False, False] Translation: X:48.62, Y:-4.42, Z:-1.44 [[ 9.99994669e-01 -3.24976436e-03 3.17344877e-04 4.86241480e+01] [ 3.24993877e-03 9.99994567e-01 -5.50645067e-04 -4.41773612e+00] [-3.15553686e-04 5.51673483e-04 9.99999798e-01 -1.43935295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.624860624 meters 0.09877072459718364 Centerline is valid? [False, True] Translation: X:48.62, Y:-4.42, Z:-1.44 [[ 9.99995007e-01 -3.15639941e-03 1.52061685e-04 4.86249256e+01] [ 3.15648955e-03 9.99994841e-01 -5.96204860e-04 -4.41680422e+00] [-1.50179040e-04 5.96681865e-04 9.99999811e-01 -1.43999179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.654860624 meters 0.10271048861668891 Centerline is valid? [True, False] Translation: X:48.63, Y:-4.41, Z:-1.44 [[ 9.99996093e-01 -2.75704535e-03 -4.60305772e-04 4.86268026e+01] [ 2.75671923e-03 9.99995950e-01 -7.07625204e-04 -4.41467881e+00] [ 4.62254862e-04 7.06353506e-04 9.99999644e-01 -1.44101902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.684860624 meters 0.09740303086164231 Centerline is valid? [False, True] Translation: X:48.63, Y:-4.41, Z:-1.44 [[ 9.99996431e-01 -2.55510968e-03 -7.80300052e-04 4.86278507e+01] [ 2.55451849e-03 9.99996450e-01 -7.57704558e-04 -4.41369442e+00] [ 7.82233300e-04 7.55708563e-04 9.99999409e-01 -1.44156164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.714860624 meters 0.09660766589115584 Centerline is valid? [True, True] Translation: X:48.66, Y:-4.42, Z:-1.44 [[ 9.99999294e-01 -8.90655647e-04 -7.85972020e-04 4.86583130e+01] [ 8.90721342e-04 9.99999600e-01 8.32378896e-05 -4.41503362e+00] [ 7.85897569e-04 -8.39379129e-05 9.99999688e-01 -1.44267399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.744860624 meters 0.09711915220790775 Centerline is valid? [True, True] Translation: X:48.69, Y:-4.42, Z:-1.44 [[ 9.99999489e-01 -3.46018989e-04 -9.49608325e-04 4.86879528e+01] [ 3.46114245e-04 9.99999935e-01 1.00148368e-04 -4.41741668e+00] [ 9.49573610e-04 -1.00476990e-04 9.99999544e-01 -1.44303067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.774860624 meters 0.09663845231238319 Centerline is valid? [True, True] Translation: X:48.72, Y:-4.42, Z:-1.44 [[ 9.99996990e-01 2.45119218e-03 1.09043602e-04 4.87171456e+01] [-2.45119089e-03 9.99996996e-01 -1.19845904e-05 -4.41812708e+00] [-1.09072651e-04 1.17172677e-05 9.99999994e-01 -1.44425781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.804860624 meters 0.0967619374564978 Centerline is valid? [True, True] Translation: X:48.75, Y:-4.42, Z:-1.45 [[ 9.99995865e-01 2.86124152e-03 -2.88580520e-04 4.87471772e+01] [-2.86123313e-03 9.99995906e-01 2.94809875e-05 -4.42071026e+00] [ 2.88663691e-04 -2.86551695e-05 9.99999958e-01 -1.44552109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.834860624 meters 0.09475212713504126 Centerline is valid? [True, True] Translation: X:48.78, Y:-4.42, Z:-1.45 [[ 9.99995186e-01 3.07321862e-03 -4.27977548e-04 4.87767598e+01] [-3.07319986e-03 9.99995277e-01 4.44681943e-05 -4.41983913e+00] [ 4.28112187e-04 -4.31527197e-05 9.99999907e-01 -1.44556459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.864860624 meters 0.09560138127886458 Centerline is valid? [True, True] Translation: X:48.81, Y:-4.42, Z:-1.45 [[ 9.99994622e-01 3.23004232e-03 -5.68834157e-04 4.88055135e+01] [-3.23000931e-03 9.99994782e-01 5.89385027e-05 -4.42397597e+00] [ 5.69021562e-04 -5.71008461e-05 9.99999836e-01 -1.44750900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.894860624 meters 0.09872461561299517 Centerline is valid? [True, True] Translation: X:48.83, Y:-4.43, Z:-1.45 [[ 9.99996291e-01 2.55964787e-03 -9.31024233e-04 4.88334452e+01] [-2.55955846e-03 9.99996720e-01 9.72138094e-05 -4.43194360e+00] [ 9.31270012e-04 -9.48304379e-05 9.99999562e-01 -1.44951134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.924860624 meters 0.0954199161214328 Centerline is valid? [True, True] Translation: X:48.86, Y:-4.43, Z:-1.45 [[ 9.99998001e-01 1.58634525e-03 -1.21694996e-03 4.88637576e+01] [-1.58619092e-03 9.99998734e-01 1.27767164e-04 -4.42830022e+00] [ 1.21715110e-03 -1.25836594e-04 9.99999251e-01 -1.44832386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95486062399999 meters 0.10295279775659674 Centerline is valid? [True, False] Translation: X:48.86, Y:-4.43, Z:-1.45 [[ 9.99998280e-01 1.49826184e-03 -1.09364162e-03 4.88638200e+01] [-1.49814546e-03 9.99998872e-01 1.07222887e-04 -4.42772999e+00] [ 1.09380103e-03 -1.05584269e-04 9.99999396e-01 -1.44880255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98486062399999 meters 0.09774841748996921 Centerline is valid? [False, True] Translation: X:48.86, Y:-4.43, Z:-1.45 [[ 9.99998464e-01 1.45078295e-03 -9.83783561e-04 4.88637946e+01] [-1.45067200e-03 9.99998941e-01 1.13488665e-04 -4.42752762e+00] [ 9.83947167e-04 -1.12061343e-04 9.99999510e-01 -1.44908347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.014860624 meters 0.10538579093852216 Centerline is valid? [True, False] Translation: X:48.86, Y:-4.43, Z:-1.45 [[ 9.99998588e-01 1.40847783e-03 -9.16837393e-04 4.88638120e+01] [-1.40838074e-03 9.99999003e-01 1.06534606e-04 -4.42733708e+00] [ 9.16986530e-04 -1.05243199e-04 9.99999574e-01 -1.44931706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.044860624 meters 0.09694583756745016 Centerline is valid? [False, True] Translation: X:48.86, Y:-4.43, Z:-1.45 [[ 9.99998563e-01 1.45170764e-03 -8.76033500e-04 4.88640305e+01] [-1.45154484e-03 9.99998929e-01 1.86438232e-04 -4.42715636e+00] [ 8.76303216e-04 -1.85166362e-04 9.99999599e-01 -1.44974456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.074860624 meters 0.10718917052647074 Centerline is valid? [True, False] Translation: X:48.86, Y:-4.43, Z:-1.45 [[ 9.99999013e-01 1.17414974e-03 -7.72016882e-04 4.88636207e+01] [-1.17427285e-03 9.99999298e-01 -1.59034476e-04 -4.42649461e+00] [ 7.71829610e-04 1.59940878e-04 9.99999689e-01 -1.44947033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.104860624 meters 0.10055325303388382 Centerline is valid? [False, False] Translation: X:48.86, Y:-4.42, Z:-1.45 [[ 9.99999344e-01 8.88111775e-04 -7.22729840e-04 4.88635905e+01] [-8.88539366e-04 9.99999430e-01 -5.91526256e-04 -4.42487196e+00] [ 7.22204087e-04 5.92168042e-04 9.99999564e-01 -1.44957950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.134860624 meters 0.10137620761632957 Centerline is valid? [False, False] Translation: X:48.86, Y:-4.42, Z:-1.45 [[ 9.99999574e-01 6.14668472e-04 -6.88646391e-04 4.88634728e+01] [-6.15354066e-04 9.99999315e-01 -9.95798512e-04 -4.42370353e+00] [ 6.88033833e-04 9.96221850e-04 9.99999267e-01 -1.44953495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.164860624 meters 0.10062360074330813 Centerline is valid? [False, False] Translation: X:48.86, Y:-4.42, Z:-1.45 [[ 9.99999481e-01 6.72073550e-04 -7.65704535e-04 4.88640976e+01] [-6.72879102e-04 9.99999220e-01 -1.05226841e-03 -4.42273514e+00] [ 7.64996736e-04 1.05278309e-03 9.99999153e-01 -1.45019895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.194860624 meters 0.10325157348482265 Centerline is valid? [False, False] Translation: X:48.86, Y:-4.42, Z:-1.45 [[ 9.99999432e-01 7.24635263e-04 -7.81004634e-04 4.88644270e+01] [-7.25438033e-04 9.99999208e-01 -1.02807552e-03 -4.42232375e+00] [ 7.80259036e-04 1.02864151e-03 9.99999167e-01 -1.45061302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.224860624 meters 0.10035141264228388 Centerline is valid? [False, False] Translation: X:48.86, Y:-4.42, Z:-1.45 [[ 9.99999342e-01 7.83749162e-04 -8.38228711e-04 4.88647406e+01] [-7.84579311e-04 9.99999202e-01 -9.90490488e-04 -4.42201253e+00] [ 8.37451745e-04 9.91147492e-04 9.99999158e-01 -1.45089103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.254860624 meters 0.10020484671275805 Centerline is valid? [False, False] Translation: X:48.86, Y:-4.42, Z:-1.45 [[ 9.99999503e-01 6.10013181e-04 -7.88924990e-04 4.88647507e+01] [-6.10977374e-04 9.99999066e-01 -1.22249766e-03 -4.42105749e+00] [ 7.88178513e-04 1.22297906e-03 9.99998942e-01 -1.45107136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.284860624 meters 0.1006051255261261 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.45 [[ 9.99999437e-01 5.95458058e-04 -8.78092796e-04 4.88650488e+01] [-5.96616442e-04 9.99998951e-01 -1.31953250e-03 -4.42036975e+00] [ 8.77306149e-04 1.32005565e-03 9.99998744e-01 -1.45123153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.314860624 meters 0.100305398762229 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.45 [[ 9.99999479e-01 4.99514366e-04 -8.90718813e-04 4.88652344e+01] [-5.00838560e-04 9.99998769e-01 -1.48705464e-03 -4.41942189e+00] [ 8.89974912e-04 1.48749998e-03 9.99998498e-01 -1.45147184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34486062399999 meters 0.10227498562573278 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.45 [[ 9.99999298e-01 7.65103100e-04 -9.05304564e-04 4.88658031e+01] [-7.66099215e-04 9.99999101e-01 -1.10047462e-03 -4.41976432e+00] [ 9.04461774e-04 1.10116740e-03 9.99998985e-01 -1.45224222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.374860624 meters 0.10734868179644963 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.45 [[ 9.99998965e-01 1.04022536e-03 -9.93464170e-04 4.88665123e+01] [-1.04101555e-03 9.99999142e-01 -7.95201497e-04 -4.41989448e+00] [ 9.92636129e-04 7.96234886e-04 9.99999190e-01 -1.45295915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.404860624 meters 0.10715839514685056 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.45 [[ 9.99999157e-01 8.65614134e-04 -9.67571222e-04 4.88662706e+01] [-8.66621951e-04 9.99999082e-01 -1.04166115e-03 -4.41953504e+00] [ 9.66668657e-04 1.04249879e-03 9.99998989e-01 -1.45270368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.434860624 meters 0.1081735892502931 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.45 [[ 9.99999202e-01 8.74976471e-04 -9.11571600e-04 4.88663676e+01] [-8.75872820e-04 9.99999133e-01 -9.83365875e-04 -4.41940780e+00] [ 9.10710388e-04 9.84163511e-04 9.99999101e-01 -1.45301782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.464860624 meters 0.10680976327776498 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.45 [[ 9.99999054e-01 1.00778708e-03 -9.36272059e-04 4.88666928e+01] [-1.00854756e-03 9.99999162e-01 -8.12130874e-04 -4.41950237e+00] [ 9.35452819e-04 8.13074380e-04 9.99999232e-01 -1.45338617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.494860624 meters 0.10622810870909125 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.45 [[ 9.99999117e-01 9.24097730e-04 -9.54899644e-04 4.88666561e+01] [-9.24997006e-04 9.99999129e-01 -9.41736309e-04 -4.41932411e+00] [ 9.54028555e-04 9.42618757e-04 9.99999101e-01 -1.45326748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.524860624 meters 0.10737556438562967 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.45 [[ 9.99999057e-01 9.99556990e-04 -9.41928821e-04 4.88669998e+01] [-1.00033365e-03 9.99999160e-01 -8.24428781e-04 -4.41912793e+00] [ 9.41103966e-04 8.25370246e-04 9.99999217e-01 -1.45378811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.554860624 meters 0.10227180682514982 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.45 [[ 9.99998978e-01 1.01689592e-03 -1.00521199e-03 4.88674292e+01] [-1.01770945e-03 9.99999155e-01 -8.09127606e-04 -4.41849412e+00] [ 1.00438834e-03 8.10149792e-04 9.99999167e-01 -1.45424411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.584860624 meters 0.10907350113721268 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.45 [[ 9.99999093e-01 9.07038021e-04 -9.95761869e-04 4.88675123e+01] [-9.08015694e-04 9.99999106e-01 -9.81822101e-04 -4.41774334e+00] [ 9.94870429e-04 9.82725378e-04 9.99999022e-01 -1.45439169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.614860624 meters 0.10836614547327289 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.45 [[ 9.99998775e-01 9.74261532e-04 -1.22509822e-03 4.88682994e+01] [-9.75621494e-04 9.99998908e-01 -1.10997685e-03 -4.41651972e+00] [ 1.22401548e-03 1.11117073e-03 9.99998634e-01 -1.45484821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.644860624 meters 0.10485767368906165 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99998512e-01 1.07437322e-03 -1.34962446e-03 4.88688972e+01] [-1.07583247e-03 9.99998837e-01 -1.08096679e-03 -4.41592065e+00] [ 1.34846153e-03 1.08241715e-03 9.99998505e-01 -1.45532433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.674860624 meters 0.10480035197748502 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99998562e-01 1.00993192e-03 -1.36212196e-03 4.88691102e+01] [-1.01155287e-03 9.99998781e-01 -1.18985449e-03 -4.41517194e+00] [ 1.36091863e-03 1.19123064e-03 9.99998364e-01 -1.45561583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70486062399999 meters 0.10735347940267714 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.41, Z:-1.46 [[ 9.99998148e-01 1.20066213e-03 -1.50382826e-03 4.88697755e+01] [-1.20224904e-03 9.99998721e-01 -1.05479217e-03 -4.41484271e+00] [ 1.50255988e-03 1.05659819e-03 9.99998313e-01 -1.45613683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73486062399999 meters 0.10692595745910471 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.41, Z:-1.46 [[ 9.99998628e-01 8.40976402e-04 -1.42687554e-03 4.88693011e+01] [-8.43204562e-04 9.99998425e-01 -1.56168351e-03 -4.41383001e+00] [ 1.42555995e-03 1.56288452e-03 9.99997763e-01 -1.45571257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.764860624 meters 0.10332176122684414 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.41, Z:-1.46 [[ 9.99998442e-01 7.84969167e-04 -1.58139394e-03 4.88699662e+01] [-7.87871152e-04 9.99998005e-01 -1.83529392e-03 -4.41222375e+00] [ 1.57995014e-03 1.83653699e-03 9.99997065e-01 -1.45622841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.794860624 meters 0.10113551296683149 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.41, Z:-1.46 [[ 9.99998238e-01 9.67344124e-04 -1.60887440e-03 4.88704970e+01] [-9.69869592e-04 9.99998298e-01 -1.56967217e-03 -4.41216664e+00] [ 1.60735325e-03 1.57122980e-03 9.99997474e-01 -1.45690217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.824860624 meters 0.107992339400265 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.41, Z:-1.46 [[ 9.99998251e-01 9.83126371e-04 -1.59086287e-03 4.88707048e+01] [-9.85561698e-04 9.99998343e-01 -1.53076193e-03 -4.41188117e+00] [ 1.58935530e-03 1.53232715e-03 9.99997563e-01 -1.45725916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.854860624 meters 0.10313202663296196 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.41, Z:-1.46 [[ 9.99998354e-01 1.06592794e-03 -1.46843609e-03 4.88709450e+01] [-1.06786357e-03 9.99998561e-01 -1.31799923e-03 -4.41188392e+00] [ 1.46702909e-03 1.31956515e-03 9.99998053e-01 -1.45798847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.884860624 meters 0.10260039531571617 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.41, Z:-1.46 [[ 9.99998377e-01 1.14117103e-03 -1.39448437e-03 4.88709554e+01] [-1.14274178e-03 9.99998713e-01 -1.12612534e-03 -4.41227161e+00] [ 1.39319748e-03 1.12771705e-03 9.99998394e-01 -1.45822910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.914860624 meters 0.11270523088644799 Centerline is valid? [False, False] Translation: X:48.88, Y:-4.41, Z:-1.46 [[ 9.99982171e-01 -2.77374335e-03 5.28818956e-03 4.88805991e+01] [ 2.74060290e-03 9.99976626e-01 6.26386063e-03 -4.41451227e+00] [-5.30544029e-03 -6.24925612e-03 9.99966399e-01 -1.46236896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.944860624 meters 0.10410700953314395 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.41, Z:-1.46 [[ 9.99999135e-01 6.32124068e-04 -1.15340033e-03 4.88703710e+01] [-6.34341044e-04 9.99997950e-01 -1.92276930e-03 -4.41219936e+00] [ 1.15218254e-03 1.92349928e-03 9.99997486e-01 -1.45752039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.974860624 meters 0.10410700953314395 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.41, Z:-1.46 [[ 9.99999135e-01 6.32124068e-04 -1.15340033e-03 4.88703710e+01] [-6.34341044e-04 9.99997950e-01 -1.92276930e-03 -4.41219936e+00] [ 1.15218254e-03 1.92349928e-03 9.99997486e-01 -1.45752039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.004860624 meters 0.1063087238103289 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.41, Z:-1.46 [[ 9.99999333e-01 5.67924994e-04 -1.00595680e-03 4.88699790e+01] [-5.69801060e-04 9.99998097e-01 -1.86565249e-03 -4.41249471e+00] [ 1.00489533e-03 1.86622444e-03 9.99997754e-01 -1.45740621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.034860624 meters 0.10773914026305695 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.41, Z:-1.46 [[ 9.99999140e-01 7.65336728e-04 -1.06477385e-03 4.88703527e+01] [-7.67063139e-04 9.99998390e-01 -1.62192534e-03 -4.41285164e+00] [ 1.06353082e-03 1.62274070e-03 9.99998118e-01 -1.45773605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.064860624 meters 0.1086022130189735 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.41, Z:-1.46 [[ 9.99998873e-01 1.03192330e-03 -1.09027528e-03 4.88707045e+01] [-1.03326392e-03 9.99998710e-01 -1.22976671e-03 -4.41371455e+00] [ 1.08900485e-03 1.23089187e-03 9.99998649e-01 -1.45814498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09486062399999 meters 0.10880846417047274 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.41, Z:-1.46 [[ 9.99998786e-01 1.05091257e-03 -1.15014902e-03 4.88707265e+01] [-1.05235228e-03 9.99998663e-01 -1.25187521e-03 -4.41390936e+00] [ 1.14883187e-03 1.25308405e-03 9.99998555e-01 -1.45798551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.124860624 meters 0.10810031813041444 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.41, Z:-1.46 [[ 9.99998014e-01 1.52504869e-03 -1.28293770e-03 4.88716781e+01] [-1.52592148e-03 9.99998605e-01 -6.79607251e-04 -4.41459844e+00] [ 1.28189947e-03 6.81563564e-04 9.99998946e-01 -1.45891744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.154860624 meters 0.10598071331921875 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.41, Z:-1.46 [[ 9.99998115e-01 1.44854609e-03 -1.29263886e-03 4.88716372e+01] [-1.44955082e-03 9.99998648e-01 -7.76676198e-04 -4.41437707e+00] [ 1.29151206e-03 7.78548480e-04 9.99998863e-01 -1.45884367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.184860624 meters 0.11015860989840025 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.41, Z:-1.46 [[ 9.99998278e-01 1.32996419e-03 -1.29400326e-03 4.88714323e+01] [-1.33119329e-03 9.99998663e-01 -9.49444174e-04 -4.41423088e+00] [ 1.29273881e-03 9.51165108e-04 9.99998712e-01 -1.45855587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.214860624 meters 0.10906495807549793 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.41, Z:-1.46 [[ 9.99997714e-01 1.62835550e-03 -1.38608174e-03 4.88720343e+01] [-1.62913282e-03 9.99998516e-01 -5.59859923e-04 -4.41466617e+00] [ 1.38516803e-03 5.62116754e-04 9.99998883e-01 -1.45910702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.244860624 meters 0.11154105473767693 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.41, Z:-1.46 [[ 9.99998178e-01 1.47675966e-03 -1.20942311e-03 4.88715630e+01] [-1.47751069e-03 9.99998716e-01 -6.20322131e-04 -4.41480289e+00] [ 1.20850549e-03 6.22107936e-04 9.99999076e-01 -1.45897091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.274860624 meters 0.10461976509953813 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99997562e-01 1.84464870e-03 -1.21408597e-03 4.88720506e+01] [-1.84474382e-03 9.99998295e-01 -7.72339148e-05 -4.41586720e+00] [ 1.21394143e-03 7.94734041e-05 9.99999260e-01 -1.45960425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.304860624 meters 0.10280905892574724 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99997535e-01 1.88844809e-03 -1.16814639e-03 4.88719771e+01] [-1.88840259e-03 9.99998216e-01 4.00501310e-05 -4.41637567e+00] [ 1.16821994e-03 -3.78441016e-05 9.99999317e-01 -1.45962260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.334860624 meters 0.10894993576623922 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99997540e-01 2.00205816e-03 -9.55315594e-04 4.88718131e+01] [-2.00167811e-03 9.99997917e-01 3.98620848e-04 -4.41754975e+00] [ 9.56111666e-04 -3.96707633e-04 9.99999464e-01 -1.45994962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.364860624 meters 0.10866066936679263 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99997453e-01 2.10024284e-03 -8.26629251e-04 4.88717464e+01] [-2.09970381e-03 9.99997583e-01 6.52412988e-04 -4.41829453e+00] [ 8.27997479e-04 -6.50675650e-04 9.99999446e-01 -1.46017958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.394860624 meters 0.10509604619784213 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99997824e-01 1.98843939e-03 -6.31144631e-04 4.88711330e+01] [-1.98801171e-03 9.99997794e-01 6.77540085e-04 -4.41896454e+00] [ 6.32490486e-04 -6.76283888e-04 9.99999571e-01 -1.45986721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.424860624 meters 0.1079289771645718 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99998102e-01 1.90706302e-03 -3.98992095e-04 4.88704754e+01] [-1.90674803e-03 9.99997871e-01 7.88356957e-04 -4.41987752e+00] [ 4.00494693e-04 -7.87594683e-04 9.99999610e-01 -1.45959852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45486062399999 meters 0.11164754840578044 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99998435e-01 1.76941252e-03 7.94185680e-06 4.88694087e+01] [-1.76941953e-03 9.99997942e-01 9.92603163e-04 -4.42150267e+00] [-6.18551599e-06 -9.92615662e-04 9.99999507e-01 -1.45923177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48486062399999 meters 0.13424608266028742 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99998427e-01 1.77354096e-03 2.33960786e-05 4.88692173e+01] [-1.77356481e-03 9.99997863e-01 1.06250490e-03 -4.42210369e+00] [-2.15116327e-05 -1.06254472e-03 9.99999435e-01 -1.45900475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.514860624 meters 0.11442522247000546 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99998551e-01 1.69789119e-03 1.25429399e-04 4.88688582e+01] [-1.69802192e-03 9.99998007e-01 1.04966725e-03 -4.42250396e+00] [-1.23646929e-04 -1.04987871e-03 9.99999441e-01 -1.45878450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.544860624 meters 0.10877548222287721 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99998737e-01 1.56346539e-03 2.86392111e-04 4.88683760e+01] [-1.56374260e-03 9.99998307e-01 9.70275023e-04 -4.42272840e+00] [-2.84874634e-04 -9.70721640e-04 9.99999488e-01 -1.45855608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.574860624 meters 0.10873434537587431 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99998751e-01 1.56166234e-03 2.42296476e-04 4.88682765e+01] [-1.56188818e-03 9.99998343e-01 9.34711650e-04 -4.42309318e+00] [-2.40836370e-04 -9.35088923e-04 9.99999534e-01 -1.45823175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.604860624 meters 0.1061532356313525 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99998667e-01 1.62498663e-03 1.56915296e-04 4.88685868e+01] [-1.62513424e-03 9.99998233e-01 9.45193378e-04 -4.42299166e+00] [-1.55379092e-04 -9.45447127e-04 9.99999541e-01 -1.45837746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.634860624 meters 0.11129751273675693 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99998769e-01 1.56607516e-03 1.01223528e-04 4.88685270e+01] [-1.56615379e-03 9.99998468e-01 7.81491237e-04 -4.42287522e+00] [-9.99994986e-05 -7.81648806e-04 9.99999690e-01 -1.45812356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.664860624 meters 0.10862459229993034 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99998549e-01 1.70312372e-03 -4.44213159e-05 4.88690240e+01] [-1.70308570e-03 9.99998195e-01 8.42403573e-04 -4.42287476e+00] [ 4.58559532e-05 -8.42326697e-04 9.99999644e-01 -1.45835474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.694860624 meters 0.1054918919112329 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99997739e-01 2.06321218e-03 -5.14067518e-04 4.88703408e+01] [-2.06276301e-03 9.99997492e-01 8.72756895e-04 -4.42211268e+00] [ 5.15866911e-04 -8.71694522e-04 9.99999487e-01 -1.45889489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.724860624 meters 0.10899925632321539 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99997918e-01 1.94264844e-03 -6.25167311e-04 4.88703475e+01] [-1.94226119e-03 9.99997922e-01 6.19452129e-04 -4.42150572e+00] [ 6.26369390e-04 -6.18236601e-04 9.99999613e-01 -1.45856019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.754860624 meters 0.10566819906597229 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99997878e-01 1.93825148e-03 -6.98510885e-04 4.88704473e+01] [-1.93786398e-03 9.99997968e-01 5.55008320e-04 -4.42128255e+00] [ 6.99585212e-04 -5.53653523e-04 9.99999602e-01 -1.45846621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.784860624 meters 0.10526657864164428 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99998085e-01 1.84140212e-03 -6.63087880e-04 4.88702117e+01] [-1.84112495e-03 9.99998218e-01 4.18357818e-04 -4.42126061e+00] [ 6.63857063e-04 -4.17136190e-04 9.99999693e-01 -1.45821961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.814860624 meters 0.1036977380764957 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99997619e-01 2.08972498e-03 -6.28054205e-04 4.88701418e+01] [-2.08918276e-03 9.99997445e-01 8.62756216e-04 -4.42295469e+00] [ 6.29855524e-04 -8.61442042e-04 9.99999431e-01 -1.45820788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84486062399999 meters 0.10755700533771174 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99997553e-01 2.14783744e-03 -5.30272318e-04 4.88699499e+01] [-2.14727203e-03 9.99997128e-01 1.06453925e-03 -4.42383664e+00] [ 5.32557253e-04 -1.06339800e-03 9.99999293e-01 -1.45821198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.874860624 meters 0.10401866117283015 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.42, Z:-1.46 [[ 9.99997514e-01 2.19012762e-03 -4.19393202e-04 4.88697012e+01] [-2.18960644e-03 9.99996835e-01 1.23913743e-03 -4.42476662e+00] [ 4.22105743e-04 -1.23821605e-03 9.99999144e-01 -1.45814143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.904860624 meters 0.10657404996228727 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.43, Z:-1.46 [[ 9.99997758e-01 2.10219455e-03 -2.53008485e-04 4.88691315e+01] [-2.10186619e-03 9.99996958e-01 1.29113523e-03 -4.42549352e+00] [ 2.55721933e-04 -1.29060055e-03 9.99999134e-01 -1.45781158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.934860624 meters 0.10605479598145544 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.43, Z:-1.46 [[ 9.99998238e-01 1.87344310e-03 1.16256412e-04 4.88678892e+01] [-1.87360249e-03 9.99997284e-01 1.38645980e-03 -4.42695758e+00] [-1.13658642e-04 -1.38667517e-03 9.99999032e-01 -1.45706866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.964860624 meters 0.10909846133106907 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.43, Z:-1.46 [[ 9.99998092e-01 1.93446229e-03 2.70866679e-04 4.88675012e+01] [-1.93490706e-03 9.99996764e-01 1.65153136e-03 -4.42813238e+00] [-2.67670977e-04 -1.65205231e-03 9.99998600e-01 -1.45694148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.994860624 meters 0.11192861961093631 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.43, Z:-1.46 [[ 9.99997896e-01 2.00297101e-03 4.43728762e-04 4.88670318e+01] [-2.00384262e-03 9.99996047e-01 1.97263385e-03 -4.42959902e+00] [-4.39775879e-04 -1.97351886e-03 9.99997956e-01 -1.45676666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.024860624 meters 0.10836570528649889 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.43, Z:-1.46 [[ 9.99997862e-01 1.95193855e-03 6.82430206e-04 4.88663416e+01] [-1.95338829e-03 9.99995823e-01 2.13019609e-03 -4.43071246e+00] [-6.78269344e-04 -2.13152458e-03 9.99997498e-01 -1.45644459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.054860624 meters 0.11148153039319669 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.43, Z:-1.46 [[ 9.99998546e-01 -1.69306646e-03 2.06064316e-04 4.88675446e+01] [ 1.69335976e-03 9.99997542e-01 -1.43160976e-03 -4.43163450e+00] [-2.03639999e-04 1.43195662e-03 9.99998954e-01 -1.45680325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.084860624 meters 0.11083629990631617 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.43, Z:-1.46 [[ 9.99999138e-01 -1.29900472e-03 1.90414150e-04 4.88679029e+01] [ 1.29915789e-03 9.99998831e-01 -8.06511887e-04 -4.43307189e+00] [-1.89366265e-04 8.06758570e-04 9.99999657e-01 -1.45723531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.114860624 meters 0.11546768533177611 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.43, Z:-1.46 [[ 9.99999464e-01 -1.01524971e-03 2.05357055e-04 4.88679898e+01] [ 1.01531380e-03 9.99999436e-01 -3.12225658e-04 -4.43444072e+00] [-2.05039952e-04 3.12433993e-04 9.99999930e-01 -1.45738515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.144860624 meters 0.1158130112605662 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.44, Z:-1.46 [[ 9.99999580e-01 -8.33729857e-04 3.80454448e-04 4.88674638e+01] [ 8.33647849e-04 9.99999629e-01 2.15661016e-04 -4.43661700e+00] [-3.80634110e-04 -2.15343760e-04 9.99999904e-01 -1.45709942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.174860624 meters 0.11765906858792834 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.44, Z:-1.46 [[ 9.99999708e-01 -6.27214953e-04 4.35490318e-04 4.88673246e+01] [ 6.26937944e-04 9.99999601e-01 6.35931589e-04 -4.43809369e+00] [-4.35889010e-04 -6.35658378e-04 9.99999703e-01 -1.45704294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20486062399999 meters 0.10728763973404339 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.44, Z:-1.46 [[ 9.99999883e-01 -2.54195306e-04 4.11186424e-04 4.88675305e+01] [ 2.53695856e-04 9.99999231e-01 1.21425354e-03 -4.43982978e+00] [-4.11494765e-04 -1.21414908e-03 9.99999178e-01 -1.45721208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23486062399999 meters 0.11312601334008915 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.44, Z:-1.46 [[ 9.99999828e-01 -2.15291244e-04 5.44695952e-04 4.88670676e+01] [ 2.14513655e-04 9.99998959e-01 1.42722204e-03 -4.44100510e+00] [-5.45002653e-04 -1.42710495e-03 9.99998833e-01 -1.45691981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.264860624 meters 0.10827151346712421 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.44, Z:-1.46 [[ 9.99999834e-01 -3.92240628e-05 5.74435972e-04 4.88670039e+01] [ 3.82284824e-05 9.99998498e-01 1.73305267e-03 -4.44219833e+00] [-5.74503086e-04 -1.73303042e-03 9.99998333e-01 -1.45686499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.294860624 meters 0.1099923621895515 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.44, Z:-1.46 [[ 9.99999769e-01 1.40685614e-04 6.65645615e-04 4.88665175e+01] [-1.42171067e-04 9.99997499e-01 2.23207714e-03 -4.44426885e+00] [-6.65329929e-04 -2.23217126e-03 9.99997287e-01 -1.45642158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.324860624 meters 0.10811828337976488 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.45, Z:-1.46 [[ 9.99999752e-01 2.16615091e-04 6.69388370e-04 4.88664074e+01] [-2.18218430e-04 9.99997106e-01 2.39608580e-03 -4.44500290e+00] [-6.68867404e-04 -2.39623128e-03 9.99996905e-01 -1.45627627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.354860624 meters 0.10828075422781042 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.45, Z:-1.46 [[ 9.99999709e-01 3.82160302e-04 6.61004710e-04 4.88661028e+01] [-3.83968132e-04 9.99996181e-01 2.73701275e-03 -4.44662257e+00] [-6.59956208e-04 -2.73726575e-03 9.99996036e-01 -1.45577714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.384860624 meters 0.10842682713671195 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.45, Z:-1.46 [[ 9.99999696e-01 4.60693486e-04 6.29349318e-04 4.88660262e+01] [-4.62502178e-04 9.99995755e-01 2.87679150e-03 -4.44730553e+00] [-6.28021328e-04 -2.87708170e-03 9.99995664e-01 -1.45557184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.414860624 meters 0.10875045002692692 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.45, Z:-1.46 [[ 9.99999609e-01 7.08197719e-04 5.29674949e-04 4.88663255e+01] [-7.09886368e-04 9.99994645e-01 3.19472122e-03 -4.44813783e+00] [-5.27409618e-04 -3.19509598e-03 9.99994757e-01 -1.45568702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.444860624 meters 0.10915353365991828 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.45, Z:-1.46 [[ 9.99999515e-01 8.64327034e-04 4.72042775e-04 4.88663915e+01] [-8.65930103e-04 9.99993823e-01 3.40644465e-03 -4.44893448e+00] [-4.69095577e-04 -3.40685176e-03 9.99994087e-01 -1.45559623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.474860624 meters 0.10869010686520736 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.45, Z:-1.46 [[ 9.99999479e-01 9.25670724e-04 4.30971794e-04 4.88663459e+01] [-9.27176289e-04 9.99993423e-01 3.50642408e-03 -4.44944157e+00] [-4.27723165e-04 -3.50682184e-03 9.99993760e-01 -1.45540539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.504860624 meters 0.10877334263661233 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.45, Z:-1.45 [[ 9.99999378e-01 1.04772159e-03 3.82751741e-04 4.88661812e+01] [-1.04912313e-03 9.99992678e-01 3.68010346e-03 -4.45035162e+00] [-3.78893215e-04 -3.68050273e-03 9.99993155e-01 -1.45499377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.534860624 meters 0.10886499775407839 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.45, Z:-1.45 [[ 9.99999359e-01 1.05092072e-03 4.22068414e-04 4.88658084e+01] [-1.05250832e-03 9.99992306e-01 3.77901806e-03 -4.45113168e+00] [-4.18093718e-04 -3.77945986e-03 9.99992770e-01 -1.45457377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.564860624 meters 0.10297769048817937 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.45, Z:-1.46 [[ 9.99997624e-01 -2.16034032e-03 -2.89705575e-04 4.88678484e+01] [ 2.16048920e-03 9.99997534e-01 5.14571394e-04 -4.45197355e+00] [ 2.88593212e-04 -5.15196077e-04 9.99999826e-01 -1.45556169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59486062399999 meters 0.10184831910214678 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.45, Z:-1.46 [[ 9.99998358e-01 -1.77938939e-03 -3.41875594e-04 4.88681989e+01] [ 1.77975037e-03 9.99997856e-01 1.05849543e-03 -4.45337898e+00] [ 3.39991385e-04 -1.05910215e-03 9.99999381e-01 -1.45588697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.624860624 meters 0.11302563434240313 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.45, Z:-1.46 [[ 9.99998738e-01 -1.54236280e-03 -3.81741141e-04 4.88683434e+01] [ 1.54290645e-03 9.99997790e-01 1.42794722e-03 -4.45448902e+00] [ 3.79537885e-04 -1.42853441e-03 9.99998908e-01 -1.45596429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.654860624 meters 0.1057539537511518 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.46, Z:-1.46 [[ 9.99999077e-01 -1.31121689e-03 -3.54557930e-04 4.88683388e+01] [ 1.31186235e-03 9.99997472e-01 1.82641114e-03 -4.45578143e+00] [ 3.52162212e-04 -1.82687458e-03 9.99998269e-01 -1.45601938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.684860624 meters 0.10454030531544213 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.46, Z:-1.46 [[ 9.99999714e-01 -6.65576041e-04 -3.58257817e-04 4.88688009e+01] [ 6.66598100e-04 9.99995687e-01 2.86033890e-03 -4.45840416e+00] [ 3.56352499e-04 -2.86057690e-03 9.99995845e-01 -1.45660962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.714860624 meters 0.10210892506646525 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.46, Z:-1.46 [[ 9.99999758e-01 -6.19642924e-04 -3.17039958e-04 4.88685398e+01] [ 6.20586531e-04 9.99995353e-01 2.98491119e-03 -4.45922474e+00] [ 3.15188906e-04 -2.98510722e-03 9.99995495e-01 -1.45633006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.744860624 meters 0.10431414310456158 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.46, Z:-1.46 [[ 9.99999828e-01 -4.94007087e-04 -3.16875988e-04 4.88683842e+01] [ 4.95029011e-04 9.99994651e-01 3.23306565e-03 -4.46018099e+00] [ 3.15277135e-04 -3.23322196e-03 9.99994723e-01 -1.45610809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.774860624 meters 0.10298461998753496 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.46, Z:-1.46 [[ 9.99999882e-01 -3.97355328e-04 -2.81143274e-04 4.88681674e+01] [ 3.98325450e-04 9.99993938e-01 3.45903068e-03 -4.46115995e+00] [ 2.79767105e-04 -3.45914226e-03 9.99993978e-01 -1.45588128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.804860624 meters 0.10201009062921566 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.46, Z:-1.46 [[ 9.99999904e-01 -3.30112961e-04 -2.89187650e-04 4.88679755e+01] [ 3.31160117e-04 9.99993362e-01 3.62849492e-03 -4.46204714e+00] [ 2.87987917e-04 -3.62859034e-03 9.99993375e-01 -1.45557877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.834860624 meters 0.10851400251607525 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.46, Z:-1.46 [[ 9.99999947e-01 -3.84333515e-05 -3.24403733e-04 4.88679695e+01] [ 3.97784682e-05 9.99991399e-01 4.14744037e-03 -4.46383490e+00] [ 3.24241543e-04 -4.14745306e-03 9.99991347e-01 -1.45542343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.864860624 meters 0.10278482494050785 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.46, Z:-1.46 [[ 9.99999954e-01 6.78632812e-05 -2.97294800e-04 4.88677746e+01] [-6.65561478e-05 9.99990342e-01 4.39456409e-03 -4.46485297e+00] [ 2.97590158e-04 -4.39454410e-03 9.99990300e-01 -1.45521820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.894860624 meters 0.10426997069385209 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.46, Z:-1.46 [[ 9.99993921e-01 -3.35800942e-03 -9.38739612e-04 4.88699061e+01] [ 3.35881755e-03 9.99993989e-01 8.60616445e-04 -4.46484571e+00] [ 9.35844011e-04 -8.63764268e-04 9.99999189e-01 -1.45647981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.924860624 meters 0.10426997069385209 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.46, Z:-1.46 [[ 9.99993921e-01 -3.35800942e-03 -9.38739612e-04 4.88699061e+01] [ 3.35881755e-03 9.99993989e-01 8.60616445e-04 -4.46484571e+00] [ 9.35844011e-04 -8.63764268e-04 9.99999189e-01 -1.45647981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95486062399999 meters 0.10124249606161018 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.47, Z:-1.46 [[ 9.99994541e-01 -3.18647998e-03 -8.73952291e-04 4.88697806e+01] [ 3.18755673e-03 9.99994159e-01 1.23343332e-03 -4.46604218e+00] [ 8.70016875e-04 -1.23621236e-03 9.99998857e-01 -1.45648331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98486062399999 meters 0.1051923730284945 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.47, Z:-1.46 [[ 9.99995346e-01 -2.98065135e-03 -6.50374022e-04 4.88691740e+01] [ 2.98187358e-03 9.99993775e-01 1.88645377e-03 -4.46841250e+00] [ 6.44747112e-04 -1.88838432e-03 9.99998009e-01 -1.45615277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.014860624 meters 0.10419305331354074 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.47, Z:-1.46 [[ 9.99996025e-01 -2.75077912e-03 -6.19170519e-04 4.88692952e+01] [ 2.75218500e-03 9.99993611e-01 2.28129823e-03 -4.46948197e+00] [ 6.12891215e-04 -2.28299324e-03 9.99997206e-01 -1.45638900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.044860624 meters 0.10202797028619971 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.47, Z:-1.46 [[ 9.99996334e-01 -2.64406658e-03 -5.83766914e-04 4.88692334e+01] [ 2.64551343e-03 9.99993396e-01 2.49176475e-03 -4.47029228e+00] [ 5.77174667e-04 -2.49329998e-03 9.99996725e-01 -1.45638660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.074860624 meters 0.10421894521240488 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.47, Z:-1.46 [[ 9.99996985e-01 -2.38483015e-03 -5.86086457e-04 4.88693407e+01] [ 2.38652700e-03 9.99992913e-01 2.91178475e-03 -4.47154000e+00] [ 5.79138191e-04 -2.91317468e-03 9.99995589e-01 -1.45651253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.104860624 meters 0.1052913410728265 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.47, Z:-1.46 [[ 9.99997469e-01 -2.19124049e-03 -5.10607606e-04 4.88691281e+01] [ 2.19293679e-03 9.99991999e-01 3.34559838e-03 -4.47310503e+00] [ 5.03272510e-04 -3.34670964e-03 9.99994273e-01 -1.45640133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.134860624 meters 0.10507367880750149 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.47, Z:-1.46 [[ 9.99997447e-01 -2.18392604e-03 -5.80585227e-04 4.88691849e+01] [ 2.18584611e-03 9.99992075e-01 3.32732774e-03 -4.47330075e+00] [ 5.73313989e-04 -3.32858832e-03 9.99994296e-01 -1.45626006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.164860624 meters 0.1038948747173325 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.47, Z:-1.46 [[ 9.99997823e-01 -1.97406701e-03 -6.75710817e-04 4.88696633e+01] [ 1.97648174e-03 9.99991596e-01 3.59179185e-03 -4.47358349e+00] [ 6.68614701e-04 -3.59311956e-03 9.99993321e-01 -1.45665143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.194860624 meters 0.10495156622274454 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.47, Z:-1.46 [[ 9.99997963e-01 -1.88464641e-03 -7.22078470e-04 4.88695353e+01] [ 1.88732053e-03 9.99991297e-01 3.72074639e-03 -4.47433265e+00] [ 7.15059894e-04 -3.72210161e-03 9.99992817e-01 -1.45633197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.224860624 meters 0.10476781878532944 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.47, Z:-1.46 [[ 9.99998067e-01 -1.81839574e-03 -7.48069480e-04 4.88694181e+01] [ 1.82125940e-03 9.99990948e-01 3.84536252e-03 -4.47498214e+00] [ 7.41070318e-04 -3.84671751e-03 9.99992327e-01 -1.45608472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.254860624 meters 0.10124197239798344 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99997895e-01 -1.91887351e-03 -7.26278063e-04 4.88690486e+01] [ 1.92158131e-03 9.99991137e-01 3.74617319e-03 -4.47519134e+00] [ 7.19083193e-04 -3.74756091e-03 9.99992719e-01 -1.45563177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.284860624 meters 0.10256050048525946 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99998423e-01 -1.60663418e-03 -7.56660327e-04 4.88694729e+01] [ 1.60979157e-03 9.99989923e-01 4.19085088e-03 -4.47605632e+00] [ 7.49919538e-04 -4.19206234e-03 9.99990932e-01 -1.45610263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.314860624 meters 0.10281853160430292 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99998225e-01 -1.71508679e-03 -7.80047637e-04 4.88692017e+01] [ 1.71821596e-03 9.99990409e-01 4.02868858e-03 -4.47612836e+00] [ 7.73130604e-04 -4.03002172e-03 9.99991581e-01 -1.45564896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34486062399999 meters 0.10252791389943279 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99998306e-01 -1.69456370e-03 -7.18937504e-04 4.88690478e+01] [ 1.69750794e-03 9.99990094e-01 4.11461999e-03 -4.47661770e+00] [ 7.11957896e-04 -4.11583342e-03 9.99991276e-01 -1.45558707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.374860624 meters 0.10476971733332124 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99998412e-01 -1.66937612e-03 -6.23928050e-04 4.88687329e+01] [ 1.67201791e-03 9.99989537e-01 4.25786152e-03 -4.47738464e+00] [ 6.16813549e-04 -4.25889798e-03 9.99990741e-01 -1.45540944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.404860624 meters 0.10450617693979194 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99998911e-01 -1.42661787e-03 -3.76560737e-04 4.88684167e+01] [ 1.42845032e-03 9.99986917e-01 4.91171514e-03 -4.47957089e+00] [ 3.69548670e-04 -4.91224769e-03 9.99987867e-01 -1.45561577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.434860624 meters 0.1040476147578516 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99999078e-01 -1.32442903e-03 -3.00277195e-04 4.88683215e+01] [ 1.32595770e-03 9.99985864e-01 5.14916358e-03 -4.48041832e+00] [ 2.93453249e-04 -5.14955698e-03 9.99986698e-01 -1.45568382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.464860624 meters 0.10268766238892858 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99989211e-01 -4.51223134e-03 -1.10377886e-03 4.88709902e+01] [ 4.51419066e-03 9.99988228e-01 1.77909872e-03 -4.48025018e+00] [ 1.09573817e-03 -1.78406219e-03 9.99997808e-01 -1.45727805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.494860624 meters 0.10349235038381684 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99989568e-01 -4.42310352e-03 -1.14018872e-03 4.88710800e+01] [ 4.42529370e-03 9.99988354e-01 1.92557580e-03 -4.48068792e+00] [ 1.13165842e-03 -1.93060139e-03 9.99997496e-01 -1.45731061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.524860624 meters 0.1047668879761137 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99990656e-01 -4.15465520e-03 -1.19477200e-03 4.88716059e+01] [ 4.15738049e-03 9.99988741e-01 2.28764417e-03 -4.48113170e+00] [ 1.18525418e-03 -2.29258992e-03 9.99996670e-01 -1.45788931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.554860624 meters 0.1028883538166242 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99990032e-01 -4.29479650e-03 -1.22086005e-03 4.88712570e+01] [ 4.29731086e-03 9.99988636e-01 2.06439648e-03 -4.48089372e+00] [ 1.21198002e-03 -2.06962232e-03 9.99997124e-01 -1.45734133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.584860624 meters 0.10356889591453111 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99989598e-01 -4.37730221e-03 -1.28171914e-03 4.88711510e+01] [ 4.37974815e-03 9.99988581e-01 1.91177794e-03 -4.48067907e+00] [ 1.27333607e-03 -1.91737167e-03 9.99997351e-01 -1.45703795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.614860624 meters 0.10337901260546234 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99990862e-01 -4.04132560e-03 -1.39447691e-03 4.88716524e+01] [ 4.04449719e-03 9.99989224e-01 2.27911964e-03 -4.48116545e+00] [ 1.38525122e-03 -2.28473877e-03 9.99996431e-01 -1.45744706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.644860624 meters 0.10148251338352113 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99991448e-01 -3.85518889e-03 -1.49706877e-03 4.88720607e+01] [ 3.85889234e-03 9.99989482e-01 2.47884366e-03 -4.48143785e+00] [ 1.48749661e-03 -2.48459949e-03 9.99995807e-01 -1.45771906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.674860624 meters 0.10338582312205218 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99991410e-01 -3.86921012e-03 -1.48611424e-03 4.88721719e+01] [ 3.87280822e-03 9.99989558e-01 2.42594327e-03 -4.48120712e+00] [ 1.47671223e-03 -2.43167787e-03 9.99995953e-01 -1.45790841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70486062399999 meters 0.10678958096661381 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99991283e-01 -3.85083815e-03 -1.61429889e-03 4.88724829e+01] [ 3.85464848e-03 9.99989777e-01 2.36393149e-03 -4.48093762e+00] [ 1.60517927e-03 -2.37013344e-03 9.99995903e-01 -1.45800078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73486062399999 meters 0.1027122457358466 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99990464e-01 -4.05734474e-03 -1.61554989e-03 4.88723938e+01] [ 4.06052407e-03 9.99989816e-01 1.96956642e-03 -4.47980727e+00] [ 1.60754222e-03 -1.97610762e-03 9.99996755e-01 -1.45792598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.764860624 meters 0.10567889708573196 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99990928e-01 -3.88720220e-03 -1.74143140e-03 4.88731506e+01] [ 3.89081316e-03 9.99990278e-01 2.07499315e-03 -4.47941237e+00] [ 1.73334855e-03 -2.08174991e-03 9.99996331e-01 -1.45864585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.794860624 meters 0.1074772504624726 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99991154e-01 -3.76061698e-03 -1.88414724e-03 4.88737697e+01] [ 3.76458883e-03 9.99990690e-01 2.10894263e-03 -4.47893851e+00] [ 1.87619877e-03 -2.11601702e-03 9.99996001e-01 -1.45911918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.824860624 meters 0.10669499368852323 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99991076e-01 -3.72754711e-03 -1.98814919e-03 4.88742153e+01] [ 3.73158140e-03 9.99990979e-01 2.02933300e-03 -4.47825889e+00] [ 1.98056682e-03 -2.03673383e-03 9.99995965e-01 -1.45945435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.854860624 meters 0.10674468051537522 Centerline is valid? [False, False] Translation: X:48.87, Y:-4.48, Z:-1.46 [[ 9.99990149e-01 -3.89719267e-03 -2.12469814e-03 4.88744931e+01] [ 3.90054143e-03 9.99991154e-01 1.57425271e-03 -4.47668910e+00] [ 2.11854418e-03 -1.58252467e-03 9.99996504e-01 -1.45952443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.884860624 meters 0.09923604738966939 Centerline is valid? [False, True] Translation: X:48.88, Y:-4.48, Z:-1.46 [[ 9.99990173e-01 -3.81686646e-03 -2.25517818e-03 4.88751003e+01] [ 3.82039434e-03 9.99991482e-01 1.56211435e-03 -4.47604076e+00] [ 2.24919659e-03 -1.57071467e-03 9.99996237e-01 -1.46002001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.914860624 meters 0.09573875990797247 Centerline is valid? [True, True] Translation: X:48.91, Y:-4.47, Z:-1.46 [[ 9.99993114e-01 -3.33901250e-03 -1.61933908e-03 4.89065639e+01] [ 3.33930234e-03 9.99994409e-01 1.76317593e-04 -4.47078271e+00] [ 1.61874130e-03 -1.81723842e-04 9.99998673e-01 -1.45915778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.944860624 meters 0.09730868501422694 Centerline is valid? [True, True] Translation: X:48.94, Y:-4.48, Z:-1.46 [[ 9.99994981e-01 -3.03414790e-03 -9.12531416e-04 4.89367903e+01] [ 3.03424016e-03 9.99995392e-01 9.97397932e-05 -4.47537186e+00] [ 9.12224585e-04 -1.02508132e-04 9.99999579e-01 -1.46017309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.974860624 meters 0.10205090293734527 Centerline is valid? [True, False] Translation: X:48.94, Y:-4.47, Z:-1.46 [[ 9.99995133e-01 -2.95811212e-03 -9.91241691e-04 4.89373105e+01] [ 2.95822711e-03 9.99995618e-01 1.14568604e-04 -4.47487435e+00] [ 9.90898440e-04 -1.17500365e-04 9.99999502e-01 -1.46067473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.004860624 meters 0.09961147955710888 Centerline is valid? [False, True] Translation: X:48.94, Y:-4.47, Z:-1.46 [[ 9.99995173e-01 -2.93816472e-03 -1.01096755e-03 4.89377129e+01] [ 2.93824846e-03 9.99995680e-01 8.13587736e-05 -4.47430645e+00] [ 1.01072414e-03 -8.43288547e-05 9.99999486e-01 -1.46116630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.034860624 meters 0.09965880728548411 Centerline is valid? [True, True] Translation: X:48.97, Y:-4.48, Z:-1.46 [[ 9.99992056e-01 -3.93146993e-03 -6.56524173e-04 4.89685110e+01] [ 3.93151836e-03 9.99992269e-01 7.24990190e-05 -4.47643717e+00] [ 6.56234070e-04 -7.50795800e-05 9.99999782e-01 -1.46243445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.064860624 meters 0.09862355395135787 Centerline is valid? [True, True] Translation: X:49.00, Y:-4.48, Z:-1.46 [[ 9.99991185e-01 -4.19791203e-03 -8.96607220e-05 4.89995592e+01] [ 4.19791300e-03 9.99991189e-01 1.05753738e-05 -4.47804462e+00] [ 8.96155375e-05 -1.09516685e-05 9.99999996e-01 -1.46308967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09486062399999 meters 0.10012031175679259 Centerline is valid? [True, False] Translation: X:49.00, Y:-4.48, Z:-1.46 [[ 9.99991962e-01 -4.00763218e-03 -1.17767132e-04 4.90001982e+01] [ 4.00766118e-03 9.99991939e-01 2.47041089e-04 -4.47807723e+00] [ 1.16776132e-04 -2.47511074e-04 9.99999963e-01 -1.46389118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.124860624 meters 0.09669851908851691 Centerline is valid? [False, True] Translation: X:49.00, Y:-4.48, Z:-1.46 [[ 9.99991908e-01 -4.02024745e-03 -1.43503087e-04 4.90004902e+01] [ 4.02027210e-03 9.99991904e-01 1.71966887e-04 -4.47753538e+00] [ 1.42810576e-04 -1.72542417e-04 9.99999975e-01 -1.46424372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.154860624 meters 0.09935944938917321 Centerline is valid? [True, True] Translation: X:49.03, Y:-4.48, Z:-1.47 [[ 9.99990695e-01 -4.29858122e-03 -3.63788953e-04 4.90307352e+01] [ 4.29859654e-03 9.99990760e-01 4.13405398e-05 -4.48344449e+00] [ 3.63607886e-04 -4.29039371e-05 9.99999933e-01 -1.46521697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.184860624 meters 0.0989285498999856 Centerline is valid? [True, True] Translation: X:49.06, Y:-4.49, Z:-1.47 [[ 9.99992494e-01 -3.84992901e-03 4.36473969e-04 4.90625627e+01] [ 3.84995016e-03 9.99992588e-01 -4.76359551e-05 -4.48539530e+00] [-4.36287338e-04 4.93160005e-05 9.99999904e-01 -1.46654692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.214860624 meters 0.10061846975562007 Centerline is valid? [True, False] Translation: X:49.06, Y:-4.48, Z:-1.47 [[ 9.99992627e-01 -3.82416529e-03 3.49948183e-04 4.90631497e+01] [ 3.82420590e-03 9.99992681e-01 -1.15449358e-04 -4.48468499e+00] [-3.49504124e-04 1.16786781e-04 9.99999932e-01 -1.46711022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.244860624 meters 0.10130858577849676 Centerline is valid? [False, False] Translation: X:49.06, Y:-4.48, Z:-1.47 [[ 9.99992840e-01 -3.78284663e-03 9.60733083e-05 4.90642573e+01] [ 3.78288220e-03 9.99992775e-01 -3.72798542e-04 -4.48293164e+00] [-9.46623745e-05 3.73159307e-04 9.99999926e-01 -1.46797519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.274860624 meters 0.10189558304273728 Centerline is valid? [False, False] Translation: X:49.06, Y:-4.48, Z:-1.47 [[ 9.99991836e-01 -4.04060480e-03 -3.99643490e-05 4.90645380e+01] [ 4.04056661e-03 9.99991420e-01 -9.13526070e-04 -4.48133442e+00] [ 4.36552040e-05 9.13357133e-04 9.99999582e-01 -1.46801551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.304860624 meters 0.10242780605242707 Centerline is valid? [False, False] Translation: X:49.07, Y:-4.48, Z:-1.47 [[ 9.99991761e-01 -4.02884268e-03 -4.96116522e-04 4.90659003e+01] [ 4.02808531e-03 9.99990735e-01 -1.51824645e-03 -4.47818510e+00] [ 5.02228701e-04 1.51623554e-03 9.99998724e-01 -1.46870491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.334860624 meters 0.1034335751584211 Centerline is valid? [False, False] Translation: X:49.07, Y:-4.48, Z:-1.47 [[ 9.99999868e-01 -3.94387951e-04 -3.30469432e-04 4.90651823e+01] [ 3.94975066e-04 9.99998341e-01 1.77843321e-03 -4.47612298e+00] [ 3.29767491e-04 -1.77856350e-03 9.99998364e-01 -1.46818147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.364860624 meters 0.09784485919678246 Centerline is valid? [False, True] Translation: X:49.07, Y:-4.47, Z:-1.47 [[ 9.99999751e-01 -3.99923956e-04 -5.81359558e-04 4.90660317e+01] [ 4.00753957e-04 9.99998900e-01 1.42827417e-03 -4.47435823e+00] [ 5.80787718e-04 -1.42850680e-03 9.99998811e-01 -1.46867405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.394860624 meters 0.09997045752967623 Centerline is valid? [True, True] Translation: X:49.10, Y:-4.48, Z:-1.47 [[ 9.99999019e-01 1.29125918e-03 -5.43570069e-04 4.90952815e+01] [-1.29122711e-03 9.99999165e-01 5.93457894e-05 -4.47935767e+00] [ 5.43646246e-04 -5.86438587e-05 9.99999851e-01 -1.46984403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.424860624 meters 0.09699972166832203 Centerline is valid? [True, True] Translation: X:49.13, Y:-4.48, Z:-1.47 [[ 9.99997550e-01 2.21170141e-03 -8.59446850e-05 4.91262181e+01] [-2.21170064e-03 9.99997554e-01 9.05537992e-06 -4.47547828e+00] [ 8.59645026e-05 -8.86527382e-06 9.99999996e-01 -1.46931444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45486062399999 meters 0.10096738416856871 Centerline is valid? [True, False] Translation: X:49.13, Y:-4.47, Z:-1.47 [[ 9.99998183e-01 1.89440976e-03 -2.13188980e-04 4.91264191e+01] [-1.89455046e-03 9.99997986e-01 -6.61730172e-04 -4.47358149e+00] [ 2.11934963e-04 6.62132867e-04 9.99999758e-01 -1.46924292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48486062399999 meters 0.09712193334195723 Centerline is valid? [False, True] Translation: X:49.13, Y:-4.47, Z:-1.47 [[ 9.99998132e-01 1.88055611e-03 -4.45919997e-04 4.91272800e+01] [-1.88098709e-03 9.99997762e-01 -9.68074409e-04 -4.47192800e+00] [ 4.44098481e-04 9.68911371e-04 9.99999432e-01 -1.46981031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.514860624 meters 0.10285132155827402 Centerline is valid? [True, False] Translation: X:49.13, Y:-4.47, Z:-1.47 [[ 9.99998371e-01 1.63895974e-03 -7.55578625e-04 4.91282637e+01] [-1.64027770e-03 9.99997129e-01 -1.74699871e-03 -4.46853878e+00] [ 7.52713195e-04 1.74823523e-03 9.99998189e-01 -1.47041178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.544860624 meters 0.09675721404854239 Centerline is valid? [False, True] Translation: X:49.13, Y:-4.47, Z:-1.47 [[ 9.99998470e-01 1.54509477e-03 -8.19956647e-04 4.91287031e+01] [-1.54671772e-03 9.99996839e-01 -1.98237844e-03 -4.46737509e+00] [ 8.16891092e-04 1.98364365e-03 9.99997699e-01 -1.47083466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.574860624 meters 0.09756124051575209 Centerline is valid? [True, True] Translation: X:49.16, Y:-4.47, Z:-1.47 [[ 9.99999398e-01 1.08369270e-03 -1.71724276e-04 4.91583546e+01] [-1.08368973e-03 9.99999413e-01 1.73947936e-05 -4.47165455e+00] [ 1.71743026e-04 -1.72086873e-05 9.99999985e-01 -1.47244230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.604860624 meters 0.0958689110082426 Centerline is valid? [True, True] Translation: X:49.19, Y:-4.47, Z:-1.47 [[ 9.99999898e-01 3.33348665e-04 -3.06360884e-04 4.91893462e+01] [-3.33338801e-04 9.99999944e-01 3.22509618e-05 -4.47111601e+00] [ 3.06371617e-04 -3.21488365e-05 9.99999953e-01 -1.47284582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.634860624 meters 0.09612371914732622 Centerline is valid? [True, True] Translation: X:49.22, Y:-4.47, Z:-1.47 [[ 9.99999091e-01 -5.13689481e-04 -1.24648158e-03 4.92195020e+01] [ 5.13853437e-04 9.99999859e-01 1.31218546e-04 -4.47410191e+00] [ 1.24641400e-03 -1.31858936e-04 9.99999215e-01 -1.47337779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.664860624 meters 0.09648887532934587 Centerline is valid? [True, True] Translation: X:49.25, Y:-4.48, Z:-1.47 [[ 9.99998837e-01 -1.27142432e-03 -8.42368880e-04 4.92496116e+01] [ 1.27149946e-03 9.99999188e-01 8.86771387e-05 -4.47813950e+00] [ 8.42255450e-04 -8.97481071e-05 9.99999641e-01 -1.47456511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.694860624 meters 0.0990752232335541 Centerline is valid? [True, True] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99991226e-01 -4.09039092e-03 -9.03438669e-04 4.92784921e+01] [ 4.09047822e-03 9.99991629e-01 9.48012787e-05 -4.48505470e+00] [ 9.03043332e-04 -9.84959432e-05 9.99999587e-01 -1.47553687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.724860624 meters 0.10236214419995869 Centerline is valid? [True, False] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99991597e-01 -3.99839043e-03 -9.04926512e-04 4.92787678e+01] [ 3.99861225e-03 9.99991976e-01 2.43452361e-04 -4.48515989e+00] [ 9.03945833e-04 -2.47068765e-04 9.99999561e-01 -1.47592201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.754860624 meters 0.09927298314235825 Centerline is valid? [False, True] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99992057e-01 -3.89450014e-03 -8.47384685e-04 4.92789722e+01] [ 3.89487942e-03 9.99992315e-01 4.46410023e-04 -4.48537477e+00] [ 8.45639630e-04 -4.49706939e-04 9.99999541e-01 -1.47636141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.784860624 meters 0.10084322304978482 Centerline is valid? [True, False] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99992477e-01 -3.80159787e-03 -7.70833291e-04 4.92791236e+01] [ 3.80214633e-03 9.99992519e-01 7.11314060e-04 -4.48587407e+00] [ 7.68123395e-04 -7.14239529e-04 9.99999450e-01 -1.47680237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.814860624 meters 0.10084322304978482 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99992477e-01 -3.80159787e-03 -7.70833291e-04 4.92791236e+01] [ 3.80214633e-03 9.99992519e-01 7.11314060e-04 -4.48587407e+00] [ 7.68123395e-04 -7.14239529e-04 9.99999450e-01 -1.47680237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84486062399999 meters 0.10597267921568107 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99992949e-01 -3.68449274e-03 -7.25283867e-04 4.92791799e+01] [ 3.68517036e-03 9.99992772e-01 9.35171477e-04 -4.48648959e+00] [ 7.21832992e-04 -9.37837678e-04 9.99999300e-01 -1.47703036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.874860624 meters 0.1093628397993733 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99993720e-01 -3.46351714e-03 -7.51420137e-04 4.92796446e+01] [ 3.46446161e-03 9.99993206e-01 1.25927449e-03 -4.48682900e+00] [ 7.47053513e-04 -1.26186985e-03 9.99998925e-01 -1.47761407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.904860624 meters 0.10544434089809994 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99994224e-01 -3.30541881e-03 -7.91794092e-04 4.92801271e+01] [ 3.30657773e-03 9.99993457e-01 1.46685463e-03 -4.48691350e+00] [ 7.86940343e-04 -1.46946429e-03 9.99998611e-01 -1.47816848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.934860624 meters 0.10341715938445938 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99993813e-01 -3.37718332e-03 -9.84147721e-04 4.92806902e+01] [ 3.37835030e-03 9.99993589e-01 1.18654137e-03 -4.48550484e+00] [ 9.80134244e-04 -1.18985882e-03 9.99998812e-01 -1.47843121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.964860624 meters 0.10050605160056321 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.48, Z:-1.48 [[ 9.99993872e-01 -3.34597272e-03 -1.02997497e-03 4.92809873e+01] [ 3.34715780e-03 9.99993736e-01 1.15102439e-03 -4.48494155e+00] [ 1.02611722e-03 -1.15446483e-03 9.99998807e-01 -1.47870362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.994860624 meters 0.10131506983912526 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.48, Z:-1.48 [[ 9.99993678e-01 -3.40760040e-03 -1.01550488e-03 4.92808357e+01] [ 3.40870799e-03 9.99993595e-01 1.09094878e-03 -4.48467837e+00] [ 1.01178086e-03 -1.09440344e-03 9.99998889e-01 -1.47854298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.024860624 meters 0.10321744771548405 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.48, Z:-1.48 [[ 9.99993553e-01 -3.38690046e-03 -1.19253991e-03 4.92813696e+01] [ 3.38809075e-03 9.99993763e-01 9.97508951e-04 -4.48396264e+00] [ 1.18915401e-03 -1.00154295e-03 9.99998791e-01 -1.47880727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.054860624 meters 0.10244093206964704 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.48, Z:-1.48 [[ 9.99993739e-01 -3.31676325e-03 -1.23370958e-03 4.92816859e+01] [ 3.31803258e-03 9.99993967e-01 1.02824902e-03 -4.48390646e+00] [ 1.23029168e-03 -1.03233607e-03 9.99998710e-01 -1.47910461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.084860624 meters 0.1076039095275516 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.48, Z:-1.48 [[ 9.99994655e-01 -2.99180203e-03 -1.31853146e-03 4.92824536e+01] [ 2.99372034e-03 9.99994460e-01 1.45531913e-03 -4.48436438e+00] [ 1.31417013e-03 -1.45925867e-03 9.99998072e-01 -1.47993378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.114860624 meters 0.10338552317484102 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.48, Z:-1.48 [[ 9.99995344e-01 -2.68814211e-03 -1.44411234e-03 4.92832017e+01] [ 2.69079613e-03 9.99994689e-01 1.83903463e-03 -4.48479113e+00] [ 1.43916108e-03 -1.84291188e-03 9.99997266e-01 -1.48060777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.144860624 meters 0.1044045201871651 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.48, Z:-1.48 [[ 9.99994432e-01 -3.01907635e-03 -1.42141603e-03 4.92827762e+01] [ 3.02106794e-03 9.99994455e-01 1.40107823e-03 -4.48403183e+00] [ 1.41717818e-03 -1.40536462e-03 9.99998008e-01 -1.48009063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.174860624 meters 0.1066041796597642 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.48, Z:-1.48 [[ 9.99994693e-01 -2.89647484e-03 -1.49175020e-03 4.92831979e+01] [ 2.89872624e-03 9.99994660e-01 1.50928422e-03 -4.48393319e+00] [ 1.48737063e-03 -1.51360038e-03 9.99997748e-01 -1.48045765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20486062399999 meters 0.10015393626875484 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.48, Z:-1.48 [[ 9.99994710e-01 -2.89124844e-03 -1.49007732e-03 4.92830873e+01] [ 2.89347042e-03 9.99994702e-01 1.49118862e-03 -4.48411769e+00] [ 1.48575803e-03 -1.49549223e-03 9.99997778e-01 -1.48029014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23486062399999 meters 0.10850511683488366 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.48, Z:-1.48 [[ 9.99994940e-01 -2.80179384e-03 -1.50639844e-03 4.92831912e+01] [ 2.80425737e-03 9.99994730e-01 1.63575673e-03 -4.48447129e+00] [ 1.50180744e-03 -1.63997278e-03 9.99997528e-01 -1.48040163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.264860624 meters 0.10157991056898144 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99995945e-01 -2.39178771e-03 -1.54551313e-03 4.92835771e+01] [ 2.39524551e-03 9.99994624e-01 2.23935489e-03 -4.48596973e+00] [ 1.54014876e-03 -2.24304769e-03 9.99996298e-01 -1.48077952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.294860624 meters 0.10204309422622597 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99996273e-01 -2.23999706e-03 -1.56097582e-03 4.92838079e+01] [ 2.24383859e-03 9.99994448e-01 2.46358972e-03 -4.48649748e+00] [ 1.55544872e-03 -2.46708311e-03 9.99995747e-01 -1.48101245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.324860624 meters 0.10341295774983617 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99996270e-01 -2.26578284e-03 -1.52513164e-03 4.92835727e+01] [ 2.26958528e-03 9.99994309e-01 2.49608919e-03 -4.48699711e+00] [ 1.51946737e-03 -2.49954130e-03 9.99995722e-01 -1.48078008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.354860624 meters 0.1036272044334323 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99996471e-01 -2.28058375e-03 -1.36247354e-03 4.92831137e+01] [ 2.28419473e-03 9.99993868e-01 2.65466171e-03 -4.48790639e+00] [ 1.35641100e-03 -2.65776450e-03 9.99995548e-01 -1.48058039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.384860624 meters 0.10530988896374167 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99997436e-01 -1.82795755e-03 -1.33661812e-03 4.92834893e+01] [ 1.83250212e-03 9.99992518e-01 3.40676585e-03 -4.48957082e+00] [ 1.33038070e-03 -3.40920647e-03 9.99993304e-01 -1.48115740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.414860624 meters 0.10739494562047237 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99997573e-01 -2.04322661e-03 -8.24274223e-04 4.92820416e+01] [ 2.04624815e-03 9.99991129e-01 3.68167109e-03 -4.49190723e+00] [ 8.16744422e-04 -3.68334883e-03 9.99992883e-01 -1.48045556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.444860624 meters 0.10499428639568173 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99998071e-01 -1.84840086e-03 -6.63850244e-04 4.92818344e+01] [ 1.85115509e-03 9.99989582e-01 4.17250491e-03 -4.49353690e+00] [ 6.56130866e-04 -4.17372575e-03 9.99991075e-01 -1.48057370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.474860624 meters 0.10520736195240867 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.50, Z:-1.48 [[ 9.99998210e-01 -1.83142935e-03 -4.75334535e-04 4.92812788e+01] [ 1.83353700e-03 9.99988319e-01 4.47213312e-03 -4.49500513e+00] [ 4.67138587e-04 -4.47299666e-03 9.99989887e-01 -1.48030346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.504860624 meters 0.10850383456424546 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.50, Z:-1.48 [[ 9.99998169e-01 -1.91216370e-03 -7.60301910e-05 4.92802950e+01] [ 1.91251037e-03 9.99986380e-01 4.85614273e-03 -4.49710008e+00] [ 6.67434156e-05 -4.85627924e-03 9.99988206e-01 -1.47994743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.534860624 meters 0.10614778381105597 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.50, Z:-1.48 [[ 9.99998222e-01 -1.88505432e-03 -5.88565319e-05 4.92801352e+01] [ 1.88532204e-03 9.99986024e-01 4.93937875e-03 -4.49769799e+00] [ 4.95447121e-05 -4.93948093e-03 9.99987799e-01 -1.47973701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.564860624 meters 0.10707066570471534 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.50, Z:-1.48 [[ 9.99998395e-01 -1.79004142e-03 -6.90514835e-05 4.92801370e+01] [ 1.79036877e-03 9.99985523e-01 5.07431592e-03 -4.49830558e+00] [ 5.99672481e-05 -5.07443141e-03 9.99987123e-01 -1.47965705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59486062399999 meters 0.10860896911680645 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.50, Z:-1.48 [[ 9.99998380e-01 -1.79845728e-03 -7.69231505e-05 4.92800071e+01] [ 1.79882462e-03 9.99985496e-01 5.07660865e-03 -4.49865135e+00] [ 6.77919710e-05 -5.07673880e-03 9.99987111e-01 -1.47942672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.624860624 meters 0.10800863258920737 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.50, Z:-1.48 [[ 9.99998161e-01 -1.91559418e-03 -8.75177442e-05 4.92798628e+01] [ 1.91599783e-03 9.99986296e-01 4.87195564e-03 -4.49848078e+00] [ 7.81838550e-05 -4.87211436e-03 9.99988128e-01 -1.47917738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.654860624 meters 0.10575774218370997 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.50, Z:-1.48 [[ 9.99998353e-01 -1.78657907e-03 -3.19557647e-04 4.92804791e+01] [ 1.78810102e-03 9.99986749e-01 4.82753908e-03 -4.49832349e+00] [ 3.10928632e-04 -4.82810253e-03 9.99988296e-01 -1.47935136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.684860624 meters 0.10315557966237267 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.50, Z:-1.48 [[ 9.99998137e-01 -1.86201512e-03 -5.09345415e-04 4.92806690e+01] [ 1.86432000e-03 9.99987853e-01 4.56277569e-03 -4.49787986e+00] [ 5.00843271e-04 -4.56371677e-03 9.99989461e-01 -1.47907419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.714860624 meters 0.104524017397245 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.50, Z:-1.48 [[ 9.99997810e-01 -1.98381374e-03 -6.67179918e-04 4.92808899e+01] [ 1.98659921e-03 9.99989204e-01 4.20056812e-03 -4.49704164e+00] [ 6.58839570e-04 -4.20188434e-03 9.99990955e-01 -1.47892667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.744860624 meters 0.10430041734848997 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.50, Z:-1.48 [[ 9.99997710e-01 -1.90421060e-03 -9.76988073e-04 4.92817074e+01] [ 1.90810642e-03 9.99990170e-01 4.00226783e-03 -4.49603802e+00] [ 9.69357309e-04 -4.00412286e-03 9.99991514e-01 -1.47919879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.774860624 meters 0.10309435502283469 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99997024e-01 -1.98287971e-03 -1.42137926e-03 4.92824013e+01] [ 1.98745670e-03 9.99992822e-01 3.22595553e-03 -4.49363988e+00] [ 1.41497237e-03 -3.22877086e-03 9.99993786e-01 -1.47898871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.804860624 meters 0.10687118410987988 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99996308e-01 -2.14915100e-03 -1.66265868e-03 4.92827367e+01] [ 2.15361577e-03 9.99994068e-01 2.68820766e-03 -4.49222031e+00] [ 1.65687145e-03 -2.69177847e-03 9.99995005e-01 -1.47876903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.834860624 meters 0.10514481250525573 Centerline is valid? [False, False] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99995680e-01 -2.21844604e-03 -1.92834624e-03 4.92832567e+01] [ 2.22277439e-03 9.99995009e-01 2.24535252e-03 -4.49089997e+00] [ 1.92335542e-03 -2.24962910e-03 9.99995620e-01 -1.47875792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.864860624 meters 0.09819939513344503 Centerline is valid? [False, True] Translation: X:49.28, Y:-4.49, Z:-1.48 [[ 9.99994814e-01 -2.16436937e-03 -2.38488542e-03 4.92841634e+01] [ 2.16778179e-03 9.99996629e-01 1.42919620e-03 -4.48743965e+00] [ 2.38178407e-03 -1.43435870e-03 9.99996135e-01 -1.47882749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.894860624 meters 0.09681600338186704 Centerline is valid? [True, True] Translation: X:49.31, Y:-4.49, Z:-1.48 [[ 9.99998370e-01 -6.17875220e-05 -1.80430673e-03 4.93144804e+01] [ 6.21312511e-05 9.99999980e-01 1.90449359e-04 -4.48645875e+00] [ 1.80429493e-03 -1.90561153e-04 9.99998354e-01 -1.47769762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.924860624 meters 0.09545926421113987 Centerline is valid? [True, True] Translation: X:49.34, Y:-4.49, Z:-1.48 [[ 9.99996924e-01 1.67609049e-03 -1.82820720e-03 4.93443307e+01] [-1.67574173e-03 9.99998577e-01 1.92280772e-04 -4.48572566e+00] [ 1.82852688e-03 -1.89216578e-04 9.99998310e-01 -1.47817382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95486062399999 meters 0.0958248518288106 Centerline is valid? [True, True] Translation: X:49.37, Y:-4.49, Z:-1.48 [[ 9.99993151e-01 2.90324687e-03 -2.29524401e-03 4.93744724e+01] [-2.90269923e-03 9.99995758e-01 2.41892174e-04 -4.48852358e+00] [ 2.29593655e-03 -2.35228115e-04 9.99997337e-01 -1.47974887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98486062399999 meters 0.09546569874028096 Centerline is valid? [True, True] Translation: X:49.40, Y:-4.49, Z:-1.48 [[ 9.99988218e-01 4.29052940e-03 -2.27062438e-03 4.94044217e+01] [-4.28999838e-03 9.99990769e-01 2.38684218e-04 -4.49043965e+00] [ 2.27162751e-03 -2.28940431e-04 9.99997394e-01 -1.48042946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.014860624 meters 0.09788894157620408 Centerline is valid? [True, True] Translation: X:49.43, Y:-4.50, Z:-1.48 [[ 9.99983854e-01 4.44086102e-03 -3.54548881e-03 4.94319759e+01] [-4.43956956e-03 9.99990076e-01 3.72041898e-04 -4.49607184e+00] [ 3.54710581e-03 -3.56295446e-04 9.99993646e-01 -1.48295784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.044860624 meters 0.09780199806417239 Centerline is valid? [True, True] Translation: X:49.46, Y:-4.50, Z:-1.48 [[ 9.99984916e-01 3.43376648e-03 -4.28692751e-03 4.94617641e+01] [-3.43186385e-03 9.99994009e-01 4.51098983e-04 -4.49813773e+00] [ 4.28845080e-03 -4.36380027e-04 9.99990709e-01 -1.48377965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.074860624 meters 0.10086712522053563 Centerline is valid? [True, False] Translation: X:49.46, Y:-4.50, Z:-1.48 [[ 9.99986158e-01 3.32581280e-03 -4.07713596e-03 4.94618164e+01] [-3.32412531e-03 9.99994387e-01 4.20596794e-04 -4.49772022e+00] [ 4.07851190e-03 -4.07038061e-04 9.99991600e-01 -1.48439981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.104860624 meters 0.10240084438719756 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.50, Z:-1.48 [[ 9.99987057e-01 3.23332440e-03 -3.92836607e-03 4.94616939e+01] [-3.23178342e-03 9.99994698e-01 3.98552970e-04 -4.49763027e+00] [ 3.92963389e-03 -3.85852183e-04 9.99992205e-01 -1.48462378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.134860624 meters 0.10386344538994084 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.50, Z:-1.48 [[ 9.99988553e-01 3.03777255e-03 -3.69668739e-03 4.94611691e+01] [-3.03671246e-03 9.99995346e-01 2.92346685e-04 -4.49776186e+00] [ 3.69755827e-03 -2.81117562e-04 9.99993124e-01 -1.48452498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.164860624 meters 0.10533962292860283 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.50, Z:-1.48 [[ 9.99990212e-01 2.82678389e-03 -3.40363761e-03 4.94606650e+01] [-2.82612725e-03 9.99995987e-01 1.97716615e-04 -4.49775613e+00] [ 3.40418285e-03 -1.88095567e-04 9.99994188e-01 -1.48463631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.194860624 meters 0.10782464476184282 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.50, Z:-1.48 [[ 9.99991493e-01 2.59508049e-03 -3.20614012e-03 4.94601765e+01] [-2.59506296e-03 9.99996633e-01 9.62667610e-06 -4.49769569e+00] [ 3.20615431e-03 -1.30645873e-06 9.99994860e-01 -1.48449719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.224860624 meters 0.11153790695296714 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.50, Z:-1.48 [[ 9.99992359e-01 2.41490316e-03 -3.07424841e-03 4.94602809e+01] [-2.41550890e-03 9.99997064e-01 -1.93339035e-04 -4.49677431e+00] [ 3.07377249e-03 2.00763432e-04 9.99995256e-01 -1.48499615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.254860624 meters 0.1143520576060441 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.50, Z:-1.48 [[ 9.99993637e-01 1.99840753e-03 -2.95514993e-03 4.94599337e+01] [-2.00067089e-03 9.99997707e-01 -7.63144413e-04 -4.49530682e+00] [ 2.95361808e-03 7.69051839e-04 9.99995342e-01 -1.48482009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.284860624 meters 0.10291494212236539 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.49, Z:-1.48 [[ 9.99993884e-01 1.76970390e-03 -3.01653550e-03 4.94601215e+01] [-1.77330976e-03 9.99997716e-01 -1.19311030e-03 -4.49382672e+00] [ 3.01441716e-03 1.19845225e-03 9.99994738e-01 -1.48488132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.314860624 meters 0.10312742156240058 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.49, Z:-1.48 [[ 9.99994032e-01 1.59661181e-03 -3.06368561e-03 4.94603186e+01] [-1.60131197e-03 9.99997544e-01 -1.53231409e-03 -4.49256537e+00] [ 3.06123158e-03 1.53721086e-03 9.99994133e-01 -1.48499543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.344860624 meters 0.11620354186558855 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.49, Z:-1.49 [[ 9.99994478e-01 1.26953920e-03 -3.07103443e-03 4.94604333e+01] [-1.27616442e-03 9.99996861e-01 -2.15633090e-03 -4.49043190e+00] [ 3.06828725e-03 2.16023814e-03 9.99992959e-01 -1.48513713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.374860624 meters 0.11802415163759564 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.49, Z:-1.49 [[ 9.99994264e-01 1.31779741e-03 -3.12009855e-03 4.94608250e+01] [-1.32457087e-03 9.99996769e-01 -2.16983988e-03 -4.48992254e+00] [ 3.11722906e-03 2.17396022e-03 9.99992778e-01 -1.48552481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.404860624 meters 0.1184723980594023 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.49, Z:-1.49 [[ 9.99994688e-01 1.09638074e-03 -3.06938860e-03 4.94608298e+01] [-1.10416933e-03 9.99996172e-01 -2.53696168e-03 -4.48872417e+00] [ 3.06659537e-03 2.54033733e-03 9.99992071e-01 -1.48566053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.434860624 meters 0.11901920927710663 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.49, Z:-1.49 [[ 9.99993871e-01 1.15815228e-03 -3.30395439e-03 4.94615426e+01] [-1.16696180e-03 9.99995766e-01 -2.66567649e-03 -4.48775842e+00] [ 3.30085314e-03 2.66951574e-03 9.99990989e-01 -1.48597683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.464860624 meters 0.10101021422156796 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.49, Z:-1.49 [[ 9.99993134e-01 1.09091080e-03 -3.54149638e-03 4.94623210e+01] [-1.10199867e-03 9.99994493e-01 -3.13040223e-03 -4.48555792e+00] [ 3.53806189e-03 3.13428346e-03 9.99988829e-01 -1.48639871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.494860624 meters 0.10628244524856117 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.49, Z:-1.49 [[ 9.99992804e-01 1.18470343e-03 -3.60385101e-03 4.94627943e+01] [-1.19588813e-03 9.99994471e-01 -3.10297103e-03 -4.48502862e+00] [ 3.60015498e-03 3.10725851e-03 9.99988692e-01 -1.48686621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52486062399998 meters 0.10544772914731601 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.48, Z:-1.49 [[ 9.99993651e-01 9.65901391e-04 -3.43013781e-03 4.94624492e+01] [-9.77146307e-04 9.99994150e-01 -3.27810803e-03 -4.48459866e+00] [ 3.42695141e-03 3.28143896e-03 9.99988744e-01 -1.48692276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55486062399999 meters 0.10593960065267957 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.48, Z:-1.49 [[ 9.99993148e-01 1.23659863e-03 -3.48934263e-03 4.94631331e+01] [-1.24667007e-03 9.99995059e-01 -2.88564655e-03 -4.48489589e+00] [ 3.48575701e-03 2.88997683e-03 9.99989749e-01 -1.48772757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.584860624 meters 0.10692277153251896 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.48, Z:-1.49 [[ 9.99993201e-01 1.31292879e-03 -3.44592680e-03 4.94633694e+01] [-1.32233268e-03 9.99995404e-01 -2.72812848e-03 -4.48496820e+00] [ 3.44232913e-03 2.73266659e-03 9.99990341e-01 -1.48819605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.614860624 meters 0.10869639807431036 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.48, Z:-1.49 [[ 9.99993307e-01 1.41317818e-03 -3.37482694e-03 4.94636750e+01] [-1.42176243e-03 9.99995757e-01 -2.54256852e-03 -4.48491779e+00] [ 3.37121952e-03 2.54734971e-03 9.99991073e-01 -1.48881855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.644860624 meters 0.1127508968753375 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.48, Z:-1.49 [[ 9.99993289e-01 1.44336287e-03 -3.36717432e-03 4.94639219e+01] [-1.45177576e-03 9.99995828e-01 -2.49739563e-03 -4.48462222e+00] [ 3.36355562e-03 2.50226725e-03 9.99991213e-01 -1.48918264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.674860624 meters 0.11108220697890164 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.48, Z:-1.49 [[ 9.99993497e-01 1.31237932e-03 -3.35902883e-03 4.94639802e+01] [-1.32126138e-03 9.99995633e-01 -2.64338223e-03 -4.48394617e+00] [ 3.35554505e-03 2.64780320e-03 9.99990865e-01 -1.48930900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.704860624 meters 0.11108220697890164 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.48, Z:-1.49 [[ 9.99993497e-01 1.31237932e-03 -3.35902883e-03 4.94639802e+01] [-1.32126138e-03 9.99995633e-01 -2.64338223e-03 -4.48394617e+00] [ 3.35554505e-03 2.64780320e-03 9.99990865e-01 -1.48930900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.734860624 meters 0.10334129658706426 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.48, Z:-1.49 [[ 9.99993359e-01 1.42916862e-03 -3.35257834e-03 4.94643101e+01] [-1.43751573e-03 9.99995870e-01 -2.48867072e-03 -4.48395267e+00] [ 3.34900776e-03 2.49347358e-03 9.99991283e-01 -1.48977541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.764860624 meters 0.10100884269353545 Centerline is valid? [False, False] Translation: X:49.46, Y:-4.48, Z:-1.49 [[ 9.99993222e-01 1.53275111e-03 -3.34755191e-03 4.94646746e+01] [-1.54066091e-03 9.99996025e-01 -2.36156235e-03 -4.48385446e+00] [ 3.34391892e-03 2.36670379e-03 9.99991608e-01 -1.49028353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.794860624 meters 0.10962738459254731 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.49 [[ 9.99993187e-01 1.61791237e-03 -3.31780261e-03 4.94650067e+01] [-1.62525962e-03 9.99996231e-01 -2.21299404e-03 -4.48376238e+00] [ 3.31420967e-03 2.21837126e-03 9.99992047e-01 -1.49083873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.824860624 meters 0.1076889467943945 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.49 [[ 9.99993229e-01 1.69600104e-03 -3.26594838e-03 4.94652876e+01] [-1.70277243e-03 9.99996404e-01 -2.07166646e-03 -4.48365723e+00] [ 3.26242309e-03 2.07721359e-03 9.99992521e-01 -1.49136835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.854860624 meters 0.1112647282237233 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.49 [[ 9.99993372e-01 1.62529345e-03 -3.25798094e-03 4.94654813e+01] [-1.63242168e-03 9.99996277e-01 -2.18646453e-03 -4.48300400e+00] [ 3.25441517e-03 2.19176844e-03 9.99992302e-01 -1.49164636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.884860624 meters 0.103442323028979 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.49 [[ 9.99993961e-01 1.29084650e-03 -3.22662935e-03 4.94654287e+01] [-1.29953782e-03 9.99995530e-01 -2.69298012e-03 -4.48134809e+00] [ 3.22313870e-03 2.69715698e-03 9.99991168e-01 -1.49168934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.914860624 meters 0.10469798646662037 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.49 [[ 9.99993761e-01 1.39776412e-03 -3.24399256e-03 4.94657709e+01] [-1.40603950e-03 9.99995760e-01 -2.55010771e-03 -4.48124743e+00] [ 3.24041436e-03 2.55465298e-03 9.99991487e-01 -1.49210640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.944860624 meters 0.10440036037047254 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.49 [[ 9.99993854e-01 1.39220389e-03 -3.21776543e-03 4.94658982e+01] [-1.40039734e-03 9.99995780e-01 -2.54546660e-03 -4.48097320e+00] [ 3.21420805e-03 2.54995711e-03 9.99991583e-01 -1.49234477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.974860624 meters 0.10417374728038725 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.49 [[ 9.99994219e-01 1.29560117e-03 -3.14373733e-03 4.94658376e+01] [-1.30396201e-03 9.99995615e-01 -2.65893312e-03 -4.48054068e+00] [ 3.14027862e-03 2.66301706e-03 9.99991523e-01 -1.49248077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.004860624 meters 0.10568749219591289 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.49 [[ 9.99993472e-01 1.44685564e-03 -3.31090370e-03 4.94664960e+01] [-1.45543515e-03 9.99995586e-01 -2.59034748e-03 -4.48015689e+00] [ 3.30714123e-03 2.59514938e-03 9.99991164e-01 -1.49289534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.034860624 meters 0.10172060124563144 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.49 [[ 9.99993574e-01 1.42839887e-03 -3.28820005e-03 4.94666408e+01] [-1.43702801e-03 9.99995526e-01 -2.62341022e-03 -4.47982803e+00] [ 3.28443806e-03 2.62811859e-03 9.99991153e-01 -1.49316119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.064860624 meters 0.10552917161779508 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.49 [[ 9.99992871e-01 1.59090584e-03 -3.42434603e-03 4.94672730e+01] [-1.59950888e-03 9.99995568e-01 -2.51104585e-03 -4.47955743e+00] [ 3.42033602e-03 2.51650522e-03 9.99990984e-01 -1.49363630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.094860624 meters 0.10028629060407072 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.49 [[ 9.99992997e-01 1.41440060e-03 -3.46495815e-03 4.94673469e+01] [-1.42430070e-03 9.99994906e-01 -2.85640623e-03 -4.47848082e+00] [ 3.46090040e-03 2.86132137e-03 9.99989917e-01 -1.49362276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.124860624 meters 0.10622822918444487 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.49 [[ 9.99992664e-01 1.47644071e-03 -3.53451995e-03 4.94676767e+01] [-1.48635040e-03 9.99994968e-01 -2.80270273e-03 -4.47827362e+00] [ 3.53036414e-03 2.80793570e-03 9.99989826e-01 -1.49388517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.154860624 meters 0.10478593331310113 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.49 [[ 9.99992239e-01 1.66163461e-03 -3.57230043e-03 4.94680665e+01] [-1.67078792e-03 9.99995325e-01 -2.56084803e-03 -4.47853556e+00] [ 3.56802854e-03 2.56679671e-03 9.99990340e-01 -1.49430043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.184860624 meters 0.1013975818431666 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.49 [[ 9.99991454e-01 1.84667841e-03 -3.69876727e-03 4.94685964e+01] [-1.85540396e-03 9.99995501e-01 -2.35700297e-03 -4.47867345e+00] [ 3.69439800e-03 2.36384553e-03 9.99990382e-01 -1.49467846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.214860624 meters 0.10031819835733882 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.49 [[ 9.99990829e-01 1.96047194e-03 -3.80775576e-03 4.94688953e+01] [-1.96922026e-03 9.99995427e-01 -2.29511089e-03 -4.47872394e+00] [ 3.80323885e-03 2.30258815e-03 9.99990117e-01 -1.49477793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.244860624 meters 0.10061178676940007 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.50 [[ 9.99990622e-01 2.08090892e-03 -3.79799853e-03 4.94690614e+01] [-2.08893547e-03 9.99995591e-01 -2.11062089e-03 -4.47898851e+00] [ 3.79358977e-03 2.11853487e-03 9.99990560e-01 -1.49502628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27486062399998 meters 0.1013638079476427 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.50 [[ 9.99989504e-01 2.35962063e-03 -3.92726893e-03 4.94696741e+01] [-2.36669452e-03 9.99995584e-01 -1.79755040e-03 -4.47931332e+00] [ 3.92301005e-03 1.80682618e-03 9.99990673e-01 -1.49547728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30486062399999 meters 0.10096383151385077 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.50 [[ 9.99989687e-01 2.37459586e-03 -3.87125916e-03 4.94694872e+01] [-2.38127101e-03 9.99995685e-01 -1.72058615e-03 -4.47963887e+00] [ 3.86715676e-03 1.72978693e-03 9.99991026e-01 -1.49539296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.334860624 meters 0.10423138348431317 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.50 [[ 9.99989871e-01 2.35055002e-03 -3.83844259e-03 4.94693359e+01] [-2.35717945e-03 9.99995737e-01 -1.72350374e-03 -4.47985057e+00] [ 3.83437504e-03 1.73253418e-03 9.99991148e-01 -1.49527222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.364860624 meters 0.10266258805615266 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.50 [[ 9.99990014e-01 2.39500675e-03 -3.77314902e-03 4.94693236e+01] [-2.40118023e-03 9.99995785e-01 -1.63248069e-03 -4.48020128e+00] [ 3.76922331e-03 1.64152440e-03 9.99991549e-01 -1.49540657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.394860624 meters 0.10048664583619303 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.50 [[ 9.99989263e-01 2.66288729e-03 -3.79238443e-03 4.94698284e+01] [-2.66765687e-03 9.99995657e-01 -1.25316859e-03 -4.48073678e+00] [ 3.78903091e-03 1.26327191e-03 9.99992024e-01 -1.49603478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.424860624 meters 0.10453695263799927 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.50 [[ 9.99989217e-01 2.69516532e-03 -3.78179161e-03 4.94698810e+01] [-2.69958048e-03 9.99995680e-01 -1.16286016e-03 -4.48111232e+00] [ 3.77864117e-03 1.17305687e-03 9.99992173e-01 -1.49612725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.454860624 meters 0.10408697928781373 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.50 [[ 9.99988657e-01 2.91030682e-03 -3.77048084e-03 4.94701549e+01] [-2.91340748e-03 9.99995422e-01 -8.17120547e-04 -4.48178598e+00] [ 3.76808551e-03 8.28096225e-04 9.99992558e-01 -1.49652441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.484860624 meters 0.1048879047473488 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.50 [[ 9.99989376e-01 2.82850111e-03 -3.63962015e-03 4.94698125e+01] [-2.83144723e-03 9.99995668e-01 -8.04561296e-04 -4.48201142e+00] [ 3.63732868e-03 8.14858141e-04 9.99993053e-01 -1.49642246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.514860624 meters 0.10365881810449949 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.50 [[ 9.99990006e-01 2.70689345e-03 -3.55810156e-03 4.94691649e+01] [-2.70979502e-03 9.99996000e-01 -8.10914695e-04 -4.48278868e+00] [ 3.55589226e-03 8.20548317e-04 9.99993341e-01 -1.49573682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.544860624 meters 0.10087694643224718 Centerline is valid? [False, False] Translation: X:49.47, Y:-4.48, Z:-1.50 [[ 9.99990629e-01 2.62350336e-03 -3.44377351e-03 4.94688359e+01] [-2.62639016e-03 9.99996203e-01 -8.34013281e-04 -4.48306729e+00] [ 3.44157240e-03 8.43050159e-04 9.99993722e-01 -1.49557985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.574860624 meters 0.09984021793471183 Centerline is valid? [False, True] Translation: X:49.47, Y:-4.48, Z:-1.50 [[ 9.99989861e-01 2.91287364e-03 -3.43404666e-03 4.94691191e+01] [-2.91408269e-03 9.99995694e-01 -3.47127068e-04 -4.48428520e+00] [ 3.43302074e-03 3.57130645e-04 9.99994043e-01 -1.49595766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.604860624 meters 0.09843052922786703 Centerline is valid? [True, True] Translation: X:49.50, Y:-4.49, Z:-1.50 [[ 9.99990263e-01 2.45884406e-03 -3.66442777e-03 4.94983842e+01] [-2.45733110e-03 9.99996894e-01 4.17322529e-04 -4.48526588e+00] [ 3.66544252e-03 -4.08313753e-04 9.99993199e-01 -1.49662190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.634860624 meters 0.10082158024138915 Centerline is valid? [True, False] Translation: X:49.50, Y:-4.49, Z:-1.50 [[ 9.99990492e-01 2.40708420e-03 -3.63631072e-03 4.94981729e+01] [-2.40566669e-03 9.99997029e-01 3.94142118e-04 -4.48549471e+00] [ 3.63724865e-03 -3.85390619e-04 9.99993311e-01 -1.49640494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.664860624 meters 0.10536015901820582 Centerline is valid? [False, False] Translation: X:49.50, Y:-4.49, Z:-1.50 [[ 9.99990825e-01 2.42932564e-03 -3.52808383e-03 4.94980762e+01] [-2.42763509e-03 9.99996936e-01 4.83374188e-04 -4.48579219e+00] [ 3.52924729e-03 -4.74804853e-04 9.99993659e-01 -1.49654101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.694860624 meters 0.10060984974458861 Centerline is valid? [False, False] Translation: X:49.50, Y:-4.49, Z:-1.50 [[ 9.99991122e-01 2.47448433e-03 -3.41055725e-03 4.94975881e+01] [-2.47194575e-03 9.99996665e-01 7.48343439e-04 -4.48707179e+00] [ 3.41239763e-03 -7.39906083e-04 9.99993904e-01 -1.49619978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.724860624 meters 0.10007150913499639 Centerline is valid? [False, False] Translation: X:49.50, Y:-4.49, Z:-1.50 [[ 9.99991001e-01 2.47488685e-03 -3.44573216e-03 4.94974438e+01] [-2.47225296e-03 9.99996649e-01 7.68441739e-04 -4.48748056e+00] [ 3.44762242e-03 -7.59916103e-04 9.99993768e-01 -1.49589530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.754860624 meters 0.10372972797850935 Centerline is valid? [False, False] Translation: X:49.50, Y:-4.49, Z:-1.50 [[ 9.99991118e-01 2.55638146e-03 -3.35081060e-03 4.94970575e+01] [-2.55294083e-03 9.99996210e-01 1.03068131e-03 -4.48872393e+00] [ 3.35343271e-03 -1.02211773e-03 9.99993855e-01 -1.49563842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.784860624 meters 0.10196565974279957 Centerline is valid? [False, False] Translation: X:49.50, Y:-4.49, Z:-1.50 [[ 9.99990365e-01 2.86077421e-03 -3.32944113e-03 4.94973027e+01] [-2.85572977e-03 9.99994769e-01 1.51887010e-03 -4.48989532e+00] [ 3.33376885e-03 -1.50934748e-03 9.99993304e-01 -1.49599229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.814860624 meters 0.09940547549916287 Centerline is valid? [False, True] Translation: X:49.50, Y:-4.49, Z:-1.50 [[ 9.99990647e-01 2.80046996e-03 -3.29601278e-03 4.94969550e+01] [-2.79552370e-03 9.99994961e-01 1.50433239e-03 -4.49037031e+00] [ 3.30020901e-03 -1.49510424e-03 9.99993437e-01 -1.49558404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.844860624 meters 0.09994213964393783 Centerline is valid? [True, True] Translation: X:49.52, Y:-4.49, Z:-1.50 [[ 9.99990983e-01 2.32178496e-03 -3.55563000e-03 4.95243382e+01] [-2.32034665e-03 9.99997225e-01 4.08586845e-04 -4.49464404e+00] [ 3.55656879e-03 -4.00332866e-04 9.99993595e-01 -1.49611406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.874860624 meters 0.09922163458547112 Centerline is valid? [True, True] Translation: X:49.55, Y:-4.50, Z:-1.50 [[ 9.99992461e-01 1.63119769e-03 -3.52379727e-03 4.95533288e+01] [-1.62978032e-03 9.99998590e-01 4.05060765e-04 -4.49752041e+00] [ 3.52445304e-03 -3.99314696e-04 9.99993709e-01 -1.49620253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.904860624 meters 0.10156742299723319 Centerline is valid? [True, False] Translation: X:49.55, Y:-4.50, Z:-1.50 [[ 9.99993384e-01 1.67560308e-03 -3.22857331e-03 4.95524513e+01] [-1.67268965e-03 9.99998192e-01 9.04878153e-04 -4.49971771e+00] [ 3.23008368e-03 -8.99471766e-04 9.99994379e-01 -1.49580754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.934860624 meters 0.10192287455497796 Centerline is valid? [False, False] Translation: X:49.55, Y:-4.50, Z:-1.50 [[ 9.99993696e-01 1.68837964e-03 -3.12354939e-03 4.95522801e+01] [-1.68514955e-03 9.99998043e-01 1.03645320e-03 -4.50029617e+00] [ 3.12529321e-03 -1.03118302e-03 9.99994585e-01 -1.49585910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.964860624 meters 0.10142389255179372 Centerline is valid? [False, False] Translation: X:49.55, Y:-4.50, Z:-1.50 [[ 9.99994018e-01 1.63138451e-03 -3.05014029e-03 4.95519592e+01] [-1.62814750e-03 9.99998109e-01 1.06344945e-03 -4.50078679e+00] [ 3.05186942e-03 -1.05847701e-03 9.99994783e-01 -1.49561427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.994860624 meters 0.10076466241611744 Centerline is valid? [False, False] Translation: X:49.55, Y:-4.50, Z:-1.50 [[ 9.99994404e-01 1.68449467e-03 -2.89032981e-03 4.95516950e+01] [-1.68066601e-03 9.99997708e-01 1.32656160e-03 -4.50191390e+00] [ 2.89255777e-03 -1.32169649e-03 9.99994943e-01 -1.49564833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02486062399998 meters 0.10339178342637034 Centerline is valid? [False, False] Translation: X:49.55, Y:-4.50, Z:-1.50 [[ 9.99994498e-01 1.67608190e-03 -2.86281179e-03 4.95515990e+01] [-1.67226679e-03 9.99997711e-01 1.33451859e-03 -4.50217647e+00] [ 2.86504200e-03 -1.32972386e-03 9.99995012e-01 -1.49552875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05486062399999 meters 0.1039469965714278 Centerline is valid? [False, False] Translation: X:49.55, Y:-4.50, Z:-1.50 [[ 9.99994565e-01 1.54902431e-03 -2.91038097e-03 4.95514921e+01] [-1.54581429e-03 9.99998195e-01 1.10488047e-03 -4.50181108e+00] [ 2.91208720e-03 -1.10037556e-03 9.99995154e-01 -1.49525501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.084860624 meters 0.10476701276333843 Centerline is valid? [False, False] Translation: X:49.55, Y:-4.50, Z:-1.50 [[ 9.99993806e-01 1.54243524e-03 -3.16383031e-03 4.95522920e+01] [-1.53982279e-03 9.99998472e-01 8.27993082e-04 -4.50042991e+00] [ 3.16510260e-03 -8.23116215e-04 9.99994652e-01 -1.49568659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.114860624 meters 0.10008771800495614 Centerline is valid? [False, False] Translation: X:49.55, Y:-4.50, Z:-1.50 [[ 9.99993801e-01 1.35072562e-03 -3.25167733e-03 4.95523865e+01] [-1.34925875e-03 9.99998987e-01 4.53262354e-04 -4.49938627e+00] [ 3.25228627e-03 -4.48872190e-04 9.99994611e-01 -1.49557782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.144860624 meters 0.09927232655604 Centerline is valid? [False, True] Translation: X:49.55, Y:-4.50, Z:-1.50 [[ 9.99992955e-01 1.41478275e-03 -3.47690776e-03 4.95531994e+01] [-1.41365967e-03 9.99998948e-01 3.25450270e-04 -4.49840334e+00] [ 3.47736454e-03 -3.20532813e-04 9.99993903e-01 -1.49608580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.174860624 meters 0.09914845408943648 Centerline is valid? [True, True] Translation: X:49.58, Y:-4.50, Z:-1.50 [[ 9.99988103e-01 3.05918485e-03 -3.79945657e-03 4.95834781e+01] [-3.05757899e-03 9.99995234e-01 4.28393997e-04 -4.50085917e+00] [ 3.80074900e-03 -4.16771762e-04 9.99992690e-01 -1.49773097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.204860624 meters 0.0993711333354246 Centerline is valid? [True, True] Translation: X:49.61, Y:-4.50, Z:-1.50 [[ 9.99980190e-01 4.96267118e-03 -3.87182410e-03 4.96126099e+01] [-4.96101979e-03 9.99987599e-01 4.36001481e-04 -4.50398146e+00] [ 3.87393981e-03 -4.16784648e-04 9.99992409e-01 -1.49907464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.234860624 meters 0.09673152878427974 Centerline is valid? [True, True] Translation: X:49.64, Y:-4.50, Z:-1.50 [[ 9.99962771e-01 7.91922242e-03 -3.42672554e-03 4.96432401e+01] [-7.91794601e-03 9.99968578e-01 3.85890461e-04 -4.50085627e+00] [ 3.42967382e-03 -3.58743467e-04 9.99994054e-01 -1.49794876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.264860624 meters 0.09673817170665222 Centerline is valid? [True, True] Translation: X:49.67, Y:-4.50, Z:-1.50 [[ 9.99945163e-01 9.84135324e-03 -3.58038289e-03 4.96730516e+01] [-9.83997122e-03 9.99951505e-01 4.03410702e-04 -4.50312531e+00] [ 3.58417936e-03 -3.68157715e-04 9.99993509e-01 -1.49837758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.294860624 meters 0.09819664230103575 Centerline is valid? [True, True] Translation: X:49.70, Y:-4.51, Z:-1.50 [[ 9.99933813e-01 1.08579889e-02 -3.80436750e-03 4.97006995e+01] [-1.08564435e-02 9.99940976e-01 4.26639297e-04 -4.50771367e+00] [ 3.80877539e-03 -3.85309159e-04 9.99992672e-01 -1.49957676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.324860624 meters 0.09904429124397637 Centerline is valid? [True, True] Translation: X:49.73, Y:-4.51, Z:-1.50 [[ 9.99920770e-01 1.20721590e-02 -3.56617944e-03 4.97292898e+01] [-1.20708049e-02 9.99927065e-01 4.00990903e-04 -4.51143153e+00] [ 3.57076016e-03 -3.57912476e-04 9.99993561e-01 -1.50053657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.354860624 meters 0.09838187669689834 Centerline is valid? [True, True] Translation: X:49.76, Y:-4.51, Z:-1.50 [[ 9.99910760e-01 1.27500790e-02 -3.98848305e-03 4.97582097e+01] [-1.27483946e-02 9.99918636e-01 4.47465719e-04 -4.51356315e+00] [ 3.99386375e-03 -3.96579032e-04 9.99991946e-01 -1.50119231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.384860624 meters 0.09921262465170494 Centerline is valid? [True, True] Translation: X:49.79, Y:-4.52, Z:-1.50 [[ 9.99910530e-01 1.27969569e-02 -3.89485323e-03 4.97864590e+01] [-1.27953520e-02 9.99918041e-01 4.36690617e-04 -4.51811800e+00] [ 3.90012232e-03 -3.86815528e-04 9.99992320e-01 -1.50290440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.414860624 meters 0.09443744281359535 Centerline is valid? [True, True] Translation: X:49.82, Y:-4.51, Z:-1.50 [[ 9.99908526e-01 1.27436149e-02 -4.53205341e-03 4.98162733e+01] [-1.27414419e-02 9.99918695e-01 5.08040630e-04 -4.51285971e+00] [ 4.53815921e-03 -4.50249262e-04 9.99989601e-01 -1.50149699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.444860624 meters 0.09527609595199937 Centerline is valid? [True, True] Translation: X:49.84, Y:-4.52, Z:-1.50 [[ 9.99918621e-01 1.19563618e-02 -4.44941817e-03 4.98446076e+01] [-1.19542609e-02 9.99928421e-01 4.98464976e-04 -4.51762529e+00] [ 4.45505951e-03 -4.45234906e-04 9.99989977e-01 -1.50156633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.474860624 meters 0.09621052944120002 Centerline is valid? [True, True] Translation: X:49.87, Y:-4.52, Z:-1.50 [[ 9.99918970e-01 1.19294600e-02 -4.44312752e-03 4.98725412e+01] [-1.19273661e-02 9.99928743e-01 4.97481402e-04 -4.52231855e+00] [ 4.44874560e-03 -4.44446282e-04 9.99990006e-01 -1.50270881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.504860624 meters 0.09693296051394769 Centerline is valid? [True, True] Translation: X:49.90, Y:-4.53, Z:-1.50 [[ 9.99925222e-01 1.09942533e-02 -5.35497953e-03 4.99012685e+01] [-1.09911954e-02 9.99939415e-01 6.00127900e-04 -4.52714364e+00] [ 5.36125306e-03 -5.41225398e-04 9.99985482e-01 -1.50340399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.534860624 meters 0.0969067080059789 Centerline is valid? [True, True] Translation: X:49.93, Y:-4.53, Z:-1.50 [[ 9.99956275e-01 8.12371358e-03 -4.63171145e-03 4.99310122e+01] [-8.12139278e-03 9.99966886e-01 5.19655096e-04 -4.53124280e+00] [ 4.63577960e-03 -4.82016426e-04 9.99989139e-01 -1.50350786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.564860624 meters 0.09442265051940309 Centerline is valid? [True, True] Translation: X:49.96, Y:-4.53, Z:-1.50 [[ 9.99968526e-01 6.21239234e-03 -4.93498335e-03 4.99610163e+01] [-6.20973485e-03 9.99980566e-01 5.53640924e-04 -4.53053638e+00] [ 4.93832688e-03 -5.22978560e-04 9.99987670e-01 -1.50218031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.594860624 meters 0.09978357380346756 Centerline is valid? [True, True] Translation: X:49.99, Y:-4.54, Z:-1.51 [[ 9.99974038e-01 4.81333010e-03 -5.36237073e-03 4.99884506e+01] [-4.81017567e-03 9.99988250e-01 6.00994875e-04 -4.54419883e+00] [ 5.36520051e-03 -5.75185326e-04 9.99985442e-01 -1.50583599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.624860624 meters 0.09978357380346756 Centerline is valid? [True, True] Translation: X:50.02, Y:-4.55, Z:-1.51 [[ 9.99974342e-01 4.74956877e-03 -5.36250242e-03 5.00167561e+01] [-4.74641966e-03 9.99988556e-01 5.99821038e-04 -4.54730330e+00] [ 5.36528994e-03 -5.74352961e-04 9.99985442e-01 -1.50661456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.654860624 meters 0.09557014875755276 Centerline is valid? [True, True] Translation: X:50.05, Y:-4.54, Z:-1.51 [[ 9.99984292e-01 3.17338365e-03 -4.62017802e-03 5.00468228e+01] [-3.17102987e-03 9.99994839e-01 5.16692998e-04 -4.54341461e+00] [ 4.62179384e-03 -5.02034159e-04 9.99989193e-01 -1.50594549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.684860624 meters 0.10169988524388021 Centerline is valid? [True, False] Translation: X:50.05, Y:-4.54, Z:-1.51 [[ 9.99985290e-01 3.03242086e-03 -4.49703804e-03 5.00464396e+01] [-3.03048566e-03 9.99995313e-01 4.37079505e-04 -4.54361458e+00] [ 4.49834237e-03 -4.23444867e-04 9.99989793e-01 -1.50574240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.714860624 meters 0.09720661755667068 Centerline is valid? [False, True] Translation: X:50.05, Y:-4.54, Z:-1.51 [[ 9.99985423e-01 3.05270369e-03 -4.45353599e-03 5.00465524e+01] [-3.05034353e-03 9.99995204e-01 5.36649093e-04 -4.54373095e+00] [ 4.45515286e-03 -5.23056456e-04 9.99989939e-01 -1.50601674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.744860624 meters 0.0983823670034218 Centerline is valid? [True, True] Translation: X:50.08, Y:-4.55, Z:-1.51 [[ 9.99985817e-01 1.24132131e-03 -5.17930376e-03 5.00762665e+01] [-1.23826634e-03 9.99999058e-01 5.93005388e-04 -4.54842259e+00] [ 5.18003499e-03 -5.86583619e-04 9.99986411e-01 -1.50699953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77486062399998 meters 0.09974730565342473 Centerline is valid? [True, True] Translation: X:50.10, Y:-4.55, Z:-1.51 [[ 9.99987439e-01 9.44074775e-04 -4.92243973e-03 5.01049279e+01] [-9.41318465e-04 9.99999399e-01 5.62234555e-04 -4.55349962e+00] [ 4.92296757e-03 -5.57593909e-04 9.99987727e-01 -1.50866607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80486062399999 meters 0.10089162438791269 Centerline is valid? [True, False] Translation: X:50.10, Y:-4.55, Z:-1.51 [[ 9.99987841e-01 6.88005032e-04 -4.88318208e-03 5.01047057e+01] [-6.87001634e-04 9.99999743e-01 2.07154673e-04 -4.55273646e+00] [ 4.88332335e-03 -2.03797400e-04 9.99988056e-01 -1.50845529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.834860624 meters 0.10319037860158117 Centerline is valid? [False, False] Translation: X:50.10, Y:-4.55, Z:-1.51 [[ 9.99987513e-01 4.61967409e-04 -4.97594974e-03 5.01048739e+01] [-4.63378699e-04 9.99999853e-01 -2.82473007e-04 -4.55114193e+00] [ 4.97581851e-03 2.84775229e-04 9.99987580e-01 -1.50843435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.864860624 meters 0.09972207499935773 Centerline is valid? [False, True] Translation: X:50.11, Y:-4.55, Z:-1.51 [[ 9.99987251e-01 3.18905394e-04 -5.03954111e-03 5.01050258e+01] [-3.21988537e-04 9.99999762e-01 -6.10990967e-04 -4.55010675e+00] [ 5.03934506e-03 6.12605852e-04 9.99987115e-01 -1.50842959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.894860624 meters 0.10489488404726076 Centerline is valid? [True, False] Translation: X:50.11, Y:-4.55, Z:-1.51 [[ 9.99986336e-01 3.59495507e-04 -5.21521945e-03 5.01056267e+01] [-3.63516055e-04 9.99999637e-01 -7.69998635e-04 -4.54911598e+00] [ 5.21494075e-03 7.71883929e-04 9.99986104e-01 -1.50875988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.924860624 meters 0.10397937231039354 Centerline is valid? [False, False] Translation: X:50.11, Y:-4.55, Z:-1.51 [[ 9.99985774e-01 3.02501614e-04 -5.32549245e-03 5.01061007e+01] [-3.07953522e-04 9.99999429e-01 -1.02294757e-03 -4.54788687e+00] [ 5.32517997e-03 1.02457302e-03 9.99985296e-01 -1.50910694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.954860624 meters 0.10306537393521413 Centerline is valid? [False, False] Translation: X:50.11, Y:-4.55, Z:-1.51 [[ 9.99983061e-01 4.94827301e-04 -5.79942162e-03 5.01073200e+01] [-5.02506034e-04 9.99998999e-01 -1.32266916e-03 -4.54618800e+00] [ 5.79876133e-03 1.32556100e-03 9.99982308e-01 -1.50949870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.984860624 meters 0.09800264681796352 Centerline is valid? [False, True] Translation: X:50.11, Y:-4.55, Z:-1.51 [[ 9.99983412e-01 5.17824569e-04 -5.73651105e-03 5.01074031e+01] [-5.25090037e-04 9.99999062e-01 -1.26509704e-03 -4.54604532e+00] [ 5.73585057e-03 1.26808824e-03 9.99982746e-01 -1.50979135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.014860624 meters 0.09498570806040474 Centerline is valid? [True, True] Translation: X:50.14, Y:-4.54, Z:-1.51 [[ 9.99985354e-01 6.30414349e-04 -5.37534485e-03 5.01368470e+01] [-6.27376126e-04 9.99999643e-01 5.66881946e-04 -4.54450210e+00] [ 5.37570030e-03 -5.63501280e-04 9.99985392e-01 -1.50929631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.044860624 meters 0.09487116823393477 Centerline is valid? [True, True] Translation: X:50.17, Y:-4.55, Z:-1.51 [[ 9.99982928e-01 6.04345101e-04 -5.81192097e-03 5.01655370e+01] [-6.00767153e-04 9.99999629e-01 6.17348251e-04 -4.54689972e+00] [ 5.81229190e-03 -6.13846100e-04 9.99982920e-01 -1.51085221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.074860624 meters 0.09690556289925115 Centerline is valid? [True, True] Translation: X:50.19, Y:-4.55, Z:-1.51 [[ 9.99975537e-01 3.68447579e-04 -6.98490471e-03 5.01930172e+01] [-3.63278601e-04 9.99999659e-01 7.41275664e-04 -4.55358533e+00] [ 6.98517545e-03 -7.38720064e-04 9.99975331e-01 -1.51238304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.104860624 meters 0.09559993939056785 Centerline is valid? [True, True] Translation: X:50.22, Y:-4.55, Z:-1.51 [[ 9.99978219e-01 3.23055642e-05 -6.60000134e-03 5.02223553e+01] [-2.76841235e-05 9.99999754e-01 7.00308306e-04 -4.55434514e+00] [ 6.60002234e-03 -7.00110337e-04 9.99977975e-01 -1.51271366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.134860624 meters 0.09668814117342207 Centerline is valid? [True, True] Translation: X:50.25, Y:-4.56, Z:-1.51 [[ 9.99980707e-01 -5.85071669e-04 -6.18408833e-03 5.02493856e+01] [ 5.89134171e-04 9.99999612e-01 6.55126948e-04 -4.55926286e+00] [ 6.18370264e-03 -6.58757567e-04 9.99980664e-01 -1.51324271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.164860624 meters 0.0969068512192098 Centerline is valid? [True, True] Translation: X:50.28, Y:-4.56, Z:-1.51 [[ 9.99980405e-01 -2.49477356e-03 -5.74152397e-03 5.02788232e+01] [ 2.49831487e-03 9.99996693e-01 6.09699958e-04 -4.56358747e+00] [ 5.73998392e-03 -6.24032146e-04 9.99983331e-01 -1.51299426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.194860624 meters 0.09841040855802688 Centerline is valid? [True, True] Translation: X:50.31, Y:-4.57, Z:-1.51 [[ 9.99980994e-01 -3.33552129e-03 -5.18524776e-03 5.03069065e+01] [ 3.33841185e-03 9.99994277e-01 5.48902577e-04 -4.56968849e+00] [ 5.18338721e-03 -5.66202637e-04 9.99986406e-01 -1.51438070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.224860624 meters 0.10148855188785448 Centerline is valid? [True, False] Translation: X:50.31, Y:-4.57, Z:-1.51 [[ 9.99982216e-01 -3.09680818e-03 -5.09687757e-03 5.03069821e+01] [ 3.10212766e-03 9.99994652e-01 1.03609980e-03 -4.57095904e+00] [ 5.09364171e-03 -1.05189253e-03 9.99986474e-01 -1.51473930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.254860624 meters 0.10358986670912018 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.57, Z:-1.51 [[ 9.99983120e-01 -2.96321270e-03 -4.99786937e-03 5.03069529e+01] [ 2.96998378e-03 9.99994681e-01 1.34791502e-03 -4.57184356e+00] [ 4.99384863e-03 -1.36273586e-03 9.99986602e-01 -1.51494958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.284860624 meters 0.10193784316594935 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.57, Z:-1.51 [[ 9.99983215e-01 -3.00569681e-03 -4.95337146e-03 5.03068597e+01] [ 3.01273249e-03 9.99994463e-01 1.41353276e-03 -4.57207816e+00] [ 4.94909538e-03 -1.42843222e-03 9.99986733e-01 -1.51490940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.314860624 meters 0.10171339469311184 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.57, Z:-1.52 [[ 9.99983248e-01 -2.87603330e-03 -5.02319489e-03 5.03073276e+01] [ 2.88384865e-03 9.99994642e-01 1.54930446e-03 -4.57202395e+00] [ 5.01871212e-03 -1.56376464e-03 9.99986183e-01 -1.51532869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.344860624 meters 0.10482436867264287 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.57, Z:-1.52 [[ 9.99983187e-01 -2.88158201e-03 -5.03214463e-03 5.03074875e+01] [ 2.88919961e-03 9.99994690e-01 1.50717488e-03 -4.57175864e+00] [ 5.02777486e-03 -1.52168841e-03 9.99986203e-01 -1.51550588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.374860624 meters 0.10617663168565446 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.57, Z:-1.52 [[ 9.99983074e-01 -2.95585484e-03 -5.01148364e-03 5.03072349e+01] [ 2.96306139e-03 9.99994586e-01 1.43119229e-03 -4.57183733e+00] [ 5.00722611e-03 -1.44601740e-03 9.99986418e-01 -1.51520613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.404860624 meters 0.10080389413692735 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.57, Z:-1.52 [[ 9.99983486e-01 -2.85760606e-03 -4.98625742e-03 5.03073582e+01] [ 2.86568784e-03 9.99994591e-01 1.61441866e-03 -4.57215382e+00] [ 4.98161708e-03 -1.62868105e-03 9.99986265e-01 -1.51541974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.434860624 meters 0.10034710856218933 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.57, Z:-1.52 [[ 9.99983953e-01 -2.76797428e-03 -4.94284681e-03 5.03075430e+01] [ 2.77670507e-03 9.99994596e-01 1.76036108e-03 -4.57228495e+00] [ 4.93794746e-03 -1.77405766e-03 9.99986235e-01 -1.51576258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.464860624 meters 0.10531685613436802 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.57, Z:-1.52 [[ 9.99984075e-01 -2.85024055e-03 -4.87097412e-03 5.03074471e+01] [ 2.85849573e-03 9.99994489e-01 1.68864976e-03 -4.57199753e+00] [ 4.86613422e-03 -1.70254653e-03 9.99986711e-01 -1.51583450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.494860624 meters 0.10524247013600063 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.57, Z:-1.52 [[ 9.99984022e-01 -2.94400134e-03 -4.82575009e-03 5.03074413e+01] [ 2.95154044e-03 9.99994434e-01 1.55588851e-03 -4.57158614e+00] [ 4.82114269e-03 -1.57010704e-03 9.99987146e-01 -1.51594937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52486062399998 meters 0.10420954062856105 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.57, Z:-1.52 [[ 9.99983692e-01 -2.97276174e-03 -4.87622662e-03 5.03077518e+01] [ 2.97963755e-03 9.99994576e-01 1.40341014e-03 -4.57079734e+00] [ 4.87202817e-03 -1.41791665e-03 9.99987126e-01 -1.51623065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55486062399999 meters 0.10359133563284358 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.57, Z:-1.52 [[ 9.99983810e-01 -2.79576876e-03 -4.95616782e-03 5.03083587e+01] [ 2.80349588e-03 9.99994865e-01 1.55283032e-03 -4.57057986e+00] [ 4.95180101e-03 -1.56669978e-03 9.99986512e-01 -1.51682166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.584860624 meters 0.10786789937044931 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.57, Z:-1.52 [[ 9.99983752e-01 -2.78983205e-03 -4.97108618e-03 5.03085165e+01] [ 2.79734320e-03 9.99994955e-01 1.50465666e-03 -4.57030316e+00] [ 4.96686336e-03 -1.51853804e-03 9.99986512e-01 -1.51699098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.614860624 meters 0.10393779141313232 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.57, Z:-1.52 [[ 9.99983765e-01 -2.86953883e-03 -4.92287006e-03 5.03084336e+01] [ 2.87643102e-03 9.99994892e-01 1.39352715e-03 -4.57005584e+00] [ 4.91884614e-03 -1.40766482e-03 9.99986912e-01 -1.51700728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.644860624 meters 0.10747252154149028 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.57, Z:-1.52 [[ 9.99984406e-01 -2.62291854e-03 -4.93024722e-03 5.03087948e+01] [ 2.63156157e-03 9.99995011e-01 1.74739276e-03 -4.57057963e+00] [ 4.92563935e-03 -1.76033976e-03 9.99986320e-01 -1.51746913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.674860624 meters 0.10588738985682117 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.57, Z:-1.52 [[ 9.99985138e-01 -2.59652069e-03 -4.79387920e-03 5.03086542e+01] [ 2.60552088e-03 9.99994853e-01 1.87214320e-03 -4.57091668e+00] [ 4.78899347e-03 -1.88460593e-03 9.99986757e-01 -1.51761312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.704860624 meters 0.10783467748235485 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.57, Z:-1.52 [[ 9.99985668e-01 -2.19579752e-03 -4.88281251e-03 5.03092589e+01] [ 2.20779600e-03 9.99994554e-01 2.45325720e-03 -4.57202057e+00] [ 4.87739906e-03 -2.46400230e-03 9.99985070e-01 -1.51818831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.734860624 meters 0.10559272990346989 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.57, Z:-1.52 [[ 9.99986691e-01 -2.08559180e-03 -4.71882361e-03 5.03087160e+01] [ 2.09933674e-03 9.99993563e-01 2.90971476e-03 -4.57396471e+00] [ 4.71272476e-03 -2.91958243e-03 9.99984633e-01 -1.51787219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.764860624 meters 0.11148944901375649 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.57, Z:-1.52 [[ 9.99987243e-01 -2.09009204e-03 -4.59831181e-03 5.03083729e+01] [ 2.10414310e-03 9.99993126e-01 3.05298639e-03 -4.57472154e+00] [ 4.59189918e-03 -3.06262295e-03 9.99984767e-01 -1.51773128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.794860624 meters 0.10109261406543474 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.58, Z:-1.52 [[ 9.99987760e-01 -1.95695358e-03 -4.54435296e-03 5.03083091e+01] [ 1.97211475e-03 9.99992497e-01 3.33418524e-03 -4.57569244e+00] [ 4.53779402e-03 -3.34310641e-03 9.99984116e-01 -1.51776212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.824860624 meters 0.11294591737685616 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.58, Z:-1.52 [[ 9.99988077e-01 -1.95324486e-03 -4.47552616e-03 5.03080987e+01] [ 1.96867227e-03 9.99992127e-01 3.44525195e-03 -4.57633182e+00] [ 4.46876151e-03 -3.45402171e-03 9.99984050e-01 -1.51766046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.854860624 meters 0.11470677242868119 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.58, Z:-1.52 [[ 9.99988340e-01 -1.90847775e-03 -4.43600614e-03 5.03078198e+01] [ 1.92456961e-03 9.99991574e-01 3.62612239e-03 -4.57727354e+00] [ 4.42904839e-03 -3.63461751e-03 9.99983586e-01 -1.51735685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.884860624 meters 0.11535453841358909 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.58, Z:-1.52 [[ 9.99988682e-01 -1.66757266e-03 -4.45598729e-03 5.03082123e+01] [ 1.68524635e-03 9.99990717e-01 3.96547351e-03 -4.57789173e+00] [ 4.44933322e-03 -3.97293806e-03 9.99982209e-01 -1.51779866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.914860624 meters 0.11779076344664374 Centerline is valid? [False, False] Translation: X:50.31, Y:-4.58, Z:-1.52 [[ 9.99988719e-01 -1.68465199e-03 -4.44110847e-03 5.03081140e+01] [ 1.70223295e-03 9.99990719e-01 3.95788333e-03 -4.57819539e+00] [ 4.43439959e-03 -3.96539848e-03 9.99982306e-01 -1.51769436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.944860624 meters 0.13065755768958845 Centerline is valid? [False, False] Translation: X:50.39, Y:-4.59, Z:-1.52 [[ 9.99994671e-01 -7.66744893e-04 -3.17323583e-03 5.03897342e+01] [ 7.76721293e-04 9.99994756e-01 3.14388300e-03 -4.58890404e+00] [ 3.17080864e-03 -3.14633096e-03 9.99990023e-01 -1.51942920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.974860624 meters 0.10122431687213408 Centerline is valid? [False, False] Translation: X:50.34, Y:-4.58, Z:-1.52 [[ 9.99993508e-01 7.30818897e-04 -3.52850355e-03 5.03361653e+01] [-7.18094577e-04 9.99993240e-01 3.60607321e-03 -4.58354708e+00] [ 3.53111509e-03 -3.60351600e-03 9.99987273e-01 -1.51709482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.004860624 meters 0.11862134488994713 Centerline is valid? [False, False] Translation: X:50.34, Y:-4.58, Z:-1.52 [[ 9.99993285e-01 6.39217893e-04 -3.60841377e-03 5.03360770e+01] [-6.26816110e-04 9.99993897e-01 3.43699237e-03 -4.58341181e+00] [ 3.61058874e-03 -3.43470748e-03 9.99987583e-01 -1.51674890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.034860624 meters 0.11841230204525231 Centerline is valid? [False, False] Translation: X:50.34, Y:-4.58, Z:-1.52 [[ 9.99992893e-01 6.74019070e-04 -3.70949445e-03 5.03363058e+01] [-6.61350030e-04 9.99993949e-01 3.41546847e-03 -4.58330930e+00] [ 3.71177409e-03 -3.41299093e-03 9.99987287e-01 -1.51676729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.064860624 meters 0.10166481409067069 Centerline is valid? [False, False] Translation: X:50.34, Y:-4.58, Z:-1.52 [[ 9.99992222e-01 7.61054803e-04 -3.87005707e-03 5.03367240e+01] [-7.47805405e-04 9.99993859e-01 3.42386191e-03 -4.58316063e+00] [ 3.87263905e-03 -3.42094123e-03 9.99986650e-01 -1.51687907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.094860624 meters 0.10354695021499172 Centerline is valid? [False, False] Translation: X:50.34, Y:-4.58, Z:-1.52 [[ 9.99991331e-01 5.41793194e-04 -4.12851952e-03 5.03368504e+01] [-5.30191344e-04 9.99995909e-01 2.81074870e-03 -4.58169140e+00] [ 4.13002547e-03 -2.80853542e-03 9.99987527e-01 -1.51634083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.124860624 meters 0.10410140754275668 Centerline is valid? [False, False] Translation: X:50.34, Y:-4.58, Z:-1.52 [[ 9.99990901e-01 4.64862903e-04 -4.24055692e-03 5.03371077e+01] [-4.54041890e-04 9.99996640e-01 2.55239649e-03 -4.58092970e+00] [ 4.24172919e-03 -2.55044788e-03 9.99987751e-01 -1.51634953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.154860624 meters 0.10308988242355095 Centerline is valid? [False, False] Translation: X:50.34, Y:-4.58, Z:-1.52 [[ 9.99990354e-01 4.48708497e-04 -4.36933318e-03 5.03373513e+01] [-4.38216304e-04 9.99997019e-01 2.40198722e-03 -4.58046294e+00] [ 4.37039795e-03 -2.40004933e-03 9.99987570e-01 -1.51630631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.184860624 meters 0.10186185917496818 Centerline is valid? [False, False] Translation: X:50.34, Y:-4.58, Z:-1.52 [[ 9.99989086e-01 4.70876561e-04 -4.64828118e-03 5.03376452e+01] [-4.60954398e-04 9.99997614e-01 2.13542816e-03 -4.57989006e+00] [ 4.64927561e-03 -2.13326220e-03 9.99986917e-01 -1.51594731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.214860624 meters 0.10195992810589115 Centerline is valid? [False, False] Translation: X:50.34, Y:-4.58, Z:-1.52 [[ 9.99988620e-01 6.38028732e-04 -4.72785206e-03 5.03380598e+01] [-6.27301887e-04 9.99997227e-01 2.26999779e-03 -4.57990356e+00] [ 4.72928727e-03 -2.26700616e-03 9.99986247e-01 -1.51626724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.244860624 meters 0.10115097913817733 Centerline is valid? [False, False] Translation: X:50.34, Y:-4.58, Z:-1.52 [[ 9.99988211e-01 5.44126129e-04 -4.82504069e-03 5.03380595e+01] [-5.34364391e-04 9.99997809e-01 2.02419952e-03 -4.57954771e+00] [ 4.82613153e-03 -2.02159733e-03 9.99986311e-01 -1.51596734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27486062399998 meters 0.08901436161177453 Centerline is valid? [False, True] Translation: X:50.34, Y:-4.58, Z:-1.52 [[ 9.99987605e-01 5.04644767e-04 -4.95336844e-03 5.03380762e+01] [-4.95644940e-04 9.99998225e-01 1.81797005e-03 -4.57914570e+00] [ 4.95427708e-03 -1.81549240e-03 9.99986079e-01 -1.51563490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30486062399999 meters 0.09237128033449232 Centerline is valid? [True, True] Translation: X:50.37, Y:-4.59, Z:-1.52 [[ 9.99988892e-01 1.54696110e-03 -4.45223089e-03 5.03663325e+01] [-1.54503516e-03 9.99998711e-01 4.35984781e-04 -4.58865419e+00] [ 4.45289960e-03 -4.29101085e-04 9.99989994e-01 -1.51705975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.334860624 meters 0.09053497952016881 Centerline is valid? [True, True] Translation: X:50.40, Y:-4.59, Z:-1.52 [[ 9.99989326e-01 2.59555185e-03 -3.82233140e-03 5.03963082e+01] [-2.59414079e-03 9.99996565e-01 3.74072527e-04 -4.58828155e+00] [ 3.82328920e-03 -3.64152868e-04 9.99992625e-01 -1.51708769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.364860624 meters 0.09262532755853888 Centerline is valid? [True, True] Translation: X:50.42, Y:-4.60, Z:-1.52 [[ 9.99987044e-01 3.84113065e-03 -3.34043216e-03 5.04247475e+01] [-3.84006052e-03 9.99992574e-01 3.26708961e-04 -4.59585695e+00] [ 3.34166228e-03 -3.13877266e-04 9.99994367e-01 -1.51973894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.394860624 meters 0.09258516660435737 Centerline is valid? [True, True] Translation: X:50.45, Y:-4.60, Z:-1.52 [[ 9.99982859e-01 5.11136428e-03 -2.85583683e-03 5.04538617e+01] [-5.11058779e-03 9.99986902e-01 2.79126312e-04 -4.60004621e+00] [ 2.85722614e-03 -2.64526523e-04 9.99995883e-01 -1.52137850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.424860624 meters 0.09078286694271298 Centerline is valid? [True, True] Translation: X:50.48, Y:-4.60, Z:-1.52 [[ 9.99977304e-01 5.41091269e-03 -4.01418320e-03 5.04823819e+01] [-5.40938394e-03 9.99985293e-01 3.91594495e-04 -4.59928087e+00] [ 4.01624305e-03 -3.69871350e-04 9.99991866e-01 -1.52152882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.454860624 meters 0.092220575254962 Centerline is valid? [True, True] Translation: X:50.51, Y:-4.60, Z:-1.52 [[ 9.99976813e-01 5.51806209e-03 -3.99051203e-03 5.05100177e+01] [-5.51655548e-03 9.99984708e-01 3.88458572e-04 -4.60461651e+00] [ 3.99259455e-03 -3.66435684e-04 9.99991962e-01 -1.52343678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.484860624 meters 0.09118657851222021 Centerline is valid? [True, True] Translation: X:50.54, Y:-4.61, Z:-1.52 [[ 9.99977002e-01 5.27074730e-03 -4.26791625e-03 5.05390461e+01] [-5.26902022e-03 9.99986032e-01 4.15809546e-04 -4.60540647e+00] [ 4.27004826e-03 -3.93312246e-04 9.99990806e-01 -1.52316884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.514860624 meters 0.09118657851222021 Centerline is valid? [True, True] Translation: X:50.57, Y:-4.61, Z:-1.52 [[ 9.99977339e-01 5.20631048e-03 -4.26794314e-03 5.05673488e+01] [-5.20458398e-03 9.99986370e-01 4.15533946e-04 -4.60810390e+00] [ 4.27004837e-03 -3.93311661e-04 9.99990806e-01 -1.52385811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.544860624 meters 0.0913913756535793 Centerline is valid? [True, True] Translation: X:50.60, Y:-4.61, Z:-1.53 [[ 9.99977912e-01 4.55887957e-03 -4.83659314e-03 5.05959120e+01] [-4.55665536e-03 9.99989508e-01 4.70790550e-04 -4.61170597e+00] [ 4.83868867e-03 -4.48741463e-04 9.99988193e-01 -1.52561177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.574860624 meters 0.09328186219877203 Centerline is valid? [True, True] Translation: X:50.62, Y:-4.62, Z:-1.53 [[ 9.99981536e-01 3.72955763e-03 -4.79763644e-03 5.06235656e+01] [-3.72736335e-03 9.99992945e-01 4.66227343e-04 -4.61799273e+00] [ 4.79934142e-03 -4.48336201e-04 9.99988383e-01 -1.52714581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.604860624 meters 0.0896604013066784 Centerline is valid? [True, True] Translation: X:50.65, Y:-4.61, Z:-1.53 [[ 9.99982432e-01 3.27207506e-03 -4.94263490e-03 5.06531432e+01] [-3.26974027e-03 9.99994539e-01 4.80384899e-04 -4.61405543e+00] [ 4.94417976e-03 -4.64215327e-04 9.99987670e-01 -1.52607480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.634860624 meters 0.0905430274821637 Centerline is valid? [True, True] Translation: X:50.68, Y:-4.62, Z:-1.53 [[ 9.99987954e-01 1.57016982e-03 -4.65048846e-03 5.06833313e+01] [-1.56807762e-03 9.99998668e-01 4.53499758e-04 -4.61765586e+00] [ 4.65119433e-03 -4.46201968e-04 9.99989084e-01 -1.52625005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.664860624 meters 0.09475672132689322 Centerline is valid? [True, True] Translation: X:50.71, Y:-4.63, Z:-1.53 [[ 9.99990712e-01 7.19606166e-04 -4.24940367e-03 5.07109918e+01] [-7.17857636e-04 9.99999657e-01 4.12987291e-04 -4.62789247e+00] [ 4.24969940e-03 -4.09932988e-04 9.99990886e-01 -1.52823221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.694860624 meters 0.09191547814048412 Centerline is valid? [True, True] Translation: X:50.74, Y:-4.63, Z:-1.53 [[ 9.99993310e-01 -2.28671834e-04 -3.65077113e-03 5.07414617e+01] [ 2.29969072e-04 9.99999911e-01 3.54916809e-04 -4.62510337e+00] [ 3.65068964e-03 -3.55753999e-04 9.99993273e-01 -1.52687336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.724860624 meters 0.0910872298871238 Centerline is valid? [True, True] Translation: X:50.77, Y:-4.63, Z:-1.53 [[ 9.99992578e-01 -1.19481536e-03 -3.66275917e-03 5.07708020e+01] [ 1.19612537e-03 9.99999221e-01 3.55488774e-04 -4.62571200e+00] [ 3.66233157e-03 -3.59867255e-04 9.99993229e-01 -1.52695832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.754860624 meters 0.09250611840891201 Centerline is valid? [True, True] Translation: X:50.80, Y:-4.63, Z:-1.53 [[ 9.99991327e-01 -2.49687146e-03 -3.33354496e-03 5.07993579e+01] [ 2.49796436e-03 9.99996828e-01 3.23725388e-04 -4.63058588e+00] [ 3.33272608e-03 -3.32049657e-04 9.99994391e-01 -1.52884711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.784860624 meters 0.09322808312062007 Centerline is valid? [True, True] Translation: X:50.83, Y:-4.63, Z:-1.53 [[ 9.99990001e-01 -3.01438928e-03 -3.30334801e-03 5.08287777e+01] [ 3.01546490e-03 9.99995402e-01 3.20683032e-04 -4.63465018e+00] [ 3.30236616e-03 -3.30640955e-04 9.99994493e-01 -1.52982148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.814860624 meters 0.0922192003643306 Centerline is valid? [True, True] Translation: X:50.86, Y:-4.63, Z:-1.53 [[ 9.99988024e-01 -3.37944368e-03 -3.53998919e-03 5.08589461e+01] [ 3.38068257e-03 9.99994226e-01 3.44045222e-04 -4.63415568e+00] [ 3.53880607e-03 -3.56008682e-04 9.99993675e-01 -1.53005689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.844860624 meters 0.0987103645857799 Centerline is valid? [True, True] Translation: X:50.89, Y:-4.65, Z:-1.53 [[ 9.99986653e-01 -3.66647128e-03 -3.64023553e-03 5.08867098e+01] [ 3.66778878e-03 9.99993211e-01 3.55318221e-04 -4.64776988e+00] [ 3.63890805e-03 -3.68665093e-04 9.99993311e-01 -1.53366451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.874860624 meters 0.09590444913929477 Centerline is valid? [True, True] Translation: X:50.92, Y:-4.65, Z:-1.53 [[ 9.99989498e-01 -3.09609496e-03 -3.37907227e-03 5.09175078e+01] [ 3.09722393e-03 9.99995149e-01 3.28925014e-04 -4.64552671e+00] [ 3.37803750e-03 -3.39387303e-04 9.99994237e-01 -1.53327905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.904860624 meters 0.09690102848579571 Centerline is valid? [True, True] Translation: X:50.95, Y:-4.65, Z:-1.53 [[ 9.99990361e-01 -2.94043239e-03 -3.26049659e-03 5.09468169e+01] [ 2.94148128e-03 9.99995624e-01 3.16945515e-04 -4.64983235e+00] [ 3.25955036e-03 -3.26533150e-04 9.99994634e-01 -1.53432476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.934860624 meters 0.10055180109506333 Centerline is valid? [True, False] Translation: X:50.95, Y:-4.65, Z:-1.53 [[ 9.99990106e-01 -3.03365636e-03 -3.25345583e-03 5.09467859e+01] [ 3.03425754e-03 9.99995380e-01 1.79860017e-04 -4.64915038e+00] [ 3.25289516e-03 -1.89730060e-04 9.99994691e-01 -1.53436780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.964860624 meters 0.09614669587830617 Centerline is valid? [False, True] Translation: X:50.95, Y:-4.65, Z:-1.53 [[ 9.99989885e-01 -3.12818376e-03 -3.23174503e-03 5.09466212e+01] [ 3.12845068e-03 9.99995103e-01 7.75399920e-05 -4.64898798e+00] [ 3.23148664e-03 -8.76495626e-05 9.99994775e-01 -1.53421867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.994860624 meters 0.09322733504156094 Centerline is valid? [True, True] Translation: X:50.98, Y:-4.65, Z:-1.53 [[ 9.99985722e-01 -3.43049160e-03 -4.09723104e-03 5.09774671e+01] [ 3.43214747e-03 9.99994031e-01 3.97181224e-04 -4.64656734e+00] [ 4.09584406e-03 -4.11237855e-04 9.99991527e-01 -1.53382404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02486062399998 meters 0.09558459326134751 Centerline is valid? [True, True] Translation: X:51.01, Y:-4.65, Z:-1.54 [[ 9.99983969e-01 -4.24686347e-03 -3.74505721e-03 5.10063572e+01] [ 4.24825084e-03 9.99990910e-01 3.62578104e-04 -4.65320745e+00] [ 3.74348335e-03 -3.78482234e-04 9.99992922e-01 -1.53546694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05486062399999 meters 0.09547724563816903 Centerline is valid? [True, True] Translation: X:51.04, Y:-4.66, Z:-1.54 [[ 9.99977372e-01 -4.47286109e-03 -5.02474656e-03 5.10366982e+01] [ 4.47536414e-03 9.99989867e-01 4.87011243e-04 -4.65566150e+00] [ 5.02251731e-03 -5.09487794e-04 9.99987257e-01 -1.53682481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.084860624 meters 0.09677474427437545 Centerline is valid? [True, True] Translation: X:51.07, Y:-4.66, Z:-1.54 [[ 9.99975178e-01 -4.58686624e-03 -5.34835752e-03 5.10656578e+01] [ 4.58970312e-03 9.99989333e-01 5.18266584e-04 -4.66083078e+00] [ 5.34592325e-03 -5.42801092e-04 9.99985563e-01 -1.53853727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.114860624 meters 0.09713719440221495 Centerline is valid? [True, True] Translation: X:51.09, Y:-4.66, Z:-1.54 [[ 9.99978318e-01 -4.53081892e-03 -4.77853816e-03 5.10946640e+01] [ 4.53307877e-03 9.99989619e-01 4.62191372e-04 -4.66411594e+00] [ 4.77639445e-03 -4.83842841e-04 9.99988476e-01 -1.53968553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.144860624 meters 0.09336146828707906 Centerline is valid? [True, True] Translation: X:51.13, Y:-4.66, Z:-1.54 [[ 9.99980518e-01 -4.03063608e-03 -4.76625171e-03 5.11255932e+01] [ 4.03288013e-03 9.99991762e-01 4.61303206e-04 -4.65901298e+00] [ 4.76435310e-03 -4.80515941e-04 9.99988535e-01 -1.53793373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.174860624 meters 0.09548724765386558 Centerline is valid? [True, True] Translation: X:51.15, Y:-4.66, Z:-1.54 [[ 9.99982093e-01 -3.86456293e-03 -4.56939914e-03 5.11548151e+01] [ 3.86662331e-03 9.99992427e-01 4.42161615e-04 -4.66471495e+00] [ 4.56765577e-03 -4.59821842e-04 9.99989462e-01 -1.54024651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.204860624 meters 0.0960878226498942 Centerline is valid? [True, True] Translation: X:51.18, Y:-4.67, Z:-1.54 [[ 9.99986702e-01 -3.11522145e-03 -4.10979062e-03 5.11836940e+01] [ 3.11687963e-03 9.99995064e-01 3.97126856e-04 -4.66777956e+00] [ 4.10853319e-03 -4.09931298e-04 9.99991476e-01 -1.54142349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.234860624 meters 0.0972577330643073 Centerline is valid? [True, True] Translation: X:51.21, Y:-4.67, Z:-1.54 [[ 9.99987621e-01 -2.29231597e-03 -4.41626195e-03 5.12124427e+01] [ 2.29422242e-03 9.99997277e-01 4.26670475e-04 -4.67136790e+00] [ 4.41527186e-03 -4.36797080e-04 9.99990157e-01 -1.54228905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.264860624 meters 0.09356093305801938 Centerline is valid? [True, True] Translation: X:51.24, Y:-4.67, Z:-1.54 [[ 9.99990834e-01 -1.08525971e-04 -4.28010696e-03 5.12439239e+01] [ 1.10298796e-04 9.99999908e-01 4.13967065e-04 -4.66534445e+00] [ 4.28006164e-03 -4.14435362e-04 9.99990755e-01 -1.54201808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.294860624 meters 0.09029046463059773 Centerline is valid? [True, True] Translation: X:51.27, Y:-4.66, Z:-1.54 [[ 9.99987904e-01 7.84918932e-04 -4.85551822e-03 5.12737086e+01] [-7.82662866e-04 9.99999585e-01 4.66522453e-04 -4.66086243e+00] [ 4.85588239e-03 -4.62716576e-04 9.99988103e-01 -1.54079859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.324860624 meters 0.09372649734152373 Centerline is valid? [True, True] Translation: X:51.30, Y:-4.67, Z:-1.54 [[ 9.99987227e-01 2.08358415e-03 -4.60491776e-03 5.13017765e+01] [-2.08156286e-03 9.99997735e-01 4.43688931e-04 -4.66924409e+00] [ 4.60583180e-03 -4.34097837e-04 9.99989299e-01 -1.54331018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.354860624 meters 0.09104459589365657 Centerline is valid? [True, True] Translation: X:51.33, Y:-4.67, Z:-1.54 [[ 9.99985714e-01 2.59923158e-03 -4.67071082e-03 5.13313312e+01] [-2.59716091e-03 9.99996526e-01 4.49342749e-04 -4.66573373e+00] [ 4.67186254e-03 -4.37205742e-04 9.99988991e-01 -1.54299786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.384860624 meters 0.09099137687431638 Centerline is valid? [True, True] Translation: X:51.36, Y:-4.67, Z:-1.54 [[ 9.99982239e-01 4.22849500e-03 -4.20025139e-03 5.13609052e+01] [-4.22683257e-03 9.99990985e-01 4.04590469e-04 -4.66610061e+00] [ 4.20192434e-03 -3.86829524e-04 9.99991097e-01 -1.54388961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.414860624 meters 0.09146400752682406 Centerline is valid? [True, True] Translation: X:51.39, Y:-4.67, Z:-1.55 [[ 9.99982791e-01 4.72751781e-03 -3.47405433e-03 5.13886346e+01] [-4.72638911e-03 9.99988775e-01 3.33033719e-04 -4.66903607e+00] [ 3.47558976e-03 -3.16608255e-04 9.99993910e-01 -1.54534818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.444860624 meters 0.08978777054158278 Centerline is valid? [True, True] Translation: X:51.42, Y:-4.67, Z:-1.55 [[ 9.99978402e-01 5.55660432e-03 -3.50996737e-03 5.14183540e+01] [-5.55545501e-03 9.99984512e-01 3.37107472e-04 -4.66711044e+00] [ 3.51178617e-03 -3.17600725e-04 9.99993783e-01 -1.54545415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.474860624 meters 0.09262158921021084 Centerline is valid? [True, True] Translation: X:51.45, Y:-4.68, Z:-1.55 [[ 9.99976987e-01 5.85421666e-03 -3.42841434e-03 5.14451964e+01] [-5.85312572e-03 9.99982816e-01 3.28151169e-04 -4.67513316e+00] [ 3.43027649e-03 -3.08076677e-04 9.99994069e-01 -1.54838714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.504860624 meters 0.08819237326585945 Centerline is valid? [True, True] Translation: X:51.47, Y:-4.67, Z:-1.55 [[ 9.99980134e-01 5.88295857e-03 -2.26318689e-03 5.14744597e+01] [-5.88248427e-03 9.99982675e-01 2.16171926e-04 -4.66900430e+00] [ 2.26441941e-03 -2.02854471e-04 9.99997416e-01 -1.54588770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.534860624 meters 0.09017350053402161 Centerline is valid? [True, True] Translation: X:51.50, Y:-4.68, Z:-1.55 [[ 9.99981053e-01 5.65860549e-03 -2.42378931e-03 5.15013211e+01] [-5.65806198e-03 9.99983966e-01 2.31036329e-04 -4.67609094e+00] [ 2.42505779e-03 -2.17318001e-04 9.99997036e-01 -1.54811462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.564860624 meters 0.08879035634421452 Centerline is valid? [True, True] Translation: X:51.53, Y:-4.68, Z:-1.55 [[ 9.99979129e-01 5.79884207e-03 -2.84865390e-03 5.15307040e+01] [-5.79809026e-03 9.99983154e-01 2.72105663e-04 -4.67629073e+00] [ 2.85018381e-03 -2.55583231e-04 9.99995906e-01 -1.54795497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.594860624 meters 0.09076693808159213 Centerline is valid? [True, True] Translation: X:51.56, Y:-4.68, Z:-1.55 [[ 9.99983381e-01 4.98233954e-03 -2.90080673e-03 5.15580869e+01] [-4.98155827e-03 9.99987554e-01 2.76488819e-04 -4.68249615e+00] [ 2.90214819e-03 -2.62033686e-04 9.99995754e-01 -1.55017443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.624860624 meters 0.09118348262945063 Centerline is valid? [True, True] Translation: X:51.59, Y:-4.69, Z:-1.55 [[ 9.99986527e-01 4.42548499e-03 -2.71298220e-03 5.15867130e+01] [-4.42479928e-03 9.99990177e-01 2.58703271e-04 -4.68635163e+00] [ 2.71410044e-03 -2.46695384e-04 9.99996286e-01 -1.55041477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.654860624 meters 0.09209513654739908 Centerline is valid? [True, True] Translation: X:51.62, Y:-4.69, Z:-1.55 [[ 9.99986177e-01 3.99218190e-03 -3.42184240e-03 5.16155422e+01] [-3.99108781e-03 9.99991982e-01 3.26505243e-04 -4.69105277e+00] [ 3.42311843e-03 -3.12843856e-04 9.99994092e-01 -1.55202312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.684860624 meters 0.0924656186721537 Centerline is valid? [True, True] Translation: X:51.64, Y:-4.69, Z:-1.55 [[ 9.99986845e-01 3.84003161e-03 -3.40052443e-03 5.16435959e+01] [-3.83895253e-03 9.99992579e-01 3.23800582e-04 -4.69487006e+00] [ 3.40174260e-03 -3.10741870e-04 9.99994166e-01 -1.55281165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.714860624 meters 0.09377745099704218 Centerline is valid? [True, True] Translation: X:51.67, Y:-4.70, Z:-1.55 [[ 9.99989611e-01 3.01955336e-03 -3.41466360e-03 5.16716610e+01] [-3.01845835e-03 9.99995391e-01 3.25787286e-04 -4.69990164e+00] [ 3.41563159e-03 -3.15476881e-04 9.99994117e-01 -1.55383403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.744860624 meters 0.09448194452287355 Centerline is valid? [True, True] Translation: X:51.70, Y:-4.70, Z:-1.55 [[ 9.99990205e-01 2.58258997e-03 -3.59446613e-03 5.16998853e+01] [-2.58137575e-03 9.99996610e-01 3.42400262e-04 -4.70372092e+00] [ 3.59533822e-03 -3.33118240e-04 9.99993481e-01 -1.55465305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77486062399998 meters 0.09237761708954229 Centerline is valid? [True, True] Translation: X:51.73, Y:-4.70, Z:-1.55 [[ 9.99990179e-01 2.09989072e-03 -3.90288374e-03 5.17285028e+01] [-2.09845797e-03 9.99997729e-01 3.71159607e-04 -4.70176272e+00] [ 3.90365427e-03 -3.62965924e-04 9.99992315e-01 -1.55350142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80486062399999 meters 0.08949522394357816 Centerline is valid? [True, True] Translation: X:51.76, Y:-4.70, Z:-1.55 [[ 9.99990648e-01 2.11887233e-03 -3.77018104e-03 5.17577291e+01] [-2.11753537e-03 9.99997694e-01 3.58569249e-04 -4.69789043e+00] [ 3.77093211e-03 -3.50582404e-04 9.99992829e-01 -1.55264906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.834860624 meters 0.09059718953560528 Centerline is valid? [True, True] Translation: X:51.79, Y:-4.70, Z:-1.55 [[ 9.99985520e-01 3.88175512e-03 -3.72724409e-03 5.17862878e+01] [-3.88045803e-03 9.99992408e-01 3.55170662e-04 -4.70168774e+00] [ 3.72859448e-03 -3.40702104e-04 9.99992991e-01 -1.55399381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.864860624 meters 0.08991432799653631 Centerline is valid? [True, True] Translation: X:51.82, Y:-4.70, Z:-1.55 [[ 9.99978008e-01 5.55195173e-03 -3.62762156e-03 5.18166414e+01] [-5.55073501e-03 9.99984535e-01 3.45387413e-04 -4.70228846e+00] [ 3.62948303e-03 -3.25243851e-04 9.99993361e-01 -1.55469259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.894860624 meters 0.09022315294648599 Centerline is valid? [True, True] Translation: X:51.85, Y:-4.70, Z:-1.56 [[ 9.99970481e-01 7.08252840e-03 -2.97912318e-03 5.18456921e+01] [-7.08171491e-03 9.99974884e-01 2.83522908e-04 -4.70419063e+00] [ 2.98105642e-03 -2.62417237e-04 9.99995522e-01 -1.55620569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.924860624 meters 0.08934208858220431 Centerline is valid? [True, True] Translation: X:51.88, Y:-4.70, Z:-1.56 [[ 9.99936392e-01 1.10324570e-02 -2.34446118e-03 5.18752880e+01] [-1.10319642e-02 9.99939121e-01 2.23032848e-04 -4.70275778e+00] [ 2.34677905e-03 -1.97154650e-04 9.99997227e-01 -1.55687456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.954860624 meters 0.08876988157338764 Centerline is valid? [True, True] Translation: X:51.91, Y:-4.70, Z:-1.56 [[ 9.99909191e-01 1.33085239e-02 -2.11969192e-03 5.19050324e+01] [-1.33081266e-02 9.99911423e-01 2.01404651e-04 -4.70332223e+00] [ 2.12218456e-03 -1.73177233e-04 9.99997733e-01 -1.55705816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.984860624 meters 0.08798455723525923 Centerline is valid? [True, True] Translation: X:51.94, Y:-4.70, Z:-1.56 [[ 9.99882322e-01 1.50842287e-02 -2.79446688e-03 5.19351957e+01] [-1.50835456e-02 9.99886202e-01 2.65389734e-04 -4.70316136e+00] [ 2.79815208e-03 -2.23208035e-04 9.99996060e-01 -1.55811202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.014860624 meters 0.08526134110715407 Centerline is valid? [True, True] Translation: X:51.97, Y:-4.70, Z:-1.56 [[ 9.99827643e-01 1.85375578e-02 -1.02149360e-03 5.19662522e+01] [-1.85374689e-02 9.99828162e-01 9.64503243e-05 -4.69818402e+00] [ 1.02310602e-03 -7.74977946e-05 9.99999474e-01 -1.55696115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.044860624 meters 0.08550693028161527 Centerline is valid? [True, True] Translation: X:51.99, Y:-4.70, Z:-1.56 [[ 9.99806102e-01 1.96760929e-02 -7.80492365e-04 5.19943058e+01] [-1.96760421e-02 9.99806405e-01 7.27622843e-05 -4.70058056e+00] [ 7.81772943e-04 -5.73911752e-05 9.99999693e-01 -1.55755602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.074860624 meters 0.08630090734982818 Centerline is valid? [True, True] Translation: X:52.02, Y:-4.70, Z:-1.56 [[ 9.99780483e-01 2.09241598e-02 -1.07911788e-03 5.20215688e+01] [-2.09240632e-02 9.99781063e-01 1.00743403e-04 -4.70364839e+00] [ 1.08098959e-03 -7.81417574e-05 9.99999413e-01 -1.55937528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.104860624 meters 0.08599479634328976 Centerline is valid? [True, True] Translation: X:52.05, Y:-4.70, Z:-1.56 [[ 9.99746160e-01 2.24907683e-02 -1.33461572e-03 5.20510373e+01] [-2.24906198e-02 9.99747046e-01 1.26191494e-04 -4.70451922e+00] [ 1.33711627e-03 -9.61431263e-05 9.99999101e-01 -1.56050267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.134860624 meters 0.0817379012302799 Centerline is valid? [True, True] Translation: X:52.08, Y:-4.70, Z:-1.56 [[ 9.99697449e-01 2.45225771e-02 -1.91164332e-03 5.20816429e+01] [-2.45222757e-02 9.99699267e-01 1.80976519e-04 -4.69523079e+00] [ 1.91550644e-03 -1.34043920e-04 9.99998156e-01 -1.55886514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.164860624 meters 0.08476529872455442 Centerline is valid? [True, True] Translation: X:52.11, Y:-4.70, Z:-1.56 [[ 9.99670124e-01 2.56115854e-02 -1.92113577e-03 5.21086148e+01] [-2.56112855e-02 9.99671961e-01 1.80527266e-04 -4.70443977e+00] [ 1.92512915e-03 -1.31264958e-04 9.99998138e-01 -1.56268528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.194860624 meters 0.08215494123787158 Centerline is valid? [True, True] Translation: X:52.14, Y:-4.70, Z:-1.56 [[ 9.99642113e-01 2.66275857e-02 -2.57264145e-03 5.21379982e+01] [-2.66270489e-02 9.99645408e-01 2.42677676e-04 -4.70015250e+00] [ 2.57819113e-03 -1.74088975e-04 9.99996661e-01 -1.56138728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.224860624 meters 0.08253464753361175 Centerline is valid? [True, True] Translation: X:52.17, Y:-4.70, Z:-1.56 [[ 9.99604987e-01 2.79757827e-02 -2.68792301e-03 5.21654433e+01] [-2.79752054e-02 9.99608586e-01 2.52148491e-04 -4.70246883e+00] [ 2.69392497e-03 -1.76853691e-04 9.99996356e-01 -1.56325121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.254860624 meters 0.08159919979565906 Centerline is valid? [True, True] Translation: X:52.20, Y:-4.70, Z:-1.56 [[ 9.99530789e-01 3.04768275e-02 -3.06006487e-03 5.21952782e+01] [-3.04760840e-02 9.99535454e-01 2.89320757e-04 -4.70129063e+00] [ 3.06746091e-03 -1.95926210e-04 9.99995276e-01 -1.56369216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.284860624 meters 0.08122471286183877 Centerline is valid? [True, True] Translation: X:52.23, Y:-4.70, Z:-1.56 [[ 9.99491353e-01 3.18201809e-02 -2.12422924e-03 5.22251851e+01] [-3.18198263e-02 9.99493601e-01 2.00532642e-04 -4.70184171e+00] [ 2.12953451e-03 -1.32838036e-04 9.99997724e-01 -1.56374648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.314860624 meters 0.08112408350112685 Centerline is valid? [True, True] Translation: X:52.25, Y:-4.70, Z:-1.56 [[ 9.99451788e-01 3.30120194e-02 -2.51589328e-03 5.22533249e+01] [-3.30115277e-02 9.99454943e-01 2.36720750e-04 -4.70373570e+00] [ 2.52233661e-03 -1.53537496e-04 9.99996807e-01 -1.56479952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.344860624 meters 0.08082922518162632 Centerline is valid? [True, True] Translation: X:52.28, Y:-4.70, Z:-1.56 [[ 9.99368449e-01 3.55344542e-02 8.15032673e-05 5.22824630e+01] [-3.55344536e-02 9.99368452e-01 -8.19089074e-06 -4.70462497e+00] [-8.17428529e-05 5.28954370e-06 9.99999997e-01 -1.56481232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.374860624 meters 0.0812318695676042 Centerline is valid? [True, True] Translation: X:52.31, Y:-4.71, Z:-1.57 [[ 9.99343759e-01 3.62211931e-02 2.76346977e-04 5.23102949e+01] [-3.62211867e-02 9.99343797e-01 -2.80486681e-05 -4.70789745e+00] [-2.77181593e-04 1.80206460e-05 9.99999961e-01 -1.56592028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.404860624 meters 0.0806010457397394 Centerline is valid? [True, True] Translation: X:52.34, Y:-4.71, Z:-1.57 [[ 9.99327705e-01 3.66611060e-02 3.17242771e-04 5.23395546e+01] [-3.66610978e-02 9.99327755e-01 -3.15174521e-05 -4.70854876e+00] [-3.18184971e-04 1.98657949e-05 9.99999949e-01 -1.56602028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.434860624 meters 0.0806010457397394 Centerline is valid? [True, True] Translation: X:52.37, Y:-4.71, Z:-1.57 [[ 9.99331074e-01 3.65691671e-02 3.17174620e-04 5.23669438e+01] [-3.65691587e-02 9.99331124e-01 -3.22393459e-05 -4.71102998e+00] [-3.18141435e-04 2.06189712e-05 9.99999949e-01 -1.56669978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.464860624 meters 0.08045376151236533 Centerline is valid? [True, True] Translation: X:52.40, Y:-4.71, Z:-1.57 [[ 9.99279415e-01 3.79481991e-02 7.64758640e-04 5.23964241e+01] [-3.79481540e-02 9.99279707e-01 -7.33360159e-05 -4.71169464e+00] [-7.66990759e-04 4.42619924e-05 9.99999705e-01 -1.56678559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.494860624 meters 0.08053508845176163 Centerline is valid? [True, True] Translation: X:52.42, Y:-4.71, Z:-1.57 [[ 9.99251061e-01 3.86905718e-02 5.96832168e-04 5.24237813e+01] [-3.86905439e-02 9.99251239e-01 -5.81829652e-05 -4.71399268e+00] [-5.98636415e-04 3.50476285e-05 9.99999820e-01 -1.56794260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52486062399998 meters 0.08134564347382292 Centerline is valid? [True, True] Translation: X:52.45, Y:-4.72, Z:-1.57 [[ 9.99220434e-01 3.94705584e-02 7.73618345e-04 5.24510908e+01] [-3.94705116e-02 9.99220733e-01 -7.56268446e-05 -4.71787560e+00] [-7.76000523e-04 4.50327767e-05 9.99999698e-01 -1.57047374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55486062399999 meters 0.07673200058690964 Centerline is valid? [True, True] Translation: X:52.48, Y:-4.71, Z:-1.57 [[ 9.99152025e-01 4.11729844e-02 -1.30908301e-04 5.24813316e+01] [-4.11729834e-02 9.99152033e-01 1.06984059e-05 -4.70663593e+00] [ 1.31237781e-04 -5.29944862e-06 9.99999991e-01 -1.56625467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.584860624 meters 0.07766769762968724 Centerline is valid? [True, True] Translation: X:52.51, Y:-4.71, Z:-1.57 [[ 9.99104006e-01 4.23223714e-02 -3.29810137e-05 5.25090605e+01] [-4.23223713e-02 9.99104007e-01 1.48735341e-06 -4.71188358e+00] [ 3.30144113e-05 -9.01860374e-08 9.99999999e-01 -1.56869122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.614860624 meters 0.07963699020297468 Centerline is valid? [True, True] Translation: X:52.54, Y:-4.72, Z:-1.57 [[ 9.99085379e-01 4.27587036e-02 -3.13738575e-04 5.25357916e+01] [-4.27586971e-02 9.99085428e-01 2.75521785e-05 -4.71943049e+00] [ 3.14629734e-04 -1.41119260e-05 9.99999950e-01 -1.57339916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.644860624 meters 0.07732078626994128 Centerline is valid? [True, True] Translation: X:52.57, Y:-4.71, Z:-1.57 [[ 9.98974670e-01 4.52689895e-02 -5.72305413e-04 5.25662768e+01] [-4.52689666e-02 9.98974833e-01 5.30128902e-05 -4.71438837e+00] [ 5.74118545e-04 -2.70508598e-05 9.99999835e-01 -1.57212647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.674860624 meters 0.07547971709199255 Centerline is valid? [True, True] Translation: X:52.60, Y:-4.71, Z:-1.57 [[ 9.98927778e-01 4.62876186e-02 -8.66570817e-04 5.25952187e+01] [-4.62875704e-02 9.98928153e-01 7.55306093e-05 -4.71069121e+00] [ 8.69138118e-04 -3.53381660e-05 9.99999622e-01 -1.57044385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.704860624 meters 0.07536723186429281 Centerline is valid? [True, True] Translation: X:52.62, Y:-4.71, Z:-1.57 [[ 9.98883524e-01 4.72354673e-02 -7.17712921e-04 5.26237873e+01] [-4.72354354e-02 9.98883782e-01 6.14175258e-05 -4.71247918e+00] [ 7.19812883e-04 -2.74474723e-05 9.99999741e-01 -1.57112208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.734860624 meters 0.07621556770638846 Centerline is valid? [True, True] Translation: X:52.65, Y:-4.72, Z:-1.57 [[ 9.98823270e-01 4.84942340e-02 -6.20300014e-04 5.26508976e+01] [-4.84942086e-02 9.98823462e-01 5.59399620e-05 -4.71806252e+00] [ 6.22282973e-04 -2.57931775e-05 9.99999806e-01 -1.57465799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.764860624 meters 0.07511278023126942 Centerline is valid? [True, True] Translation: X:52.68, Y:-4.72, Z:-1.57 [[ 9.98694079e-01 5.10852026e-02 -6.62888587e-04 5.26810574e+01] [-5.10851735e-02 9.98694298e-01 6.07930411e-05 -4.71686957e+00] [ 6.65128677e-04 -2.68498717e-05 9.99999778e-01 -1.57401187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.794860624 meters 0.07461703934254033 Centerline is valid? [True, True] Translation: X:52.71, Y:-4.72, Z:-1.57 [[ 9.98610166e-01 5.27042100e-02 -4.09659429e-05 5.27102235e+01] [-5.27042101e-02 9.98610167e-01 -1.36313466e-06 -4.71770695e+00] [ 4.08371642e-05 3.52031779e-06 9.99999999e-01 -1.57367932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.824860624 meters 0.07686811525658445 Centerline is valid? [True, True] Translation: X:52.74, Y:-4.73, Z:-1.58 [[ 9.98547155e-01 5.38810885e-02 -6.38422850e-04 5.27368889e+01] [-5.38810627e-02 9.98547359e-01 5.74576777e-05 -4.72758439e+00] [ 6.40591333e-04 -2.29752990e-05 9.99999795e-01 -1.57942673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.854860624 meters 0.07380453747733486 Centerline is valid? [True, True] Translation: X:52.77, Y:-4.72, Z:-1.57 [[ 9.98390282e-01 5.67159469e-02 -3.83626706e-04 5.27677690e+01] [-5.67159377e-02 9.98390355e-01 3.48984840e-05 -4.71907258e+00] [ 3.84988503e-04 -1.30845589e-05 9.99999926e-01 -1.57404534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.884860624 meters 0.07392368011250748 Centerline is valid? [True, True] Translation: X:52.80, Y:-4.72, Z:-1.58 [[ 9.98320690e-01 5.79274977e-02 4.53061269e-04 5.27950295e+01] [-5.79274837e-02 9.98320792e-01 -4.41201192e-05 -4.72233528e+00] [-4.54856254e-04 1.78013285e-05 9.99999896e-01 -1.57600561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.914860624 meters 0.07437983297927307 Centerline is valid? [True, True] Translation: X:52.82, Y:-4.73, Z:-1.58 [[ 9.98263708e-01 5.89004103e-02 -5.57489054e-04 5.28222893e+01] [-5.89003916e-02 9.98263864e-01 4.98301648e-05 -4.72691517e+00] [ 5.59456194e-04 -1.69073215e-05 9.99999843e-01 -1.57871512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.944860624 meters 0.07354064855426709 Centerline is valid? [True, True] Translation: X:52.85, Y:-4.73, Z:-1.58 [[ 9.98220169e-01 5.96326566e-02 -6.64403059e-04 5.28509065e+01] [-5.96326325e-02 9.98220389e-01 5.60137400e-05 -4.72623395e+00] [ 6.66560929e-04 -1.62939415e-05 9.99999778e-01 -1.57766519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.974860624 meters 0.07363533239363505 Centerline is valid? [True, True] Translation: X:52.88, Y:-4.73, Z:-1.58 [[ 9.98138921e-01 6.09544872e-02 -1.80111436e-03 5.28783091e+01] [-6.09542890e-02 9.98140545e-01 1.64807959e-04 -4.72914025e+00] [ 1.80781105e-03 -5.47155936e-05 9.99998364e-01 -1.57965526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.004860624 meters 0.07316427175921145 Centerline is valid? [True, True] Translation: X:52.91, Y:-4.73, Z:-1.58 [[ 9.98128553e-01 6.11146292e-02 -2.09618730e-03 5.29060944e+01] [-6.11143711e-02 9.98130752e-01 1.87050107e-04 -4.72921334e+00] [ 2.10370050e-03 -5.85928838e-05 9.99997786e-01 -1.57855774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.034860624 meters 0.07382661456927414 Centerline is valid? [True, True] Translation: X:52.93, Y:-4.73, Z:-1.58 [[ 9.98126477e-01 6.11202606e-02 -2.80164636e-03 5.29337672e+01] [-6.11197814e-02 9.98130406e-01 2.56442006e-04 -4.73484173e+00] [ 2.81208222e-03 -8.47255433e-05 9.99996042e-01 -1.58219446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.064860624 meters 0.073580697315307 Centerline is valid? [True, True] Translation: X:52.96, Y:-4.74, Z:-1.58 [[ 9.98071673e-01 6.19889010e-02 -3.21131723e-03 5.29621734e+01] [-6.19882883e-02 9.98076835e-01 2.90098475e-04 -4.73749827e+00] [ 3.22312422e-03 -9.04750122e-05 9.99994802e-01 -1.58182228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.094860624 meters 0.07348834788623143 Centerline is valid? [True, True] Translation: X:52.99, Y:-4.74, Z:-1.58 [[ 9.98105953e-01 6.14356376e-02 -3.18901056e-03 5.29903259e+01] [-6.14350332e-02 9.98111043e-01 2.87244425e-04 -4.73989725e+00] [ 3.20063370e-03 -9.07834003e-05 9.99994874e-01 -1.58177041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.124860624 meters 0.07351784372159464 Centerline is valid? [True, True] Translation: X:53.02, Y:-4.74, Z:-1.58 [[ 9.98124213e-01 6.11204729e-02 -3.51331693e-03 5.30183467e+01] [-6.11197238e-02 9.98130391e-01 3.20291346e-04 -4.74378449e+00] [ 3.52632476e-03 -1.04957587e-04 9.99993777e-01 -1.58248596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.154860624 meters 0.07331629803874885 Centerline is valid? [True, True] Translation: X:53.05, Y:-4.75, Z:-1.58 [[ 9.98116094e-01 6.12797843e-02 -3.00849920e-03 5.30475023e+01] [-6.12792482e-02 9.98120624e-01 2.70116657e-04 -4.74655836e+00] [ 3.01939779e-03 -8.52492129e-05 9.99995438e-01 -1.58185697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.184860624 meters 0.07377558269587484 Centerline is valid? [True, True] Translation: X:53.07, Y:-4.75, Z:-1.59 [[ 9.98147718e-01 6.07857499e-02 -2.49498074e-03 5.30733717e+01] [-6.07853765e-02 9.98150834e-01 2.25258063e-04 -4.75383746e+00] [ 2.50405959e-03 -7.31824775e-05 9.99996862e-01 -1.58554665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.214860624 meters 0.07376936934522463 Centerline is valid? [True, True] Translation: X:53.10, Y:-4.76, Z:-1.59 [[ 9.98176671e-01 6.03346571e-02 -1.75012210e-03 5.31016419e+01] [-6.03344793e-02 9.98178204e-01 1.54241944e-04 -4.75748967e+00] [ 1.75623987e-03 -4.83680042e-05 9.99998457e-01 -1.58533954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.244860624 meters 0.07376723481963203 Centerline is valid? [True, True] Translation: X:53.13, Y:-4.76, Z:-1.59 [[ 9.98214802e-01 5.96953681e-02 -1.91612056e-03 5.31298706e+01] [-5.96951537e-02 9.98216640e-01 1.68973092e-04 -4.76127067e+00] [ 1.92279034e-03 -5.42883302e-05 9.99998150e-01 -1.58638582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27486062399998 meters 0.07364558356055878 Centerline is valid? [True, True] Translation: X:53.16, Y:-4.76, Z:-1.59 [[ 9.98255455e-01 5.90197765e-02 -1.64728225e-03 5.31586259e+01] [-5.90196192e-02 9.98256813e-01 1.43989355e-04 -4.76361631e+00] [ 1.65290895e-03 -4.65161875e-05 9.99998633e-01 -1.58593865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30486062399999 meters 0.07392607570492375 Centerline is valid? [True, True] Translation: X:53.19, Y:-4.77, Z:-1.59 [[ 9.98303784e-01 5.81678409e-02 -2.46103001e-03 5.31861298e+01] [-5.81674722e-02 9.98306815e-01 2.21174738e-04 -4.76921850e+00] [ 2.46972828e-03 -7.76476829e-05 9.99996947e-01 -1.58752182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.334860624 meters 0.07356016472310078 Centerline is valid? [True, True] Translation: X:53.22, Y:-4.77, Z:-1.59 [[ 9.98442824e-01 5.57272335e-02 -2.53024442e-03 5.32158273e+01] [-5.57268332e-02 9.98446027e-01 2.28507121e-04 -4.77344615e+00] [ 2.53904656e-03 -8.71487864e-05 9.99996773e-01 -1.58606626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.364860624 meters 0.0735242281717984 Centerline is valid? [True, True] Translation: X:53.24, Y:-4.78, Z:-1.59 [[ 9.98519403e-01 5.43472332e-02 -2.31947025e-03 5.32445946e+01] [-5.43469059e-02 9.98522094e-01 2.03921680e-04 -4.77741850e+00] [ 2.32712487e-03 -7.75637226e-05 9.99997289e-01 -1.58562140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.394860624 meters 0.07442448802980392 Centerline is valid? [True, True] Translation: X:53.27, Y:-4.79, Z:-1.59 [[ 9.98607302e-01 5.26982358e-02 -2.52020259e-03 5.32716485e+01] [-5.26978341e-02 9.98610478e-01 2.25568162e-04 -4.78526161e+00] [ 2.52858776e-03 -9.24447958e-05 9.99996799e-01 -1.58834204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.424860624 meters 0.07501173190564447 Centerline is valid? [True, True] Translation: X:53.30, Y:-4.79, Z:-1.59 [[ 9.98690867e-01 5.10835101e-02 -2.65091303e-03 5.32984931e+01] [-5.10830644e-02 9.98694380e-01 2.35593113e-04 -4.79188150e+00] [ 2.65948687e-03 -9.98679290e-05 9.99996459e-01 -1.58909338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.454860624 meters 0.0756880863154449 Centerline is valid? [True, True] Translation: X:53.33, Y:-4.80, Z:-1.59 [[ 9.98821940e-01 4.84880258e-02 -1.90875344e-03 5.33262783e+01] [-4.84877876e-02 9.98823761e-01 1.70864108e-04 -4.80111416e+00] [ 1.91479315e-03 -7.81115882e-05 9.99998164e-01 -1.58968703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.484860624 meters 0.07647489318114262 Centerline is valid? [True, True] Translation: X:53.35, Y:-4.81, Z:-1.59 [[ 9.98893074e-01 4.69887479e-02 -2.16423756e-03 5.33539156e+01] [-4.69884399e-02 9.98895415e-01 1.92969127e-04 -4.80748084e+00] [ 2.17091435e-03 -9.10613781e-05 9.99997639e-01 -1.59154016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.514860624 meters 0.07616772373909864 Centerline is valid? [True, True] Translation: X:53.38, Y:-4.81, Z:-1.59 [[ 9.98960630e-01 4.55358788e-02 -2.03545181e-03 5.33828066e+01] [-4.55356116e-02 9.98962700e-01 1.77415630e-04 -4.81096216e+00] [ 2.04141922e-03 -8.45456859e-05 9.99997913e-01 -1.59138425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.544860624 meters 0.07579306018589821 Centerline is valid? [True, True] Translation: X:53.41, Y:-4.81, Z:-1.59 [[ 9.99070316e-01 4.30036501e-02 -3.03161047e-03 5.34117717e+01] [-4.30030254e-02 9.99074905e-01 2.70964547e-04 -4.81435953e+00] [ 3.04045840e-03 -1.40344213e-04 9.99995368e-01 -1.59042083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.574860624 meters 0.07614382253254566 Centerline is valid? [True, True] Translation: X:53.44, Y:-4.82, Z:-1.59 [[ 9.99125146e-01 4.16869881e-02 -3.33718353e-03 5.34397521e+01] [-4.16862269e-02 9.99130707e-01 2.97332783e-04 -4.81928515e+00] [ 3.34667745e-03 -1.57958070e-04 9.99994387e-01 -1.59174825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.604860624 meters 0.07748784490679074 Centerline is valid? [True, True] Translation: X:53.47, Y:-4.83, Z:-1.59 [[ 9.99237080e-01 3.88550689e-02 -3.94222205e-03 5.34682989e+01] [-3.88539762e-02 9.99244837e-01 3.53432827e-04 -4.82801885e+00] [ 3.95297768e-03 -1.99992185e-04 9.99992167e-01 -1.59387984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.634860624 meters 0.07773467528341635 Centerline is valid? [True, True] Translation: X:53.50, Y:-4.83, Z:-1.59 [[ 9.99302768e-01 3.72171076e-02 -2.97741164e-03 5.34967356e+01] [-3.72164820e-02 9.99307192e-01 2.65271556e-04 -4.83259075e+00] [ 2.98522150e-03 -1.54277814e-04 9.99995532e-01 -1.59433447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.664860624 meters 0.07932697451589418 Centerline is valid? [True, True] Translation: X:53.53, Y:-4.84, Z:-1.60 [[ 9.99449646e-01 3.30858335e-02 -2.39446048e-03 5.35256400e+01] [-3.30854151e-02 9.99452505e-01 2.14174417e-04 -4.84137938e+00] [ 2.40023566e-03 -1.34834827e-04 9.99997110e-01 -1.59577090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.694860624 meters 0.08020287773841739 Centerline is valid? [True, True] Translation: X:53.55, Y:-4.85, Z:-1.60 [[ 9.99517071e-01 3.09243811e-02 -3.05081012e-03 5.35546806e+01] [-3.09236960e-02 9.99521711e-01 2.71489637e-04 -4.84699698e+00] [ 3.05774660e-03 -1.77016202e-04 9.99995309e-01 -1.59747261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.724860624 meters 0.08112160261600462 Centerline is valid? [True, True] Translation: X:53.58, Y:-4.85, Z:-1.60 [[ 9.99574164e-01 2.90320870e-02 -2.93734641e-03 5.35824649e+01] [-2.90314441e-02 9.99578465e-01 2.61289086e-04 -4.85251037e+00] [ 2.94369399e-03 -1.75902412e-04 9.99995652e-01 -1.59878347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.754860624 meters 0.08167267535334834 Centerline is valid? [True, True] Translation: X:53.61, Y:-4.86, Z:-1.60 [[ 9.99637988e-01 2.67154761e-02 -3.19006362e-03 5.36120704e+01] [-2.67147021e-02 9.99643058e-01 2.85006093e-04 -4.85704858e+00] [ 3.19653903e-03 -1.99681318e-04 9.99994871e-01 -1.59918860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.784860624 meters 0.08227625614789222 Centerline is valid? [True, True] Translation: X:53.64, Y:-4.86, Z:-1.60 [[ 9.99704325e-01 2.42005788e-02 -2.36525746e-03 5.36408886e+01] [-2.42001499e-02 9.99707111e-01 2.09772371e-04 -4.86243415e+00] [ 2.36964131e-03 -1.52470761e-04 9.99997181e-01 -1.59972637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.814860624 meters 0.08361314551481065 Centerline is valid? [True, True] Translation: X:53.67, Y:-4.87, Z:-1.60 [[ 9.99751688e-01 2.21880280e-02 -2.06259698e-03 5.36692308e+01] [-2.21876972e-02 9.99753806e-01 1.83138733e-04 -4.86827921e+00] [ 2.06615267e-03 -1.37328980e-04 9.99997856e-01 -1.60129420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.844860624 meters 0.08464004177903169 Centerline is valid? [True, True] Translation: X:53.70, Y:-4.87, Z:-1.60 [[ 9.99801013e-01 1.98726848e-02 -1.73526139e-03 5.36992360e+01] [-1.98724455e-02 9.99802511e-01 1.55042228e-04 -4.87390808e+00] [ 1.73799980e-03 -1.20527489e-04 9.99998482e-01 -1.60195034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.874860624 meters 0.08259331403640831 Centerline is valid? [True, True] Translation: X:53.73, Y:-4.87, Z:-1.60 [[ 9.99871571e-01 1.58534672e-02 -2.34698761e-03 5.37299788e+01] [-1.58530184e-02 9.99874311e-01 2.09710837e-04 -4.87231030e+00] [ 2.35001726e-03 -1.72477066e-04 9.99997224e-01 -1.60016237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.904860624 meters 0.08500334707586395 Centerline is valid? [True, True] Translation: X:53.76, Y:-4.88, Z:-1.60 [[ 9.99890503e-01 1.47385428e-02 -1.32529955e-03 5.37569703e+01] [-1.47384016e-02 9.99891377e-01 1.16304042e-04 -4.88050615e+00] [ 1.32686975e-03 -9.67585106e-05 9.99999115e-01 -1.60223125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.934860624 meters 0.08325833401328689 Centerline is valid? [True, True] Translation: X:53.79, Y:-4.88, Z:-1.60 [[ 9.99914041e-01 1.30854522e-02 -8.26151228e-04 5.37864412e+01] [-1.30853968e-02 9.99914380e-01 7.24897221e-05 -4.87907185e+00] [ 8.27029054e-04 -6.16729743e-05 9.99999656e-01 -1.60102471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.964860624 meters 0.08738510632974784 Centerline is valid? [True, True] Translation: X:53.81, Y:-4.89, Z:-1.60 [[ 9.99939517e-01 1.09931833e-02 -3.34290113e-04 5.38137192e+01] [-1.09931745e-02 9.99939573e-01 2.81920135e-05 -4.89000855e+00] [ 3.34579832e-04 -2.45153988e-05 9.99999944e-01 -1.60325825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.994860624 meters 0.087653197507203 Centerline is valid? [True, True] Translation: X:53.84, Y:-4.89, Z:-1.60 [[ 9.99944772e-01 1.05084595e-02 1.58539075e-04 5.38422655e+01] [-1.05084571e-02 9.99944785e-01 -1.56644360e-05 -4.89291535e+00] [-1.58694930e-04 1.39975698e-05 9.99999987e-01 -1.60373537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02486062399998 meters 0.08456568113636095 Centerline is valid? [True, True] Translation: X:53.87, Y:-4.89, Z:-1.60 [[ 9.99947665e-01 1.01748409e-02 1.06721397e-03 5.38718513e+01] [-1.01747436e-02 9.99948231e-01 -9.66160976e-05 -4.88736659e+00] [-1.06814178e-03 8.57524127e-05 9.99999426e-01 -1.60207437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05486062399999 meters 0.08625075920641309 Centerline is valid? [True, True] Translation: X:53.90, Y:-4.89, Z:-1.60 [[ 9.99945196e-01 1.04345703e-02 8.51065721e-04 5.38997000e+01] [-1.04345079e-02 9.99945556e-01 -7.76935169e-05 -4.89242030e+00] [-8.51830084e-04 6.88088070e-05 9.99999635e-01 -1.60427432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.084860624 meters 0.0854565790084409 Centerline is valid? [True, True] Translation: X:53.93, Y:-4.89, Z:-1.60 [[ 9.99948071e-01 1.01909740e-02 7.41626563e-06 5.39290150e+01] [-1.01909740e-02 9.99948071e-01 -2.24534036e-06 -4.89172791e+00] [-7.43876272e-06 2.16964479e-06 1.00000000e+00 -1.60460546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.114860624 meters 0.08455516773677384 Centerline is valid? [True, True] Translation: X:53.96, Y:-4.89, Z:-1.61 [[ 9.99939917e-01 1.09603723e-02 1.79086752e-04 5.39585789e+01] [-1.09603694e-02 9.99939933e-01 -1.71084609e-05 -4.88991890e+00] [-1.79263510e-04 1.51445760e-05 9.99999984e-01 -1.60531249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.144860624 meters 0.08555039434359715 Centerline is valid? [True, True] Translation: X:53.99, Y:-4.89, Z:-1.61 [[ 9.99947438e-01 1.02503227e-02 -2.28688542e-04 5.39864121e+01] [-1.02503187e-02 9.99947464e-01 1.83072312e-05 -4.89282220e+00] [ 2.28864183e-04 -1.59621385e-05 9.99999974e-01 -1.60670453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.174860624 meters 0.08770319978106396 Centerline is valid? [True, True] Translation: X:54.01, Y:-4.90, Z:-1.61 [[ 9.99948472e-01 1.01445281e-02 -3.76312427e-04 5.40141231e+01] [-1.01445171e-02 9.99948543e-01 3.12180306e-05 -4.89891262e+00] [ 3.76609755e-04 -2.73989142e-05 9.99999929e-01 -1.60936813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.204860624 meters 0.0885437564160262 Centerline is valid? [True, True] Translation: X:54.04, Y:-4.90, Z:-1.61 [[ 9.99951087e-01 9.88966520e-03 1.33275855e-04 5.40417906e+01] [-9.88966346e-03 9.99951096e-01 -1.37157105e-05 -4.90124540e+00] [-1.33404981e-04 1.23969863e-05 9.99999991e-01 -1.61107416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.234860624 meters 0.08596010040559 Centerline is valid? [True, True] Translation: X:54.07, Y:-4.90, Z:-1.61 [[ 9.99958809e-01 9.07209536e-03 -2.78532792e-04 5.40723746e+01] [-9.07208906e-03 9.99958847e-01 2.38719580e-05 -4.89540506e+00] [ 2.78737898e-04 -2.13441004e-05 9.99999961e-01 -1.60942383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.264860624 meters 0.08884857817684357 Centerline is valid? [True, True] Translation: X:54.10, Y:-4.90, Z:-1.61 [[ 9.99963198e-01 8.57884619e-03 7.36080676e-05 5.40998363e+01] [-8.57884559e-03 9.99963201e-01 -8.47980155e-06 -4.90235884e+00] [-7.36781059e-05 7.84801723e-06 9.99999997e-01 -1.61132533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.294860624 meters 0.0877680144230023 Centerline is valid? [True, True] Translation: X:54.13, Y:-4.90, Z:-1.61 [[ 9.99967591e-01 8.03372611e-03 5.24993718e-04 5.41288316e+01] [-8.03370203e-03 9.99967728e-01 -4.79722000e-05 -4.90060560e+00] [-5.25362171e-04 4.37530022e-05 9.99999861e-01 -1.61160822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.324860624 meters 0.0877680144230023 Centerline is valid? [True, True] Translation: X:54.16, Y:-4.90, Z:-1.61 [[ 9.99968097e-01 7.97058093e-03 5.24996254e-04 5.41571232e+01] [-7.97055685e-03 9.99968233e-01 -4.79440629e-05 -4.90303505e+00] [-5.25361719e-04 4.37580208e-05 9.99999861e-01 -1.61230977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.354860624 meters 0.08841187893602546 Centerline is valid? [True, True] Translation: X:54.19, Y:-4.90, Z:-1.61 [[ 9.99976621e-01 6.79989324e-03 -7.20022726e-04 5.41860873e+01] [-6.79985007e-03 9.99976879e-01 6.24003920e-05 -4.90407034e+00] [ 7.20430395e-04 -5.75028866e-05 9.99999739e-01 -1.61459499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.384860624 meters 0.08960268632690042 Centerline is valid? [True, True] Translation: X:54.21, Y:-4.91, Z:-1.62 [[ 9.99981406e-01 6.06785247e-03 -6.07680906e-04 5.42137544e+01] [-6.06782219e-03 9.99981589e-01 5.16615094e-05 -4.90757435e+00] [ 6.07983193e-04 -4.79732491e-05 9.99999814e-01 -1.61645371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.414860624 meters 0.08888087237446271 Centerline is valid? [True, True] Translation: X:54.24, Y:-4.91, Z:-1.62 [[ 9.99985302e-01 5.42085962e-03 -9.83715881e-05 5.42429979e+01] [-5.42085894e-03 9.99985307e-01 7.09406954e-06 -4.90729440e+00] [ 9.84085987e-05 -6.56070676e-06 9.99999995e-01 -1.61634796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.444860624 meters 0.0896347667027499 Centerline is valid? [True, True] Translation: X:54.27, Y:-4.91, Z:-1.62 [[ 9.99987069e-01 5.08422990e-03 -1.11085990e-04 5.42709292e+01] [-5.08422906e-03 9.99987075e-01 7.82561032e-06 -4.91010085e+00] [ 1.11124341e-04 -7.26072251e-06 9.99999994e-01 -1.61729970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.474860624 meters 0.08853836638142427 Centerline is valid? [True, True] Translation: X:54.30, Y:-4.91, Z:-1.62 [[ 9.99989419e-01 4.53932817e-03 7.46028627e-04 5.43001083e+01] [-4.53927926e-03 9.99989695e-01 -6.72441436e-05 -4.90654235e+00] [-7.46326182e-04 6.38569998e-05 9.99999719e-01 -1.61648263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.504860624 meters 0.08966808324224472 Centerline is valid? [True, True] Translation: X:54.33, Y:-4.91, Z:-1.62 [[ 9.99989995e-01 4.34582218e-03 1.05973164e-03 5.43283680e+01] [-4.34572457e-03 9.99990553e-01 -9.43965714e-05 -4.90918573e+00] [-1.06013186e-03 8.97903252e-05 9.99999434e-01 -1.61731821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.534860624 meters 0.08996103641846712 Centerline is valid? [True, True] Translation: X:54.36, Y:-4.91, Z:-1.62 [[ 9.99988527e-01 4.74972188e-03 6.20646948e-04 5.43578298e+01] [-4.74968843e-03 9.99988719e-01 -5.53524680e-05 -4.91057140e+00] [-6.20902855e-04 5.24039534e-05 9.99999806e-01 -1.61754779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.564860624 meters 0.09089305199278756 Centerline is valid? [True, True] Translation: X:54.39, Y:-4.91, Z:-1.62 [[ 9.99987522e-01 4.84897964e-03 1.20111124e-03 5.43867185e+01] [-4.84885493e-03 9.99988239e-01 -1.06721183e-04 -4.91160764e+00] [-1.20161460e-03 1.00895838e-04 9.99999273e-01 -1.61952713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.594860624 meters 0.09025271185063116 Centerline is valid? [True, True] Translation: X:54.42, Y:-4.91, Z:-1.62 [[ 9.99985215e-01 5.24857479e-03 1.42185169e-03 5.44161164e+01] [-5.24840135e-03 9.99986219e-01 -1.25689431e-04 -4.91108794e+00] [-1.42249178e-03 1.18225125e-04 9.99998981e-01 -1.61993319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.624860624 meters 0.09049163144237991 Centerline is valid? [True, True] Translation: X:54.45, Y:-4.91, Z:-1.62 [[ 9.99981984e-01 5.78481188e-03 1.60224100e-03 5.44454330e+01] [-5.78459199e-03 9.99983259e-01 -1.41841336e-04 -4.91213255e+00] [-1.60303470e-03 1.32570470e-04 9.99998706e-01 -1.62121610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.654860624 meters 0.09002376565055248 Centerline is valid? [True, True] Translation: X:54.47, Y:-4.91, Z:-1.62 [[ 9.99979758e-01 6.13237333e-03 1.69635568e-03 5.44739913e+01] [-6.13212697e-03 9.99981187e-01 -1.50396159e-04 -4.91137181e+00] [-1.69724605e-03 1.39990846e-04 9.99998550e-01 -1.62152563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.684860624 meters 0.08866162729160684 Centerline is valid? [True, True] Translation: X:54.50, Y:-4.91, Z:-1.62 [[ 9.99965271e-01 8.00832228e-03 2.30749672e-03 5.45048150e+01] [-8.00787546e-03 9.99967916e-01 -2.02812873e-04 -4.90686622e+00] [-2.30904687e-03 1.84327683e-04 9.99997317e-01 -1.62178841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.714860624 meters 0.08962761390701877 Centerline is valid? [True, True] Translation: X:54.53, Y:-4.91, Z:-1.62 [[ 9.99960193e-01 8.60310627e-03 2.36629797e-03 5.45321407e+01] [-8.60263492e-03 9.99962975e-01 -2.09301572e-04 -4.90944554e+00] [-2.36801100e-03 1.88936843e-04 9.99997178e-01 -1.62329778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.744860624 meters 0.08989862083709978 Centerline is valid? [True, True] Translation: X:54.56, Y:-4.91, Z:-1.63 [[ 9.99951605e-01 9.61271907e-03 2.09370286e-03 5.45602447e+01] [-9.61235282e-03 9.99953783e-01 -1.84924623e-04 -4.91063148e+00] [-2.09538372e-03 1.64790263e-04 9.99997791e-01 -1.62530043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77486062399998 meters 0.09216488126256213 Centerline is valid? [True, True] Translation: X:54.59, Y:-4.92, Z:-1.63 [[ 9.99953333e-01 9.52924898e-03 1.58897057e-03 5.45878906e+01] [-9.52903697e-03 9.99954588e-01 -1.40944954e-04 -4.91538635e+00] [-1.59024151e-03 1.25797017e-04 9.99998728e-01 -1.62789402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80486062399999 meters 0.09029521683648295 Centerline is valid? [True, True] Translation: X:54.62, Y:-4.91, Z:-1.63 [[ 9.99953554e-01 9.52165210e-03 1.49242185e-03 5.46173378e+01] [-9.52146557e-03 9.99954661e-01 -1.32041308e-04 -4.91018054e+00] [-1.49361144e-03 1.17825132e-04 9.99998878e-01 -1.62802554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.834860624 meters 0.08906077377116844 Centerline is valid? [True, True] Translation: X:54.65, Y:-4.91, Z:-1.63 [[ 9.99959520e-01 8.78594130e-03 1.94026172e-03 5.46459151e+01] [-8.78562501e-03 9.99961391e-01 -1.71476353e-04 -4.90807634e+00] [-1.94169339e-03 1.54422999e-04 9.99998103e-01 -1.62758247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.864860624 meters 0.08726201926438155 Centerline is valid? [True, True] Translation: X:54.68, Y:-4.90, Z:-1.63 [[ 9.99967554e-01 7.81764254e-03 1.94323831e-03 5.46757276e+01] [-7.81732585e-03 9.99969430e-01 -1.70510423e-04 -4.90484791e+00] [-1.94451190e-03 1.55313963e-04 9.99998097e-01 -1.62644704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.894860624 meters 0.08971932213619775 Centerline is valid? [True, True] Translation: X:54.70, Y:-4.91, Z:-1.63 [[ 9.99979745e-01 5.69622575e-03 2.83943468e-03 5.47043382e+01] [-5.69554465e-03 9.99983750e-01 -2.47900116e-04 -4.90915339e+00] [-2.84080063e-03 2.31722967e-04 9.99995938e-01 -1.62789332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.924860624 meters 0.09155886176535517 Centerline is valid? [True, True] Translation: X:54.73, Y:-4.91, Z:-1.63 [[ 9.99983088e-01 4.66141581e-03 3.47772594e-03 5.47328498e+01] [-4.66038401e-03 9.99989094e-01 -3.04732498e-04 -4.91429109e+00] [-3.47910849e-03 2.88519806e-04 9.99993906e-01 -1.62934746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.954860624 meters 0.09199169850641144 Centerline is valid? [True, True] Translation: X:54.76, Y:-4.92, Z:-1.63 [[ 9.99987966e-01 2.96944976e-03 3.90520316e-03 5.47630452e+01] [-2.96813981e-03 9.99995537e-01 -3.41190145e-04 -4.91615568e+00] [-3.90619888e-03 3.29594850e-04 9.99992316e-01 -1.63013108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.984860624 meters 0.093202681023904 Centerline is valid? [True, True] Translation: X:54.79, Y:-4.92, Z:-1.63 [[ 9.99991840e-01 1.25867886e-03 3.83871049e-03 5.47936492e+01] [-1.25740341e-03 9.99999153e-01 -3.34656512e-04 -4.91967022e+00] [-3.83912847e-03 3.29826974e-04 9.99992576e-01 -1.63155447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.014860624 meters 0.09605112247134803 Centerline is valid? [True, True] Translation: X:54.82, Y:-4.92, Z:-1.63 [[ 9.99994114e-01 -1.70731753e-03 2.97601310e-03 5.48227636e+01] [ 1.70809893e-03 9.99998507e-01 -2.60041859e-04 -4.92366332e+00] [-2.97556468e-03 2.65123653e-04 9.99995538e-01 -1.63314169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.044860624 meters 0.09761179544776256 Centerline is valid? [True, True] Translation: X:54.85, Y:-4.93, Z:-1.63 [[ 9.99992380e-01 -2.55327776e-03 2.95300343e-03 5.48535461e+01] [ 2.55404673e-03 9.99996705e-01 -2.56659720e-04 -4.92764285e+00] [-2.95233838e-03 2.64199873e-04 9.99995607e-01 -1.63480799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.074860624 meters 0.09643271074538938 Centerline is valid? [True, True] Translation: X:54.89, Y:-4.93, Z:-1.64 [[ 9.99991741e-01 -2.80524172e-03 2.94077958e-03 5.48861450e+01] [ 2.80600479e-03 9.99996031e-01 -2.55382436e-04 -4.92695733e+00] [-2.94005150e-03 2.63632169e-04 9.99995643e-01 -1.63550056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.104860624 meters 0.09686190551324929 Centerline is valid? [True, True] Translation: X:54.92, Y:-4.93, Z:-1.64 [[ 9.99990003e-01 -3.41341336e-03 2.88839381e-03 5.49185654e+01] [ 3.41415244e-03 9.99994140e-01 -2.50986866e-04 -4.92891999e+00] [-2.88752016e-03 2.60845774e-04 9.99995797e-01 -1.63662303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.134860624 meters 0.0977341915908597 Centerline is valid? [True, True] Translation: X:54.95, Y:-4.93, Z:-1.64 [[ 9.99986934e-01 -3.84089317e-03 3.37335892e-03 5.49510669e+01] [ 3.84190534e-03 9.99992577e-01 -2.93619639e-04 -4.93057053e+00] [-3.37220611e-03 3.06575928e-04 9.99994267e-01 -1.63902023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.164860624 meters 0.09913826802572923 Centerline is valid? [True, True] Translation: X:54.98, Y:-4.93, Z:-1.64 [[ 9.99986943e-01 -4.11939154e-03 3.02386023e-03 5.49823385e+01] [ 4.12020407e-03 9.99991477e-01 -2.62523423e-04 -4.93424378e+00] [-3.02275302e-03 2.74978916e-04 9.99995394e-01 -1.64006743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.194860624 meters 0.09802312536664773 Centerline is valid? [True, True] Translation: X:55.02, Y:-4.93, Z:-1.64 [[ 9.99985025e-01 -4.07335773e-03 3.65479744e-03 5.50151864e+01] [ 4.07454999e-03 9.99991648e-01 -3.18832886e-04 -4.93352345e+00] [-3.65346820e-03 3.33719767e-04 9.99993270e-01 -1.64054350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.224860624 meters 0.09558209751908746 Centerline is valid? [True, True] Translation: X:55.05, Y:-4.93, Z:-1.64 [[ 9.99982437e-01 -4.00321889e-03 4.37041410e-03 5.50480628e+01] [ 4.00492555e-03 9.99991907e-01 -3.81820157e-04 -4.92905404e+00] [-4.36885023e-03 3.99316634e-04 9.99990377e-01 -1.64045613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.254860624 meters 0.09667544087047587 Centerline is valid? [True, True] Translation: X:55.08, Y:-4.93, Z:-1.64 [[ 9.99983022e-01 -3.82215357e-03 4.39845869e-03 5.50791768e+01] [ 3.82387765e-03 9.99992615e-01 -3.83630651e-04 -4.93280851e+00] [-4.39695991e-03 4.00443306e-04 9.99990253e-01 -1.64100608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.284860624 meters 0.09619027478457326 Centerline is valid? [True, True] Translation: X:55.11, Y:-4.93, Z:-1.64 [[ 9.99983550e-01 -3.39285738e-03 4.62479278e-03 5.51114638e+01] [ 3.39476635e-03 9.99994156e-01 -4.04981628e-04 -4.93327545e+00] [-4.62339171e-03 4.20675057e-04 9.99989224e-01 -1.64114818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.314860624 meters 0.09618444666887958 Centerline is valid? [True, True] Translation: X:55.14, Y:-4.93, Z:-1.64 [[ 9.99980739e-01 -2.86334131e-03 5.50660512e-03 5.51425954e+01] [ 2.86604524e-03 9.99995776e-01 -4.83205351e-04 -4.93477844e+00] [-5.50519828e-03 4.98978223e-04 9.99984722e-01 -1.64165288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.344860624 meters 0.09608150847771817 Centerline is valid? [True, True] Translation: X:55.17, Y:-4.93, Z:-1.64 [[ 9.99977466e-01 -1.49297097e-03 6.54515609e-03 5.51743703e+01] [ 1.49676558e-03 9.99998715e-01 -5.74897127e-04 -4.93438746e+00] [-6.54428938e-03 5.84680736e-04 9.99978415e-01 -1.64152062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.374860624 meters 0.09579275248444644 Centerline is valid? [True, True] Translation: X:55.21, Y:-4.94, Z:-1.64 [[ 9.99973865e-01 -1.20573207e-03 7.12849713e-03 5.52065223e+01] [ 1.21022721e-03 9.99999072e-01 -6.26306913e-04 -4.93507359e+00] [-7.12773535e-03 6.34917646e-04 9.99974396e-01 -1.64162969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.404860624 meters 0.0948385801477982 Centerline is valid? [True, True] Translation: X:55.24, Y:-4.93, Z:-1.64 [[ 9.99962595e-01 -3.91210803e-04 8.64035748e-03 5.52377902e+01] [ 3.97797110e-04 9.99999632e-01 -7.60567077e-04 -4.93425491e+00] [-8.64005676e-03 7.63975737e-04 9.99962382e-01 -1.64204413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.434860624 meters 0.09661406822673836 Centerline is valid? [True, True] Translation: X:55.27, Y:-4.94, Z:-1.64 [[ 9.99967276e-01 -1.96178727e-04 8.08757034e-03 5.52693300e+01] [ 2.01938009e-04 9.99999727e-01 -7.11304718e-04 -4.93958777e+00] [-8.08742858e-03 7.12914629e-04 9.99967042e-01 -1.64429269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.464860624 meters 0.0963220332628635 Centerline is valid? [True, True] Translation: X:55.30, Y:-4.94, Z:-1.64 [[ 9.99965900e-01 -8.90130593e-05 8.25774959e-03 5.53011650e+01] [ 9.50220045e-05 9.99999731e-01 -7.27283971e-04 -4.94128146e+00] [-8.25768263e-03 7.28043839e-04 9.99965640e-01 -1.64490779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.494860624 meters 0.09577719594013129 Centerline is valid? [True, True] Translation: X:55.33, Y:-4.94, Z:-1.65 [[ 9.99968354e-01 1.89666084e-04 7.95326598e-03 5.53336955e+01] [-1.84097246e-04 9.99999737e-01 -7.00921351e-04 -4.94166805e+00] [-7.95339684e-03 6.99434996e-04 9.99968127e-01 -1.64630000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52486062399998 meters 0.12107099011383933 Centerline is valid? [True, False] Translation: X:55.41, Y:-4.95, Z:-1.65 [[ 9.99990682e-01 -2.20767127e-03 3.70980929e-03 5.54115040e+01] [ 2.19961550e-03 9.99995217e-01 2.17415506e-03 -4.94580567e+00] [-3.71459137e-03 -2.16597465e-03 9.99990755e-01 -1.64649420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55486062399999 meters 0.0963402200404984 Centerline is valid? [False, True] Translation: X:55.35, Y:-4.94, Z:-1.65 [[ 9.99988719e-01 -2.29062649e-03 4.16119361e-03 5.53513160e+01] [ 2.27126057e-03 9.99986597e-01 4.65271412e-03 -4.94030765e+00] [-4.17179547e-03 -4.64321048e-03 9.99980518e-01 -1.64700868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.584860624 meters 0.09955900479051956 Centerline is valid? [True, True] Translation: X:55.38, Y:-4.95, Z:-1.65 [[ 9.99992551e-01 -1.52145400e-03 3.54726442e-03 5.53818309e+01] [ 1.52253668e-03 9.99998795e-01 -3.02536295e-04 -4.94600327e+00] [-3.54679985e-03 3.07934882e-04 9.99993663e-01 -1.64749123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.614860624 meters 0.09452192120557042 Centerline is valid? [True, True] Translation: X:55.42, Y:-4.94, Z:-1.65 [[ 9.99991693e-01 -1.30379899e-03 3.86179399e-03 5.54151774e+01] [ 1.30508046e-03 9.99999094e-01 -3.29330482e-04 -4.93900669e+00] [-3.86136111e-03 3.34367698e-04 9.99992489e-01 -1.64667075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.644860624 meters 0.09465042644656262 Centerline is valid? [True, True] Translation: X:55.45, Y:-4.94, Z:-1.65 [[ 9.99985749e-01 1.34241411e-04 5.33708446e-03 5.54471085e+01] [-1.31808028e-04 9.99999887e-01 -4.56287652e-04 -4.94118461e+00] [-5.33714512e-03 4.55577678e-04 9.99985654e-01 -1.64675928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.674860624 meters 0.09447486859118817 Centerline is valid? [True, True] Translation: X:55.48, Y:-4.94, Z:-1.65 [[ 9.99985923e-01 3.72574286e-04 5.29283183e-03 5.54789294e+01] [-3.70184452e-04 9.99999829e-01 -4.52495202e-04 -4.94266765e+00] [-5.29299951e-03 4.50529509e-04 9.99985890e-01 -1.64734598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.704860624 meters 0.09309435078138799 Centerline is valid? [True, True] Translation: X:55.51, Y:-4.94, Z:-1.65 [[ 9.99981136e-01 1.08049673e-03 6.04647706e-03 5.55114389e+01] [-1.07738714e-03 9.99999286e-01 -5.17515058e-04 -4.94273375e+00] [-6.04703191e-03 5.10990899e-04 9.99981586e-01 -1.64678424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.734860624 meters 0.09491425355544451 Centerline is valid? [True, True] Translation: X:55.54, Y:-4.95, Z:-1.65 [[ 9.99968061e-01 2.77548283e-03 7.49494121e-03 5.55405057e+01] [-2.77073754e-03 9.99995954e-01 -6.43441342e-04 -4.94809222e+00] [-7.49669675e-03 6.22654276e-04 9.99971706e-01 -1.64728348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.764860624 meters 0.09285946132747849 Centerline is valid? [True, True] Translation: X:55.57, Y:-4.95, Z:-1.65 [[ 9.99957236e-01 4.03861282e-03 8.31966195e-03 5.55726282e+01] [-4.03281957e-03 9.99991614e-01 -7.12991106e-04 -4.94722489e+00] [-8.32247168e-03 6.79408920e-04 9.99965137e-01 -1.64785795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.794860624 meters 0.0951742526434825 Centerline is valid? [True, True] Translation: X:55.60, Y:-4.95, Z:-1.65 [[ 9.99946952e-01 5.70324999e-03 8.57708487e-03 5.56026651e+01] [-5.69714417e-03 9.99983500e-01 -7.36140866e-04 -4.95445374e+00] [-8.58114175e-03 6.87236926e-04 9.99962945e-01 -1.64887357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.824860624 meters 0.08850973205416689 Centerline is valid? [True, True] Translation: X:55.63, Y:-4.94, Z:-1.65 [[ 9.99935865e-01 6.75878254e-03 9.08762762e-03 5.56348058e+01] [-6.75196860e-03 9.99976901e-01 -7.80276141e-04 -4.94422882e+00] [-9.09269142e-03 7.18866721e-04 9.99958402e-01 -1.64805427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.854860624 meters 0.08889346196590467 Centerline is valid? [True, True] Translation: X:55.66, Y:-4.95, Z:-1.65 [[ 9.99930642e-01 7.41935519e-03 9.14684945e-03 5.56645895e+01] [-7.41247484e-03 9.99972218e-01 -7.85881943e-04 -4.94739492e+00] [-9.15242607e-03 7.18026644e-04 9.99957858e-01 -1.64900346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.884860624 meters 0.09251807756063912 Centerline is valid? [True, True] Translation: X:55.69, Y:-4.96, Z:-1.65 [[ 9.99927013e-01 8.78720917e-03 8.29179928e-03 5.56938854e+01] [-8.78160094e-03 9.99961187e-01 -7.12525458e-04 -4.95692337e+00] [-8.29773856e-03 6.39658180e-04 9.99965369e-01 -1.65149744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.914860624 meters 0.08888278001647246 Centerline is valid? [True, True] Translation: X:55.72, Y:-4.95, Z:-1.65 [[ 9.99913693e-01 9.68849795e-03 8.87356966e-03 5.57243227e+01] [-9.68210536e-03 9.99952836e-01 -7.63083829e-04 -4.95294216e+00] [-8.88054429e-03 6.77103132e-04 9.99960338e-01 -1.65170723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.944860624 meters 0.08933673041669492 Centerline is valid? [True, True] Translation: X:55.75, Y:-4.96, Z:-1.65 [[ 9.99910955e-01 1.03023313e-02 8.48199560e-03 5.57536841e+01] [-1.02965135e-02 9.99946724e-01 -7.29284561e-04 -4.95688191e+00] [-8.48905704e-03 6.41884639e-04 9.99963761e-01 -1.65281031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.974860624 meters 0.0890656941486988 Centerline is valid? [True, True] Translation: X:55.78, Y:-4.96, Z:-1.65 [[ 9.99909289e-01 1.05792364e-02 8.33630954e-03 5.57833102e+01] [-1.05736256e-02 9.99943841e-01 -7.16832789e-04 -4.95882940e+00] [-8.34342492e-03 6.28622747e-04 9.99964995e-01 -1.65335041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.004860624 meters 0.08968841917522678 Centerline is valid? [True, True] Translation: X:55.81, Y:-4.96, Z:-1.65 [[ 9.99902893e-01 1.08751221e-02 8.71417776e-03 5.58113950e+01] [-1.08690034e-02 9.99940650e-01 -7.49204122e-04 -4.96281578e+00] [-8.72180825e-03 6.54416941e-04 9.99961750e-01 -1.65406327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.034860624 meters 0.0898533671774842 Centerline is valid? [True, True] Translation: X:55.84, Y:-4.97, Z:-1.66 [[ 9.99905188e-01 1.07542122e-02 8.60013940e-03 5.58412597e+01] [-1.07482533e-02 9.99941963e-01 -7.38800316e-04 -4.96537972e+00] [-8.60758548e-03 6.46293792e-04 9.99962745e-01 -1.65513130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.064860624 meters 0.09200861250594887 Centerline is valid? [True, True] Translation: X:55.87, Y:-4.97, Z:-1.66 [[ 9.99909637e-01 1.06036732e-02 8.26316833e-03 5.58700467e+01] [-1.05981707e-02 9.99943586e-01 -7.09408019e-04 -4.97226006e+00] [-8.27022450e-03 6.21769447e-04 9.99965608e-01 -1.65698555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.094860624 meters 0.09058261117747378 Centerline is valid? [True, True] Translation: X:55.90, Y:-4.97, Z:-1.66 [[ 9.99900931e-01 1.05537291e-02 9.31378999e-03 5.58994810e+01] [-1.05467363e-02 9.99944062e-01 -7.99599920e-04 -4.97211747e+00] [-9.32170776e-03 7.01290618e-04 9.99956306e-01 -1.65649420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.124860624 meters 0.092820555296188 Centerline is valid? [True, True] Translation: X:55.93, Y:-4.98, Z:-1.66 [[ 9.99902993e-01 9.98916799e-03 9.70677100e-03 5.59283473e+01] [-9.98155120e-03 9.99949836e-01 -8.32818424e-04 -4.97797370e+00] [-9.71460323e-03 7.35849003e-04 9.99952541e-01 -1.65783507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.154860624 meters 0.09015588756272 Centerline is valid? [True, True] Translation: X:55.96, Y:-4.98, Z:-1.66 [[ 9.99903570e-01 1.00835958e-02 9.54838409e-03 5.59592276e+01] [-1.00762330e-02 9.99948898e-01 -8.18903755e-04 -4.97549644e+00] [-9.55615364e-03 7.22613046e-04 9.99954078e-01 -1.65794484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.184860624 meters 0.09289568498002304 Centerline is valid? [True, True] Translation: X:55.99, Y:-4.98, Z:-1.66 [[ 9.99906877e-01 1.00875539e-02 9.19117104e-03 5.59883446e+01] [-1.00807301e-02 9.99948877e-01 -7.88455401e-04 -4.98268489e+00] [-9.19865475e-03 6.95728264e-04 9.99957449e-01 -1.65923180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.214860624 meters 0.09157608855264726 Centerline is valid? [True, True] Translation: X:56.02, Y:-4.98, Z:-1.66 [[ 9.99893992e-01 1.00050449e-02 1.05784312e-02 5.60193140e+01] [-9.99600511e-03 9.99949627e-01 -9.07074725e-04 -4.98184375e+00] [-1.05869736e-02 8.01236516e-04 9.99943635e-01 -1.65883463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.244860624 meters 0.09157608855264726 Centerline is valid? [True, True] Translation: X:56.05, Y:-4.98, Z:-1.66 [[ 9.99893992e-01 1.00050449e-02 1.05784312e-02 5.60492848e+01] [-9.99600511e-03 9.99949627e-01 -9.07074725e-04 -4.98441368e+00] [-1.05869736e-02 8.01236516e-04 9.99943635e-01 -1.65946548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27486062399998 meters 0.09227183409516142 Centerline is valid? [True, True] Translation: X:56.08, Y:-4.99, Z:-1.66 [[ 9.99887401e-01 1.05139200e-02 1.07070951e-02 5.60795081e+01] [-1.05046973e-02 9.99944403e-01 -9.17238029e-04 -4.98788842e+00] [-1.07161436e-02 8.04659957e-04 9.99942257e-01 -1.66048540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30486062399999 meters 0.08850317761257255 Centerline is valid? [True, True] Translation: X:56.11, Y:-4.98, Z:-1.66 [[ 9.99889105e-01 1.08137664e-02 1.02391622e-02 5.61108001e+01] [-1.08053304e-02 9.99941234e-01 -8.78857388e-04 -4.98254746e+00] [-1.02480643e-02 7.68122396e-04 9.99947192e-01 -1.66057074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.334860624 meters 0.08817579130253028 Centerline is valid? [True, True] Translation: X:56.14, Y:-4.98, Z:-1.66 [[ 9.99889502e-01 1.12727733e-02 9.69068069e-03 5.61416524e+01] [-1.12652383e-02 9.99936199e-01 -8.31779606e-04 -4.98311595e+00] [-9.69943888e-03 7.22519867e-04 9.99952698e-01 -1.66172188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.364860624 meters 0.09266351302403503 Centerline is valid? [True, True] Translation: X:56.17, Y:-4.99, Z:-1.66 [[ 9.99884527e-01 1.16820401e-02 9.71916781e-03 5.61706406e+01] [-1.16744826e-02 9.99931503e-01 -8.33951369e-04 -4.99388400e+00] [-9.72824433e-03 7.20388814e-04 9.99952420e-01 -1.66443676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.394860624 meters 0.09036005737866905 Centerline is valid? [True, True] Translation: X:56.20, Y:-4.99, Z:-1.66 [[ 9.99881221e-01 1.18447317e-02 9.86132450e-03 5.62008895e+01] [-1.18369509e-02 9.99929582e-01 -8.47021637e-04 -4.99157011e+00] [-9.87066283e-03 7.30193015e-04 9.99951017e-01 -1.66427392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.424860624 meters 0.08802510022868522 Centerline is valid? [True, True] Translation: X:56.23, Y:-4.99, Z:-1.66 [[ 9.99893615e-01 1.10974591e-02 9.46602771e-03 5.62312215e+01] [-1.10902627e-02 9.99938171e-01 -8.12391161e-04 -4.98846707e+00] [-9.47445791e-03 7.07324001e-04 9.99954866e-01 -1.66401287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.454860624 meters 0.09202446839077394 Centerline is valid? [True, True] Translation: X:56.26, Y:-5.00, Z:-1.67 [[ 9.99899407e-01 1.00224745e-02 1.00362628e-02 5.62594371e+01] [-1.00143268e-02 9.99949484e-01 -8.61754793e-04 -4.99789936e+00] [-1.00443927e-02 7.61161691e-04 9.99949264e-01 -1.66660642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.484860624 meters 0.08872348139901286 Centerline is valid? [True, True] Translation: X:56.29, Y:-4.99, Z:-1.67 [[ 9.99914996e-01 9.49187019e-03 8.93891876e-03 5.62900740e+01] [-9.48539127e-03 9.99954719e-01 -7.66915885e-04 -4.99370331e+00] [-8.94579346e-03 6.82061553e-04 9.99959753e-01 -1.66651576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.514860624 meters 0.09304010711266514 Centerline is valid? [True, True] Translation: X:56.32, Y:-5.00, Z:-1.67 [[ 9.99926557e-01 8.36948975e-03 8.76535170e-03 5.63184896e+01] [-8.36321746e-03 9.99964745e-01 -7.51988816e-04 -5.00444625e+00] [-8.77133644e-03 6.78627045e-04 9.99961301e-01 -1.66979997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.544860624 meters 0.09490007111524877 Centerline is valid? [True, True] Translation: X:56.35, Y:-5.01, Z:-1.67 [[ 9.99946365e-01 6.80619386e-03 7.80655704e-03 5.63484436e+01] [-6.80117259e-03 9.99976648e-01 -6.69579734e-04 -5.01002068e+00] [-7.81093202e-03 6.16450080e-04 9.99969304e-01 -1.67157407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.574860624 meters 0.09757479574331131 Centerline is valid? [True, True] Translation: X:56.38, Y:-5.02, Z:-1.67 [[ 9.99969567e-01 3.92653434e-03 6.74140070e-03 5.63777573e+01] [-3.92272166e-03 9.99992139e-01 -5.78690871e-04 -5.01636496e+00] [-6.74361996e-03 5.52228621e-04 9.99977109e-01 -1.67438226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.604860624 meters 0.0943386689322919 Centerline is valid? [True, True] Translation: X:56.41, Y:-5.01, Z:-1.67 [[ 9.99970189e-01 3.34016303e-03 6.96158309e-03 5.64096537e+01] [-3.33608826e-03 9.99994257e-01 -5.96852165e-04 -5.01334048e+00] [-6.96353670e-03 5.73609917e-04 9.99975590e-01 -1.67373239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.634860624 meters 0.0956660003897167 Centerline is valid? [True, True] Translation: X:56.44, Y:-5.02, Z:-1.68 [[ 9.99978019e-01 1.62486990e-03 6.42823670e-03 5.64402987e+01] [-1.62135783e-03 9.99998534e-01 -5.51522845e-04 -5.01820003e+00] [-6.42912343e-03 5.41088250e-04 9.99979187e-01 -1.67511012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.664860624 meters 0.09584414930549374 Centerline is valid? [True, True] Translation: X:56.47, Y:-5.02, Z:-1.68 [[ 9.99979078e-01 1.04672456e-03 6.38333685e-03 5.64726059e+01] [-1.04326886e-03 9.99999307e-01 -5.44667912e-04 -5.02125060e+00] [-6.38390254e-03 5.37996980e-04 9.99979478e-01 -1.67559931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.694860624 meters 0.10193111621857447 Centerline is valid? [True, False] Translation: X:56.47, Y:-5.02, Z:-1.68 [[ 9.99978401e-01 9.65073100e-04 6.50119693e-03 5.64722575e+01] [-9.62075806e-04 9.99999429e-01 -4.64148923e-04 -5.02160567e+00] [-6.50164116e-03 4.57884254e-04 9.99978759e-01 -1.67548956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.724860624 meters 0.10077563797648298 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.02, Z:-1.68 [[ 9.99979074e-01 9.87452819e-04 6.39345530e-03 5.64724433e+01] [-9.84291397e-04 9.99999392e-01 -4.97605384e-04 -5.02159067e+00] [-6.39394278e-03 4.91301948e-04 9.99979438e-01 -1.67538105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.754860624 meters 0.1010678203447177 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.02, Z:-1.68 [[ 9.99979183e-01 9.23532161e-04 6.38589983e-03 5.64723873e+01] [-9.19860514e-04 9.99999410e-01 -5.77874811e-04 -5.02137020e+00] [-6.38642974e-03 5.71988645e-04 9.99979443e-01 -1.67531613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.784860624 meters 0.10172094162320089 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.02, Z:-1.68 [[ 9.99979763e-01 1.04470161e-03 6.27545121e-03 5.64727864e+01] [-1.04172579e-03 9.99999343e-01 -4.77450663e-04 -5.02144765e+00] [-6.27594589e-03 4.70903702e-04 9.99980195e-01 -1.67554096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.814860624 meters 0.1002850484972544 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.02, Z:-1.68 [[ 9.99979420e-01 1.05553264e-03 6.32809100e-03 5.64728417e+01] [-1.05288055e-03 9.99999357e-01 -4.22415558e-04 -5.02133333e+00] [-6.32853280e-03 4.15744141e-04 9.99979888e-01 -1.67577791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.844860624 meters 0.10056755639782212 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.02, Z:-1.68 [[ 9.99979812e-01 8.79697100e-04 6.29297026e-03 5.64725820e+01] [-8.75259945e-04 9.99999366e-01 -7.07816440e-04 -5.02084943e+00] [-6.29358894e-03 7.02294166e-04 9.99979949e-01 -1.67532130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.874860624 meters 0.10311187718147495 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.02, Z:-1.68 [[ 9.99980275e-01 8.16790919e-04 6.22756442e-03 5.64725529e+01] [-8.11548229e-04 9.99999314e-01 -8.44332953e-04 -5.02064196e+00] [-6.22824980e-03 8.39262330e-04 9.99980252e-01 -1.67506303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.904860624 meters 0.09882074262972035 Centerline is valid? [False, True] Translation: X:56.47, Y:-5.02, Z:-1.68 [[ 9.99980358e-01 9.48651912e-04 6.19543776e-03 5.64728662e+01] [-9.44363795e-04 9.99999313e-01 -6.95029698e-04 -5.02076261e+00] [-6.19609285e-03 6.89165299e-04 9.99980567e-01 -1.67537344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.934860624 meters 0.10240955191680108 Centerline is valid? [True, False] Translation: X:56.47, Y:-5.02, Z:-1.68 [[ 9.99981255e-01 1.05072766e-03 6.03207905e-03 5.64732090e+01] [-1.04658610e-03 9.99999214e-01 -6.89704040e-04 -5.02078229e+00] [-6.03279900e-03 6.83378021e-04 9.99981569e-01 -1.67531542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.964860624 meters 0.10207495900916379 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.02, Z:-1.68 [[ 9.99981970e-01 1.03430810e-03 5.91519371e-03 5.64733779e+01] [-1.02961176e-03 9.99999152e-01 -7.96933954e-04 -5.02050244e+00] [-5.91601297e-03 7.90829232e-04 9.99982188e-01 -1.67518076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99486062399998 meters 0.10289261675972673 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.02, Z:-1.68 [[ 9.99982513e-01 1.30054894e-03 5.76906540e-03 5.64739192e+01] [-1.29759769e-03 9.99999025e-01 -5.15277644e-04 -5.02103390e+00] [-5.76972992e-03 5.07782707e-04 9.99983226e-01 -1.67545946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02486062399998 meters 0.10343973622874388 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.02, Z:-1.68 [[ 9.99982539e-01 1.49931390e-03 5.71609787e-03 5.64741825e+01] [-1.49813412e-03 9.99998856e-01 -2.10673567e-04 -5.02176459e+00] [-5.71640719e-03 2.02106407e-04 9.99983641e-01 -1.67566398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05486062399999 meters 0.1023629818506998 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.02, Z:-1.68 [[ 9.99981887e-01 1.75403347e-03 5.75754517e-03 5.64743826e+01] [-1.75572333e-03 9.99998417e-01 2.88462445e-04 -5.02296739e+00] [-5.75703009e-03 -2.98565877e-04 9.99983384e-01 -1.67611654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.084860624 meters 0.10689857079957805 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.03, Z:-1.68 [[ 9.99980630e-01 2.06753874e-03 5.87075181e-03 5.64744896e+01] [-2.07321061e-03 9.99997390e-01 9.60200774e-04 -5.02515404e+00] [-5.86875124e-03 -9.72353480e-04 9.99982306e-01 -1.67659374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.114860624 meters 0.10561715356264768 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.03, Z:-1.68 [[ 9.99980571e-01 2.25562863e-03 5.81112178e-03 5.64747986e+01] [-2.26265760e-03 9.99996716e-01 1.20328172e-03 -5.02587604e+00] [-5.80838854e-03 -1.21640692e-03 9.99982391e-01 -1.67681032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.144860624 meters 0.10613808979475772 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.03, Z:-1.68 [[ 9.99980100e-01 2.28260599e-03 5.88135131e-03 5.64746237e+01] [-2.29057926e-03 9.99996466e-01 1.34930691e-03 -5.02643070e+00] [-5.87825059e-03 -1.36275176e-03 9.99981794e-01 -1.67680803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.174860624 meters 0.10893185047539991 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.03, Z:-1.68 [[ 9.99980102e-01 2.32898191e-03 5.86275645e-03 5.64745158e+01] [-2.33745815e-03 9.99996232e-01 1.43934130e-03 -5.02706594e+00] [-5.85938216e-03 -1.45301661e-03 9.99981778e-01 -1.67658386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.204860624 meters 0.10580481890208861 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.03, Z:-1.68 [[ 9.99979717e-01 2.57519607e-03 5.82524592e-03 5.64744292e+01] [-2.58596966e-03 9.99994959e-01 1.84269063e-03 -5.02872455e+00] [-5.82047126e-03 -1.85771716e-03 9.99981335e-01 -1.67627862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.234860624 meters 0.11019726856209433 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.03, Z:-1.68 [[ 9.99980122e-01 2.60562049e-03 5.74171931e-03 5.64742951e+01] [-2.61627477e-03 9.99994868e-01 1.84886128e-03 -5.02930607e+00] [-5.73687241e-03 -1.86384644e-03 9.99981807e-01 -1.67578311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.264860624 meters 0.10449875812201109 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.03, Z:-1.68 [[ 9.99979399e-01 2.73990718e-03 5.80476122e-03 5.64739528e+01] [-2.75245944e-03 9.99993889e-01 2.15552503e-03 -5.03075106e+00] [-5.79881981e-03 -2.17145799e-03 9.99980829e-01 -1.67547075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.294860624 meters 0.10474345834460247 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.03, Z:-1.68 [[ 9.99979692e-01 2.95927134e-03 5.64427507e-03 5.64742350e+01] [-2.97251681e-03 9.99992845e-01 2.33976531e-03 -5.03159743e+00] [-5.63731068e-03 -2.35649550e-03 9.99981334e-01 -1.67526835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.324860624 meters 0.10542235688016754 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.03, Z:-1.68 [[ 9.99979361e-01 2.99232188e-03 5.68544787e-03 5.64740421e+01] [-3.00635612e-03 9.99992451e-01 2.46150837e-03 -5.03219527e+00] [-5.67803933e-03 -2.47855005e-03 9.99980808e-01 -1.67512179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.354860624 meters 0.10484971423586156 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.03, Z:-1.68 [[ 9.99978965e-01 3.25429606e-03 5.61068445e-03 5.64743824e+01] [-3.26994967e-03 9.99990781e-01 2.78305159e-03 -5.03306903e+00] [-5.60157585e-03 -2.80133971e-03 9.99980387e-01 -1.67532384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.384860624 meters 0.10894666623943262 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.03, Z:-1.68 [[ 9.99988960e-01 -2.57370664e-04 4.69189132e-03 5.64765381e+01] [ 2.63133470e-04 9.99999212e-01 -1.22767215e-03 -5.03277615e+00] [-4.69157165e-03 1.22889319e-03 9.99988239e-01 -1.67553935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.414860624 meters 0.10882919219089371 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.04, Z:-1.68 [[ 9.99987767e-01 2.12156650e-05 4.94627331e-03 5.64759780e+01] [-1.92559337e-05 9.99999921e-01 -3.96250896e-04 -5.03582021e+00] [-4.94628132e-03 3.96150803e-04 9.99987689e-01 -1.67552811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.444860624 meters 0.10518270959253821 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.04, Z:-1.68 [[ 9.99987739e-01 3.22917615e-04 4.94138957e-03 5.64761180e+01] [-3.23755007e-04 9.99999933e-01 1.68665792e-04 -5.03751177e+00] [-4.94133477e-03 -1.70263523e-04 9.99987777e-01 -1.67572092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.474860624 meters 0.10408405271301953 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.04, Z:-1.68 [[ 9.99985852e-01 6.15164717e-04 5.28361984e-03 5.64754181e+01] [-6.21643341e-04 9.99999057e-01 1.22461658e-03 -5.04129056e+00] [-5.28286152e-03 -1.22788378e-03 9.99985292e-01 -1.67576784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.504860624 meters 0.11093250124033169 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.04, Z:-1.68 [[ 9.99985403e-01 9.16418934e-04 5.32492399e-03 5.64754363e+01] [-9.26148723e-04 9.99997906e-01 1.82503795e-03 -5.04323209e+00] [-5.32324034e-03 -1.82994298e-03 9.99984157e-01 -1.67591102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.534860624 meters 0.11131265428747379 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.04, Z:-1.68 [[ 9.99984424e-01 1.04596665e-03 5.48250799e-03 5.64750499e+01] [-1.05851224e-03 9.99996827e-01 2.28589179e-03 -5.04496798e+00] [-5.48009963e-03 -2.29165948e-03 9.99982358e-01 -1.67586700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.564860624 meters 0.10559405256050047 Centerline is valid? [False, False] Translation: X:56.47, Y:-5.05, Z:-1.68 [[ 9.99982450e-01 1.37396262e-03 5.76290102e-03 5.64744343e+01] [-1.39278601e-03 9.99993705e-01 3.26356359e-03 -5.04874439e+00] [-5.75838072e-03 -3.27153280e-03 9.99978069e-01 -1.67582187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.594860624 meters 0.10776035340632424 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.05, Z:-1.68 [[ 9.99985612e-01 -2.18263086e-03 4.90025230e-03 5.64763679e+01] [ 2.18613515e-03 9.99997358e-01 -7.09882359e-04 -5.04893705e+00] [-4.89868994e-03 7.20584758e-04 9.99987742e-01 -1.67590832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.624860624 meters 0.10905465791934023 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.05, Z:-1.68 [[ 9.99987468e-01 -1.55226949e-03 4.75960093e-03 5.64771000e+01] [ 1.55134245e-03 9.99998777e-01 1.98456609e-04 -5.05124643e+00] [-4.75990316e-03 -1.91070351e-04 9.99988653e-01 -1.67646317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.654860624 meters 0.11659958876800444 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.05, Z:-1.68 [[ 9.99987335e-01 -1.17281581e-03 4.89434918e-03 5.64767376e+01] [ 1.16784699e-03 9.99998800e-01 1.01794861e-03 -5.05434941e+00] [-4.89553718e-03 -1.01221987e-03 9.99987504e-01 -1.67632014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.684860624 meters 0.118481192413027 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.06, Z:-1.68 [[ 9.99988342e-01 -7.31083802e-04 4.77295036e-03 5.64771121e+01] [ 7.23253346e-04 9.99998390e-01 1.64211039e-03 -5.05620261e+00] [-4.77414320e-03 -1.63863920e-03 9.99987261e-01 -1.67642236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.714860624 meters 0.1198136017416293 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.06, Z:-1.68 [[ 9.99988730e-01 -5.51548739e-04 4.71556981e-03 5.64769829e+01] [ 5.42453318e-04 9.99997991e-01 1.92986798e-03 -5.05761910e+00] [-4.71662475e-03 -1.92728825e-03 9.99987019e-01 -1.67601951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74486062399998 meters 0.11964203466781125 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.06, Z:-1.68 [[ 9.99988830e-01 -1.53753853e-04 4.72404909e-03 5.64765711e+01] [ 1.41049148e-04 9.99996373e-01 2.68958302e-03 -5.06072544e+00] [-4.72444549e-03 -2.68888665e-03 9.99985225e-01 -1.67540805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77486062399998 meters 0.10477308769003901 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.06, Z:-1.68 [[ 9.99989074e-01 1.18756820e-04 4.67304668e-03 5.64765579e+01] [-1.33300134e-04 9.99995149e-01 3.11198124e-03 -5.06242416e+00] [-4.67265444e-03 -3.11257015e-03 9.99984239e-01 -1.67516918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80486062399999 meters 0.10477308769003901 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.06, Z:-1.68 [[ 9.99989074e-01 1.18756820e-04 4.67304668e-03 5.64765579e+01] [-1.33300134e-04 9.99995149e-01 3.11198124e-03 -5.06242416e+00] [-4.67265444e-03 -3.11257015e-03 9.99984239e-01 -1.67516918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.834860624 meters 0.10623313280505803 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.07, Z:-1.67 [[ 9.99989391e-01 6.11965192e-04 4.56535452e-03 5.64766023e+01] [-6.29666962e-04 9.99992286e-01 3.87698511e-03 -5.06524830e+00] [-4.56294672e-03 -3.87981863e-03 9.99982063e-01 -1.67483364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.864860624 meters 0.10335069903249051 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.07, Z:-1.67 [[ 9.99989600e-01 7.92828741e-04 4.49117035e-03 5.64766859e+01] [-8.11329687e-04 9.99991187e-01 4.11908118e-03 -5.06627141e+00] [-4.48786505e-03 -4.12268216e-03 9.99981431e-01 -1.67468479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.894860624 meters 0.10632993747959135 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.07, Z:-1.68 [[ 9.99989588e-01 1.16775499e-03 4.41131636e-03 5.64771431e+01] [-1.18817445e-03 9.99988580e-01 4.62910218e-03 -5.06756150e+00] [-4.40586033e-03 -4.63429539e-03 9.99979556e-01 -1.67503932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.924860624 meters 0.104704969285365 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.07, Z:-1.68 [[ 9.99989665e-01 1.82389624e-03 4.16460583e-03 5.64778034e+01] [-1.84674930e-03 9.99983223e-01 5.49021389e-03 -5.07018735e+00] [-4.15452238e-03 -5.49784813e-03 9.99976257e-01 -1.67514815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.954860624 meters 0.10298288350485393 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.07, Z:-1.68 [[ 9.99989858e-01 2.00548189e-03 4.03261966e-03 5.64780295e+01] [-2.02834840e-03 9.99981844e-01 5.67431429e-03 -5.07092571e+00] [-4.02116670e-03 -5.68243630e-03 9.99975770e-01 -1.67502913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.984860624 meters 0.10249123859164255 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.07, Z:-1.67 [[ 9.99990038e-01 2.16601428e-03 3.90287130e-03 5.64782462e+01] [-2.18870372e-03 9.99980676e-01 5.81866121e-03 -5.07156382e+00] [-3.89019257e-03 -5.82714547e-03 9.99975455e-01 -1.67490360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.014860624 meters 0.1017354264344965 Centerline is valid? [False, False] Translation: X:56.48, Y:-5.07, Z:-1.67 [[ 9.99990159e-01 2.38523620e-03 3.74056004e-03 5.64785908e+01] [-2.40780910e-03 9.99978849e-01 6.04178365e-03 -5.07228811e+00] [-3.72606985e-03 -6.05073075e-03 9.99974752e-01 -1.67488171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.044860624 meters 0.09826381139525941 Centerline is valid? [False, True] Translation: X:56.48, Y:-5.07, Z:-1.67 [[ 9.99996019e-01 -1.05646160e-03 2.61662548e-03 5.64806269e+01] [ 1.05152625e-03 9.99997667e-01 1.88681052e-03 -5.07206606e+00] [-2.61861272e-03 -1.88405156e-03 9.99994797e-01 -1.67446150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.074860624 meters 0.09925212065399375 Centerline is valid? [True, True] Translation: X:56.51, Y:-5.08, Z:-1.67 [[ 9.99996974e-01 3.53949912e-04 2.43452498e-03 5.65110898e+01] [-3.53383780e-04 9.99999910e-01 -2.32969259e-04 -5.07646240e+00] [-2.43460722e-03 2.32108233e-04 9.99997009e-01 -1.67470814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.104860624 meters 0.09540870474756186 Centerline is valid? [True, True] Translation: X:56.54, Y:-5.07, Z:-1.67 [[ 9.99995649e-01 2.11605742e-03 2.05533361e-03 5.65423711e+01] [-2.11565699e-03 9.99997743e-01 -1.96983371e-04 -5.07342093e+00] [-2.05574580e-03 1.92634133e-04 9.99997868e-01 -1.67359600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.134860624 meters 0.09540870474756186 Centerline is valid? [True, True] Translation: X:56.57, Y:-5.08, Z:-1.67 [[ 9.99995649e-01 2.11606708e-03 2.05529545e-03 5.65723637e+01] [-2.11566584e-03 9.99997742e-01 -1.97380737e-04 -5.07630108e+00] [-2.05570848e-03 1.93031560e-04 9.99997868e-01 -1.67432546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.164860624 meters 0.0950459065289736 Centerline is valid? [True, True] Translation: X:56.60, Y:-5.08, Z:-1.68 [[ 9.99993172e-01 3.41358425e-03 1.41527894e-03 5.66024650e+01] [-3.41339528e-03 9.99994165e-01 -1.35916615e-04 -5.07901016e+00] [-1.41573465e-03 1.31084780e-04 9.99998989e-01 -1.67525644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.194860624 meters 0.09671648019467044 Centerline is valid? [True, True] Translation: X:56.63, Y:-5.09, Z:-1.68 [[ 9.99988995e-01 4.48863621e-03 1.36464130e-03 5.66313532e+01] [-4.48846101e-03 9.99989918e-01 -1.31426188e-04 -5.08686217e+00] [-1.36521747e-03 1.25299602e-04 9.99999060e-01 -1.67687555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.224860624 meters 0.09618737157534549 Centerline is valid? [True, True] Translation: X:56.66, Y:-5.09, Z:-1.68 [[ 9.99984140e-01 5.41477410e-03 1.54898610e-03 5.66612964e+01] [-5.41454960e-03 9.99985330e-01 -1.49095247e-04 -5.08980508e+00] [-1.54977069e-03 1.40705820e-04 9.99998789e-01 -1.67696523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.254860624 meters 0.09530107009917846 Centerline is valid? [True, True] Translation: X:56.69, Y:-5.09, Z:-1.68 [[ 9.99983654e-01 5.58818215e-03 1.20978756e-03 5.66906433e+01] [-5.58804479e-03 9.99984380e-01 -1.16885298e-04 -5.09239247e+00] [-1.21042184e-03 1.10123040e-04 9.99999261e-01 -1.67743410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.284860624 meters 0.09566173882482859 Centerline is valid? [True, True] Translation: X:56.72, Y:-5.10, Z:-1.68 [[ 9.99987140e-01 5.02142170e-03 7.10217529e-04 5.67197101e+01] [-5.02137401e-03 9.99987390e-01 -6.89187380e-05 -5.09877069e+00] [-7.10554643e-04 6.53515838e-05 9.99999745e-01 -1.67824487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.314860624 meters 0.09496454140951319 Centerline is valid? [True, True] Translation: X:56.75, Y:-5.10, Z:-1.68 [[ 9.99992207e-01 3.93704312e-03 2.91681183e-04 5.67489838e+01] [-3.93703490e-03 9.99992249e-01 -2.87631764e-05 -5.10186074e+00] [-2.91792164e-04 2.76145932e-05 9.99999957e-01 -1.67803332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.344860624 meters 0.0987243643273439 Centerline is valid? [True, True] Translation: X:56.78, Y:-5.11, Z:-1.68 [[ 9.99996080e-01 2.79475601e-03 1.73238529e-04 5.67765619e+01] [-2.79475297e-03 9.99996095e-01 -1.77791330e-05 -5.11312717e+00] [-1.73287541e-04 1.72949045e-05 9.99999985e-01 -1.67998330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.374860624 meters 0.09883061982035832 Centerline is valid? [True, True] Translation: X:56.81, Y:-5.12, Z:-1.68 [[ 9.99999133e-01 -1.30858867e-03 1.44309395e-04 5.68068300e+01] [ 1.30859067e-03 9.99999144e-01 -1.37924816e-05 -5.11987785e+00] [-1.44291223e-04 1.39813116e-05 9.99999989e-01 -1.67908116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.404860624 meters 0.09976512416634709 Centerline is valid? [True, True] Translation: X:56.84, Y:-5.13, Z:-1.68 [[ 9.99994278e-01 -3.31928091e-03 -6.53438890e-04 5.68374347e+01] [ 3.31932284e-03 9.99994489e-01 6.31056910e-05 -5.12671396e+00] [ 6.53225823e-04 -6.52743045e-05 9.99999785e-01 -1.67979335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.434860624 meters 0.10221074987543956 Centerline is valid? [True, False] Translation: X:56.84, Y:-5.13, Z:-1.68 [[ 9.99996084e-01 -2.73134400e-03 -6.09757632e-04 5.68377780e+01] [ 2.73207104e-03 9.99995554e-01 1.19470483e-03 -5.12982516e+00] [ 6.06491772e-04 -1.19636605e-03 9.99999100e-01 -1.68038573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.464860624 meters 0.10485403190744347 Centerline is valid? [False, False] Translation: X:56.84, Y:-5.13, Z:-1.68 [[ 9.99996169e-01 -2.76636010e-03 -9.10407405e-05 5.68365808e+01] [ 2.76655289e-03 9.99993774e-01 2.19040380e-03 -5.13482062e+00] [ 8.49807281e-05 -2.19064728e-03 9.99997597e-01 -1.68014132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49486062399998 meters 0.10740020396309342 Centerline is valid? [False, False] Translation: X:56.84, Y:-5.14, Z:-1.68 [[ 9.99996823e-01 -2.51932786e-03 7.78109151e-05 5.68362742e+01] [ 2.51909416e-03 9.99992708e-01 2.87015960e-03 -5.13718020e+00] [-8.50412208e-05 -2.86995447e-03 9.99995878e-01 -1.68015476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52486062399998 meters 0.10849642329879026 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.14, Z:-1.68 [[ 9.99996121e-01 -2.71094220e-03 6.39994239e-04 5.68345911e+01] [ 2.70874391e-03 9.99990514e-01 3.41109553e-03 -5.14044312e+00] [-6.49235451e-04 -3.40934872e-03 9.99993977e-01 -1.67924768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55486062399999 meters 0.10495757632689225 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.14, Z:-1.68 [[ 9.99996239e-01 -2.63700868e-03 7.53564509e-04 5.68341022e+01] [ 2.63417527e-03 9.99989549e-01 3.73658990e-03 -5.14204225e+00] [-7.63410054e-04 -3.73459082e-03 9.99992735e-01 -1.67886381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.584860624 meters 0.10603605043897359 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.14, Z:-1.68 [[ 9.99996411e-01 -2.55570702e-03 8.03586474e-04 5.68336943e+01] [ 2.55245894e-03 9.99988673e-01 4.01735053e-03 -5.14360775e+00] [-8.13844543e-04 -4.01528500e-03 9.99991608e-01 -1.67840088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.614860624 meters 0.107655996700126 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.15, Z:-1.68 [[ 9.99996762e-01 -2.36425002e-03 9.41043633e-04 5.68331628e+01] [ 2.35992415e-03 9.99986765e-01 4.57175847e-03 -5.14607626e+00] [-9.51839958e-04 -4.56952288e-03 9.99989107e-01 -1.67797406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.644860624 meters 0.10393531149070069 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.15, Z:-1.68 [[ 9.99996876e-01 -2.30998503e-03 9.54912335e-04 5.68328929e+01] [ 2.30544798e-03 9.99986178e-01 4.72537871e-03 -5.14700562e+00] [-9.65814691e-04 -4.72316244e-03 9.99988379e-01 -1.67762840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.674860624 meters 0.10864382778693046 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.15, Z:-1.68 [[ 9.99997276e-01 -2.12916610e-03 9.55914664e-04 5.68327693e+01] [ 2.12432570e-03 9.99985061e-01 5.03640501e-03 -5.14831605e+00] [-9.66623726e-04 -5.03436062e-03 9.99986860e-01 -1.67739816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.704860624 meters 0.11013642722506645 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.15, Z:-1.68 [[ 9.99997338e-01 -2.06176172e-03 1.03637079e-03 5.68324818e+01] [ 2.05627399e-03 9.99984007e-01 5.26861058e-03 -5.14930443e+00] [-1.04721683e-03 -5.26646549e-03 9.99985584e-01 -1.67723548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.734860624 meters 0.11083288768005405 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.15, Z:-1.68 [[ 9.99997737e-01 -1.86829788e-03 1.01730295e-03 5.68325323e+01] [ 1.86258659e-03 9.99982661e-01 5.58645541e-03 -5.15035443e+00] [-1.02772247e-03 -5.58454795e-03 9.99983878e-01 -1.67721744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.764860624 meters 0.11276499004434239 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.15, Z:-1.68 [[ 9.99998197e-01 -1.59592073e-03 1.02953383e-03 5.68323493e+01] [ 1.58959124e-03 9.99980011e-01 6.11971151e-03 -5.15229160e+00] [-1.03927983e-03 -6.11806394e-03 9.99980744e-01 -1.67697121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.794860624 meters 0.10610683777709867 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.15, Z:-1.68 [[ 9.99998369e-01 -1.49611737e-03 1.01150837e-03 5.68322687e+01] [ 1.48973410e-03 9.99979157e-01 6.28221640e-03 -5.15318197e+00] [-1.02088622e-03 -6.28069928e-03 9.99979755e-01 -1.67677068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.824860624 meters 0.1063923519837594 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.15, Z:-1.68 [[ 9.99998624e-01 -1.31980025e-03 1.00468342e-03 5.68323026e+01] [ 1.31317941e-03 9.99977605e-01 6.56234908e-03 -5.15428079e+00] [-1.01332191e-03 -6.56102073e-03 9.99977963e-01 -1.67676521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.854860624 meters 0.10456242943199053 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.16, Z:-1.68 [[ 9.99998803e-01 -1.13193100e-03 1.05530113e-03 5.68319374e+01] [ 1.12457039e-03 9.99975219e-01 6.94958689e-03 -5.15598036e+00] [-1.06314143e-03 -6.94839181e-03 9.99975294e-01 -1.67637189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.884860624 meters 0.10611803668455769 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.16, Z:-1.68 [[ 9.99998777e-01 -1.14802672e-03 1.06174603e-03 5.68316964e+01] [ 1.14060983e-03 9.99975128e-01 6.95998572e-03 -5.15644100e+00] [-1.06970987e-03 -6.95876617e-03 9.99975215e-01 -1.67604214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.914860624 meters 0.10951979517885285 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.16, Z:-1.68 [[ 9.99998812e-01 -1.14534272e-03 1.03112569e-03 5.68315748e+01] [ 1.13812942e-03 9.99975067e-01 6.96917944e-03 -5.15676626e+00] [-1.03908208e-03 -6.96799761e-03 9.99975183e-01 -1.67576746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.944860624 meters 0.1062714903438594 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.16, Z:-1.68 [[ 9.99998895e-01 -1.10283141e-03 9.96702161e-04 5.68314831e+01] [ 1.09578679e-03 9.99974611e-01 7.04105551e-03 -5.15728103e+00] [-1.00444195e-03 -7.03995556e-03 9.99974715e-01 -1.67553252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.974860624 meters 0.10840827574737794 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.16, Z:-1.68 [[ 9.99999048e-01 -9.50587530e-04 1.00051607e-03 5.68313754e+01] [ 9.43239467e-04 9.99972769e-01 7.31929875e-03 -5.15844810e+00] [-1.00744646e-03 -7.31834806e-03 9.99972713e-01 -1.67536133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.004860624 meters 0.10087011007604436 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.16, Z:-1.68 [[ 9.99989251e-01 -4.63130283e-03 2.21483768e-04 5.68331277e+01] [ 4.63056047e-03 9.99984022e-01 3.24240895e-03 -5.15776899e+00] [-2.36496807e-04 -3.24134850e-03 9.99994719e-01 -1.67572366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.034860624 meters 0.10768337169186729 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.16, Z:-1.68 [[ 9.99990731e-01 -4.30458721e-03 9.32139083e-05 5.68334067e+01] [ 4.30421698e-03 9.99984030e-01 3.66235315e-03 -5.15909837e+00] [-1.08977338e-04 -3.66191799e-03 9.99993289e-01 -1.67571023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.064860624 meters 0.10768337169186729 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.16, Z:-1.68 [[ 9.99990731e-01 -4.30458721e-03 9.32139083e-05 5.68334067e+01] [ 4.30421698e-03 9.99984030e-01 3.66235315e-03 -5.15909837e+00] [-1.08977338e-04 -3.66191799e-03 9.99993289e-01 -1.67571023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.094860624 meters 0.09545877688291389 Centerline is valid? [False, True] Translation: X:56.83, Y:-5.16, Z:-1.68 [[ 9.99991239e-01 -4.18569118e-03 -5.23875775e-05 5.68336798e+01] [ 4.18585703e-03 9.99984327e-01 3.71803847e-03 -5.15937505e+00] [ 3.68241956e-05 -3.71822518e-03 9.99993087e-01 -1.67568771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.124860624 meters 0.10059698329608427 Centerline is valid? [True, False] Translation: X:56.83, Y:-5.16, Z:-1.68 [[ 9.99991120e-01 -4.21177619e-03 -1.43791804e-04 5.68337404e+01] [ 4.21226595e-03 9.99984666e-01 3.59503563e-03 -5.15928345e+00] [ 1.28648114e-04 -3.59560939e-03 9.99993528e-01 -1.67548470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.154860624 meters 0.09574211118198354 Centerline is valid? [False, True] Translation: X:56.83, Y:-5.16, Z:-1.68 [[ 9.99992467e-01 -3.85240129e-03 -4.75203481e-04 5.68348108e+01] [ 3.85417848e-03 9.99985362e-01 3.79740253e-03 -5.15921251e+00] [ 4.60567407e-04 -3.79920544e-03 9.99992677e-01 -1.67603833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.184860624 meters 0.10725447517405337 Centerline is valid? [True, False] Translation: X:56.84, Y:-5.16, Z:-1.68 [[ 9.99992903e-01 -3.72091050e-03 -5.90212934e-04 5.68350801e+01] [ 3.72318871e-03 9.99985436e-01 3.90701775e-03 -5.15953369e+00] [ 5.75666675e-04 -3.90918749e-03 9.99992193e-01 -1.67605838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.214860624 meters 0.11046326853070641 Centerline is valid? [False, False] Translation: X:56.83, Y:-5.16, Z:-1.68 [[ 9.99993053e-01 -3.68710091e-03 -5.47290604e-04 5.68349121e+01] [ 3.68925481e-03 9.99985242e-01 3.98816714e-03 -5.15999760e+00] [ 5.32577752e-04 -3.99015853e-03 9.99991897e-01 -1.67591558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24486062399998 meters 0.09857632482559771 Centerline is valid? [False, True] Translation: X:56.83, Y:-5.16, Z:-1.68 [[ 9.99992833e-01 -3.76052005e-03 -4.39534132e-04 5.68343002e+01] [ 3.76226772e-03 9.99984740e-01 4.04540849e-03 -5.16084979e+00] [ 4.24314585e-04 -4.04703314e-03 9.99991721e-01 -1.67534733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27486062399998 meters 0.09433700289885565 Centerline is valid? [True, True] Translation: X:56.87, Y:-5.16, Z:-1.67 [[ 9.99986223e-01 -5.18596045e-03 -8.11915649e-04 5.68657600e+01] [ 5.18602966e-03 9.99986549e-01 8.31572604e-05 -5.15672845e+00] [ 8.11473477e-04 -8.73667334e-05 9.99999667e-01 -1.67120182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30486062399999 meters 0.1003653772318708 Centerline is valid? [True, False] Translation: X:56.87, Y:-5.16, Z:-1.67 [[ 9.99988116e-01 -4.79738187e-03 -8.68242409e-04 5.68662134e+01] [ 4.79797103e-03 9.99988260e-01 6.77760926e-04 -5.15799595e+00] [ 8.64980738e-04 -6.81918673e-04 9.99999393e-01 -1.67167647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.334860624 meters 0.09565291279977942 Centerline is valid? [False, True] Translation: X:56.87, Y:-5.16, Z:-1.67 [[ 9.99989554e-01 -4.49020309e-03 -8.54744810e-04 5.68664384e+01] [ 4.49124154e-03 9.99989174e-01 1.21690934e-03 -5.15928410e+00] [ 8.49271386e-04 -1.22073549e-03 9.99998894e-01 -1.67203718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.364860624 meters 0.09656419397852127 Centerline is valid? [True, True] Translation: X:56.90, Y:-5.16, Z:-1.67 [[ 9.99985446e-01 -5.23427621e-03 -1.30793552e-03 5.68968926e+01] [ 5.23445823e-03 9.99986291e-01 1.35780494e-04 -5.16451030e+00] [ 1.30720687e-03 -1.42624852e-04 9.99999135e-01 -1.67311565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.394860624 meters 0.09679309633257882 Centerline is valid? [True, True] Translation: X:56.93, Y:-5.17, Z:-1.67 [[ 9.99977356e-01 -6.39038229e-03 -2.10955262e-03 5.69279808e+01] [ 6.39085892e-03 9.99979554e-01 2.19278267e-04 -5.16861649e+00] [ 2.10810822e-03 -2.32755154e-04 9.99997751e-01 -1.67372946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.424860624 meters 0.09749747787924459 Centerline is valid? [True, True] Translation: X:56.96, Y:-5.17, Z:-1.68 [[ 9.99974468e-01 -6.89092437e-03 -1.89172035e-03 5.69589578e+01] [ 6.89130886e-03 9.99976235e-01 1.96806849e-04 -5.17440616e+00] [ 1.89031921e-03 -2.09838254e-04 9.99998191e-01 -1.67520637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.454860624 meters 0.09767109264536498 Centerline is valid? [True, True] Translation: X:56.99, Y:-5.18, Z:-1.68 [[ 9.99974180e-01 -6.76477985e-03 -2.42423220e-03 5.69902204e+01] [ 6.76541036e-03 9.99977083e-01 2.51980720e-04 -5.17887177e+00] [ 2.42247205e-03 -2.68375140e-04 9.99997030e-01 -1.67603192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.484860624 meters 0.10111823437510911 Centerline is valid? [True, False] Translation: X:56.99, Y:-5.18, Z:-1.68 [[ 9.99975409e-01 -6.55774944e-03 -2.48547638e-03 5.69905764e+01] [ 6.55907923e-03 9.99978350e-01 5.27247981e-04 -5.17932495e+00] [ 2.48196501e-03 -5.43537451e-04 9.99996772e-01 -1.67633104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.514860624 meters 0.09622273722639417 Centerline is valid? [False, True] Translation: X:56.99, Y:-5.18, Z:-1.68 [[ 9.99976259e-01 -6.42092695e-03 -2.50045402e-03 5.69907328e+01] [ 6.42274808e-03 9.99979114e-01 7.20971401e-04 -5.17970294e+00] [ 2.49577249e-03 -7.37014071e-04 9.99996614e-01 -1.67650613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.544860624 meters 0.09983269898395122 Centerline is valid? [True, True] Translation: X:57.02, Y:-5.19, Z:-1.68 [[ 9.99986101e-01 -5.16685031e-03 -1.04913664e-03 5.70198003e+01] [ 5.16696641e-03 9.99986645e-01 1.07973497e-04 -5.18939344e+00] [ 1.04856475e-03 -1.13392850e-04 9.99999444e-01 -1.67847410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.574860624 meters 0.09987986865371153 Centerline is valid? [True, True] Translation: X:57.05, Y:-5.19, Z:-1.68 [[ 9.99989005e-01 -4.58845901e-03 -9.67148248e-04 5.70506757e+01] [ 4.58855840e-03 9.99989467e-01 1.00563151e-04 -5.19257072e+00] [ 9.66676632e-04 -1.04999862e-04 9.99999527e-01 -1.67867518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.604860624 meters 0.09539725082340676 Centerline is valid? [True, True] Translation: X:57.08, Y:-5.19, Z:-1.68 [[ 9.99992122e-01 -3.96447928e-03 -1.95429701e-04 5.70826778e+01] [ 3.96448349e-03 9.99992141e-01 2.11585159e-05 -5.18844730e+00] [ 1.95344282e-04 -2.19331270e-05 9.99999981e-01 -1.67710117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.634860624 meters 0.09529392894979663 Centerline is valid? [True, True] Translation: X:57.11, Y:-5.19, Z:-1.68 [[ 9.99992372e-01 -3.87269090e-03 5.08422671e-04 5.71136857e+01] [ 3.87271751e-03 9.99992500e-01 -5.13492964e-05 -5.19259152e+00] [-5.08219997e-04 5.33178821e-05 9.99999869e-01 -1.67703467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.664860624 meters 0.09634189933737254 Centerline is valid? [True, True] Translation: X:57.14, Y:-5.20, Z:-1.68 [[ 9.99994712e-01 -3.24782735e-03 1.64543844e-04 5.71440342e+01] [ 3.24783002e-03 9.99994726e-01 -1.59377190e-05 -5.19801206e+00] [-1.64491213e-04 1.64720452e-05 9.99999986e-01 -1.67905829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.694860624 meters 0.0971853470434115 Centerline is valid? [True, True] Translation: X:57.17, Y:-5.20, Z:-1.68 [[ 9.99995627e-01 -2.88837856e-03 -6.34875866e-04 5.71744457e+01] [ 2.88842132e-03 9.99995826e-01 6.64488710e-05 -5.20325552e+00] [ 6.34681287e-04 -6.82823694e-05 9.99999796e-01 -1.68094839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.724860624 meters 0.09576942736406427 Centerline is valid? [True, True] Translation: X:57.21, Y:-5.21, Z:-1.68 [[ 9.99997525e-01 -2.11471595e-03 -6.91558371e-04 5.72055071e+01] [ 2.11476610e-03 9.99997761e-01 7.18038533e-05 -5.20540563e+00] [ 6.91404978e-04 -7.32661598e-05 9.99999758e-01 -1.68178546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.754860624 meters 0.10024019888155401 Centerline is valid? [True, False] Translation: X:57.21, Y:-5.21, Z:-1.68 [[ 9.99997717e-01 -2.02150849e-03 -6.92390854e-04 5.72052796e+01] [ 2.02171034e-03 9.99997914e-01 2.90955468e-04 -5.20624794e+00] [ 6.91801241e-04 -2.92354618e-04 9.99999718e-01 -1.68147262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.784860624 meters 0.09957362674104336 Centerline is valid? [False, True] Translation: X:57.21, Y:-5.21, Z:-1.68 [[ 9.99998198e-01 -1.72755723e-03 -7.86514534e-04 5.72057048e+01] [ 1.72810533e-03 9.99998264e-01 6.96729693e-04 -5.20707043e+00] [ 7.85309529e-04 -6.98087618e-04 9.99999448e-01 -1.68179359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.814860624 meters 0.09208690677154299 Centerline is valid? [True, True] Translation: X:57.24, Y:-5.20, Z:-1.68 [[ 9.99998343e-01 -1.64103294e-03 -7.88384278e-04 5.72370873e+01] [ 1.64109722e-03 9.99998650e-01 8.08929626e-05 -5.19858906e+00] [ 7.88250466e-04 -8.21866438e-05 9.99999686e-01 -1.67790336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.844860624 meters 0.09208690677154299 Centerline is valid? [True, True] Translation: X:57.27, Y:-5.20, Z:-1.68 [[ 9.99998343e-01 -1.64103294e-03 -7.88384278e-04 5.72670931e+01] [ 1.64109722e-03 9.99998650e-01 8.08929626e-05 -5.20166783e+00] [ 7.88250466e-04 -8.21866437e-05 9.99999686e-01 -1.67881500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.874860624 meters 0.09455520493219405 Centerline is valid? [True, True] Translation: X:57.30, Y:-5.21, Z:-1.68 [[ 9.99999194e-01 -1.22704946e-03 -3.24625215e-04 5.72966661e+01] [ 1.22706050e-03 9.99999247e-01 3.38131092e-05 -5.21031913e+00] [ 3.24583480e-04 -3.42114168e-05 9.99999947e-01 -1.68087813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.904860624 meters 0.0913147161132935 Centerline is valid? [True, True] Translation: X:57.33, Y:-5.21, Z:-1.68 [[ 9.99999484e-01 -9.62714687e-04 -3.22841419e-04 5.73277386e+01] [ 9.62725433e-04 9.99999536e-01 3.31308343e-05 -5.20860807e+00] [ 3.22809374e-04 -3.34416249e-05 9.99999947e-01 -1.68021900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.934860624 meters 0.09362378947545671 Centerline is valid? [True, True] Translation: X:57.36, Y:-5.22, Z:-1.68 [[ 9.99999529e-01 -8.25186959e-04 -5.10011781e-04 5.73574550e+01] [ 8.25214587e-04 9.99999658e-01 5.39641453e-05 -5.21625270e+00] [ 5.09967076e-04 -5.43849891e-05 9.99999868e-01 -1.68255244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.964860624 meters 0.09140614909194154 Centerline is valid? [True, True] Translation: X:57.39, Y:-5.22, Z:-1.68 [[ 9.99999710e-01 -3.62717235e-04 -6.69890222e-04 5.73877346e+01] [ 3.62763392e-04 9.99999932e-01 6.87815377e-05 -5.21621995e+00] [ 6.69865229e-04 -6.90245294e-05 9.99999773e-01 -1.68325366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99486062399998 meters 0.09225665590662281 Centerline is valid? [True, True] Translation: X:57.42, Y:-5.22, Z:-1.68 [[ 9.99998733e-01 -4.13920092e-04 -1.53698139e-03 5.74164472e+01] [ 4.14162323e-04 9.99999902e-01 1.57286878e-04 -5.22222814e+00] [ 1.53691614e-03 -1.57923239e-04 9.99998806e-01 -1.68460548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02486062399998 meters 0.09225665590662281 Centerline is valid? [True, True] Translation: X:57.45, Y:-5.23, Z:-1.69 [[ 9.99998719e-01 -4.46746552e-04 -1.53703719e-03 5.74456070e+01] [ 4.46987994e-04 9.99999888e-01 1.56743218e-04 -5.22518681e+00] [ 1.53696699e-03 -1.57430054e-04 9.99998806e-01 -1.68549148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05486062399999 meters 0.0931980361280214 Centerline is valid? [True, True] Translation: X:57.48, Y:-5.23, Z:-1.69 [[ 9.99999701e-01 -2.02653589e-04 -7.46642620e-04 5.74750403e+01] [ 2.02710477e-04 9.99999977e-01 7.61177416e-05 -5.23060514e+00] [ 7.46627177e-04 -7.62690711e-05 9.99999718e-01 -1.68671785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.084860624 meters 0.09545505385646892 Centerline is valid? [True, True] Translation: X:57.50, Y:-5.24, Z:-1.69 [[ 9.99999663e-01 -7.27887792e-04 -3.79899896e-04 5.75042404e+01] [ 7.27902464e-04 9.99999734e-01 3.84842582e-05 -5.23848158e+00] [ 3.79871783e-04 -3.87607753e-05 9.99999927e-01 -1.68842311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.114860624 meters 0.09371676290535667 Centerline is valid? [True, True] Translation: X:57.54, Y:-5.24, Z:-1.69 [[ 9.99999016e-01 -8.46634486e-04 1.11870144e-03 5.75351604e+01] [ 8.46762875e-04 9.99999635e-01 -1.14297977e-04 -5.24069092e+00] [-1.11860426e-03 1.15245139e-04 9.99999368e-01 -1.68774431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.144860624 meters 0.09428899191126205 Centerline is valid? [True, True] Translation: X:57.57, Y:-5.25, Z:-1.69 [[ 9.99998946e-01 -1.32894812e-03 5.84188733e-04 5.75664389e+01] [ 1.32898280e-03 9.99999115e-01 -5.89801965e-05 -5.24552740e+00] [-5.84109835e-04 5.97565111e-05 9.99999828e-01 -1.68916875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.174860624 meters 0.09478806326508432 Centerline is valid? [True, True] Translation: X:57.60, Y:-5.25, Z:-1.69 [[ 9.99997519e-01 -1.93378343e-03 1.10531168e-03 5.75972532e+01] [ 1.93390896e-03 9.99998124e-01 -1.12507910e-04 -5.25032408e+00] [-1.10509204e-03 1.14645203e-04 9.99999383e-01 -1.68986095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.204860624 meters 0.0974806333790637 Centerline is valid? [True, True] Translation: X:57.63, Y:-5.26, Z:-1.69 [[ 9.99995560e-01 -2.80022814e-03 1.01916558e-03 5.76269687e+01] [ 2.80033287e-03 9.99996074e-01 -1.01352828e-04 -5.25947080e+00] [-1.01887776e-03 1.04206380e-04 9.99999476e-01 -1.69244742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.234860624 meters 0.0983712008386519 Centerline is valid? [True, True] Translation: X:57.66, Y:-5.26, Z:-1.69 [[ 9.99994986e-01 -3.14332964e-03 3.84599306e-04 5.76580358e+01] [ 3.14334472e-03 9.99995059e-01 -3.85871161e-05 -5.26471730e+00] [-3.84476113e-04 3.97958508e-05 9.99999925e-01 -1.69384911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.264860624 meters 0.10031617642250606 Centerline is valid? [True, False] Translation: X:57.66, Y:-5.27, Z:-1.69 [[ 9.99996257e-01 -2.71244773e-03 3.58548075e-04 5.76584684e+01] [ 2.71220245e-03 9.99996089e-01 6.82792790e-04 -5.26628839e+00] [-3.60398712e-04 -6.81817779e-04 9.99999703e-01 -1.69438498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.294860624 meters 0.09997703192570173 Centerline is valid? [False, True] Translation: X:57.66, Y:-5.27, Z:-1.69 [[ 9.99996191e-01 -2.73831517e-03 3.45667310e-04 5.76583389e+01] [ 2.73807366e-03 9.99996008e-01 6.97245915e-04 -5.26659874e+00] [-3.47575209e-04 -6.96296796e-04 9.99999697e-01 -1.69417384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.324860624 meters 0.10290418493309204 Centerline is valid? [True, False] Translation: X:57.66, Y:-5.27, Z:-1.69 [[ 9.99996935e-01 -2.46712361e-03 2.07156786e-04 5.76588073e+01] [ 2.46690063e-03 9.99996385e-01 1.06981912e-03 -5.26722956e+00] [-2.09795413e-04 -1.06930481e-03 9.99999406e-01 -1.69443780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.354860624 meters 0.10290418493309204 Centerline is valid? [False, False] Translation: X:57.66, Y:-5.27, Z:-1.69 [[ 9.99996935e-01 -2.46712361e-03 2.07156786e-04 5.76588073e+01] [ 2.46690063e-03 9.99996385e-01 1.06981912e-03 -5.26722956e+00] [-2.09795413e-04 -1.06930481e-03 9.99999406e-01 -1.69443780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.384860624 meters 0.0918697590601054 Centerline is valid? [False, True] Translation: X:57.66, Y:-5.27, Z:-1.69 [[ 9.99997312e-01 -2.31758690e-03 7.14733449e-05 5.76591509e+01] [ 2.31750140e-03 9.99996625e-01 1.17406089e-03 -5.26741720e+00] [-7.41940918e-05 -1.17389209e-03 9.99999308e-01 -1.69452467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.414860624 meters 0.10415360745339301 Centerline is valid? [True, False] Translation: X:57.66, Y:-5.27, Z:-1.69 [[ 9.99997227e-01 -2.35463218e-03 2.86802841e-05 5.76590651e+01] [ 2.35459927e-03 9.99996625e-01 1.09788929e-03 -5.26744398e+00] [-3.12653127e-05 -1.09781871e-03 9.99999397e-01 -1.69427052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.444860624 meters 0.10570150773776094 Centerline is valid? [False, False] Translation: X:57.66, Y:-5.27, Z:-1.69 [[ 9.99997579e-01 -2.20050271e-03 2.25880963e-05 5.76591987e+01] [ 2.20046981e-03 9.99996646e-01 1.36575575e-03 -5.26794840e+00] [-2.55933698e-05 -1.36570274e-03 9.99999067e-01 -1.69441245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.474860624 meters 0.10624707796263777 Centerline is valid? [False, False] Translation: X:57.66, Y:-5.27, Z:-1.69 [[ 9.99997834e-01 -2.08035698e-03 -5.69871084e-05 5.76594554e+01] [ 2.08044121e-03 9.99996680e-01 1.52022544e-03 -5.26830046e+00] [ 5.38243076e-05 -1.52034070e-03 9.99998843e-01 -1.69453393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.504860624 meters 0.10858301088884001 Centerline is valid? [False, False] Translation: X:57.66, Y:-5.27, Z:-1.69 [[ 9.99998077e-01 -1.95841181e-03 -9.95497756e-05 5.76596983e+01] [ 1.95858054e-03 9.99996596e-01 1.72407174e-03 -5.26890862e+00] [ 9.61729943e-05 -1.72426340e-03 9.99998509e-01 -1.69476518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.534860624 meters 0.11021150740349485 Centerline is valid? [False, False] Translation: X:57.66, Y:-5.27, Z:-1.70 [[ 9.99998507e-01 -1.72016301e-03 -1.66296283e-04 5.76602209e+01] [ 1.72050318e-03 9.99996383e-01 2.06755094e-03 -5.26942726e+00] [ 1.62739157e-04 -2.06783397e-03 9.99997849e-01 -1.69530976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.564860624 meters 0.09451617186662822 Centerline is valid? [False, True] Translation: X:57.66, Y:-5.27, Z:-1.70 [[ 9.99998668e-01 -1.61534929e-03 -2.34012598e-04 5.76604043e+01] [ 1.61585770e-03 9.99996299e-01 2.18895642e-03 -5.26989086e+00] [ 2.30475802e-04 -2.18933163e-03 9.99997577e-01 -1.69533126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.594860624 meters 0.09546761285282256 Centerline is valid? [True, True] Translation: X:57.69, Y:-5.27, Z:-1.70 [[ 9.99997434e-01 -2.26163615e-03 -1.27306179e-04 5.76910383e+01] [ 2.26163797e-03 9.99997442e-01 1.41251513e-05 -5.27364652e+00] [ 1.27273907e-04 -1.44130355e-05 9.99999992e-01 -1.69570526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.624860624 meters 0.09374996067087196 Centerline is valid? [True, True] Translation: X:57.72, Y:-5.27, Z:-1.69 [[ 9.99993590e-01 -3.55106822e-03 -4.58124683e-04 5.77217691e+01] [ 3.55109133e-03 9.99993694e-01 4.96378415e-05 -5.27444346e+00] [ 4.57945526e-04 -5.12643659e-05 9.99999894e-01 -1.69483520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.654860624 meters 0.09500529663101617 Centerline is valid? [True, True] Translation: X:57.75, Y:-5.28, Z:-1.70 [[ 9.99991602e-01 -4.09747095e-03 -8.22323259e-05 5.77513057e+01] [ 4.09747173e-03 9.99991605e-01 9.29710271e-06 -5.28048045e+00] [ 8.21935410e-05 -9.63396927e-06 9.99999997e-01 -1.69605045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.684860624 meters 0.09590452926120123 Centerline is valid? [True, True] Translation: X:57.78, Y:-5.29, Z:-1.70 [[ 9.99990966e-01 -4.21135420e-03 5.76664810e-04 5.77819835e+01] [ 4.21139005e-03 9.99991130e-01 -6.09779053e-05 -5.28585587e+00] [-5.76402896e-04 6.34059148e-05 9.99999832e-01 -1.69696428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.714860624 meters 0.09290927047893915 Centerline is valid? [True, True] Translation: X:57.81, Y:-5.28, Z:-1.70 [[ 9.99990452e-01 -4.36197619e-03 2.64410087e-04 5.78141344e+01] [ 4.36198334e-03 9.99990486e-01 -2.64790302e-05 -5.28434196e+00] [-2.64292071e-04 2.76321297e-05 9.99999965e-01 -1.69757148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74486062399998 meters 0.09458119815221162 Centerline is valid? [True, True] Translation: X:57.84, Y:-5.29, Z:-1.70 [[ 9.99988692e-01 -4.75393358e-03 1.27784001e-04 5.78446752e+01] [ 4.75393519e-03 9.99988700e-01 -1.22967647e-05 -5.29037221e+00] [-1.27724099e-04 1.29041025e-05 9.99999992e-01 -1.69943169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77486062399998 meters 0.09512196378864873 Centerline is valid? [True, True] Translation: X:57.88, Y:-5.30, Z:-1.70 [[ 9.99986709e-01 -5.14157715e-03 3.83207367e-04 5.78763161e+01] [ 5.14159259e-03 9.99986781e-01 -3.93136636e-05 -5.29515185e+00] [-3.83000168e-04 4.12834372e-05 9.99999926e-01 -1.70047841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80486062399999 meters 0.09504104099045563 Centerline is valid? [True, True] Translation: X:57.91, Y:-5.30, Z:-1.70 [[ 9.99984944e-01 -5.46137409e-03 5.33570284e-04 5.79078566e+01] [ 5.46140473e-03 9.99985085e-01 -5.59844856e-05 -5.29852942e+00] [-5.33256574e-04 5.88976860e-05 9.99999856e-01 -1.70130884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.834860624 meters 0.0952131331035279 Centerline is valid? [True, True] Translation: X:57.94, Y:-5.30, Z:-1.70 [[ 9.99983730e-01 -5.47813580e-03 1.59070609e-03 5.79397740e+01] [ 5.47841207e-03 9.99984979e-01 -1.69371996e-04 -5.30283049e+00] [-1.58975436e-03 1.78083783e-04 9.99998720e-01 -1.70173615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.864860624 meters 0.09547367747098454 Centerline is valid? [True, True] Translation: X:57.97, Y:-5.31, Z:-1.70 [[ 9.99983940e-01 -5.54977874e-03 1.14849194e-03 5.79718492e+01] [ 5.54992229e-03 9.99984592e-01 -1.21837428e-04 -5.30674385e+00] [-1.14779808e-03 1.28209512e-04 9.99999333e-01 -1.70291628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.894860624 meters 0.09758543394074345 Centerline is valid? [True, True] Translation: X:58.00, Y:-5.31, Z:-1.70 [[ 9.99970934e-01 -7.33037704e-03 2.09660480e-03 5.80008252e+01] [ 7.33086654e-03 9.99973103e-01 -2.25881973e-04 -5.31437071e+00] [-2.09489260e-03 2.41245338e-04 9.99997777e-01 -1.70377754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.924860624 meters 0.09926256166557428 Centerline is valid? [True, True] Translation: X:58.03, Y:-5.32, Z:-1.70 [[ 9.99961468e-01 -8.29293827e-03 2.87931208e-03 5.80318030e+01] [ 8.29386178e-03 9.99965558e-01 -3.08948470e-04 -5.32102524e+00] [-2.87665082e-03 3.32817182e-04 9.99995807e-01 -1.70445769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.954860624 meters 0.09785903086716449 Centerline is valid? [True, True] Translation: X:58.06, Y:-5.32, Z:-1.70 [[ 9.99955065e-01 -8.85185145e-03 3.39300202e-03 5.80643764e+01] [ 8.85313704e-03 9.99960744e-01 -3.64062820e-04 -5.32268854e+00] [-3.38964620e-03 3.94085173e-04 9.99994177e-01 -1.70455065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.984860624 meters 0.09874361745860874 Centerline is valid? [True, True] Translation: X:58.10, Y:-5.33, Z:-1.71 [[ 9.99948817e-01 -9.52094000e-03 3.42281008e-03 5.80958519e+01] [ 9.52225301e-03 9.99954595e-01 -3.67513670e-04 -5.32845040e+00] [-3.41915559e-03 4.00087723e-04 9.99994075e-01 -1.70528570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.014860624 meters 0.10457592216625675 Centerline is valid? [True, False] Translation: X:58.10, Y:-5.33, Z:-1.71 [[ 9.99953331e-01 -9.00209828e-03 3.50676981e-03 5.80961677e+01] [ 8.99993176e-03 9.99959299e-01 6.33101135e-04 -5.33072349e+00] [-3.51232632e-03 -6.01510900e-04 9.99993651e-01 -1.70598780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.044860624 meters 0.09893524278503651 Centerline is valid? [False, True] Translation: X:58.10, Y:-5.33, Z:-1.71 [[ 9.99956036e-01 -8.68551619e-03 3.53395967e-03 5.80966036e+01] [ 8.68148403e-03 9.99961648e-01 1.15472053e-03 -5.33158957e+00] [-3.54385348e-03 -1.12398975e-03 9.99993089e-01 -1.70668699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.074860624 meters 0.09754735127838095 Centerline is valid? [True, True] Translation: X:58.13, Y:-5.33, Z:-1.71 [[ 9.99955105e-01 -8.84669497e-03 3.39456379e-03 5.81285899e+01] [ 8.84802622e-03 9.99960784e-01 -3.77352598e-04 -5.33245479e+00] [-3.39109234e-03 4.07370846e-04 9.99994167e-01 -1.70665749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.104860624 meters 0.09732974625913865 Centerline is valid? [True, True] Translation: X:58.16, Y:-5.34, Z:-1.71 [[ 9.99951750e-01 -9.07752785e-03 3.75459233e-03 5.81609914e+01] [ 9.07915978e-03 9.99958696e-01 -4.17832508e-04 -5.33538169e+00] [-3.75064436e-03 4.51900891e-04 9.99992864e-01 -1.70645824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.134860624 meters 0.09907750166011631 Centerline is valid? [True, True] Translation: X:58.19, Y:-5.34, Z:-1.71 [[ 9.99956996e-01 -8.62417291e-03 3.41011761e-03 5.81915296e+01] [ 8.62551815e-03 9.99962727e-01 -3.79974302e-04 -5.34131244e+00] [-3.40671354e-03 4.09371993e-04 9.99994113e-01 -1.70863649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.164860624 meters 0.09911204868488661 Centerline is valid? [True, True] Translation: X:58.22, Y:-5.34, Z:-1.71 [[ 9.99961319e-01 -7.96668657e-03 3.72736289e-03 5.82227202e+01] [ 7.96829192e-03 9.99968166e-01 -4.16040741e-04 -5.34458218e+00] [-3.72392977e-03 4.45725364e-04 9.99992967e-01 -1.70955387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.194860624 meters 0.09744229529317451 Centerline is valid? [True, True] Translation: X:58.25, Y:-5.35, Z:-1.71 [[ 9.99965461e-01 -7.09473043e-03 4.32926817e-03 5.82548007e+01] [ 7.09688763e-03 9.99974700e-01 -4.83124802e-04 -5.34514393e+00] [-4.32573100e-03 5.13832445e-04 9.99990512e-01 -1.71010366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.224860624 meters 0.0996479900516745 Centerline is valid? [True, True] Translation: X:58.28, Y:-5.35, Z:-1.71 [[ 9.99975562e-01 -5.23304285e-03 4.63588316e-03 5.82835243e+01] [ 5.23550584e-03 9.99986160e-01 -5.19311774e-04 -5.35150303e+00] [-4.63310142e-03 5.43570276e-04 9.99989119e-01 -1.71169993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.254860624 meters 0.0995639327553156 Centerline is valid? [True, True] Translation: X:58.32, Y:-5.35, Z:-1.71 [[ 9.99978200e-01 -4.70322511e-03 4.63445783e-03 5.83156774e+01] [ 4.70567133e-03 9.99988795e-01 -5.17071809e-04 -5.35416918e+00] [-4.63197400e-03 5.38868772e-04 9.99989127e-01 -1.71272392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.284860624 meters 0.0981878170121076 Centerline is valid? [True, True] Translation: X:58.35, Y:-5.36, Z:-1.71 [[ 9.99982225e-01 -3.56091698e-03 4.78225323e-03 5.83469462e+01] [ 3.56351413e-03 9.99993508e-01 -5.34669836e-04 -5.35502299e+00] [-4.78031827e-03 5.51701959e-04 9.99988422e-01 -1.71333660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.314860624 meters 0.0980306339123222 Centerline is valid? [True, True] Translation: X:58.38, Y:-5.36, Z:-1.71 [[ 9.99984974e-01 -2.22734475e-03 5.00898155e-03 5.83772092e+01] [ 2.23018225e-03 9.99997356e-01 -5.60967420e-04 -5.35762871e+00] [-5.00771884e-03 5.72129933e-04 9.99987298e-01 -1.71475181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.344860624 meters 0.09879133139889647 Centerline is valid? [True, True] Translation: X:58.41, Y:-5.36, Z:-1.72 [[ 9.99989418e-01 -6.64566661e-04 4.55214459e-03 5.84065429e+01] [ 6.66895872e-04 9.99999647e-01 -5.10174579e-04 -5.36097119e+00] [-4.55180394e-03 5.13204987e-04 9.99989509e-01 -1.71718214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.374860624 meters 0.10250205022601823 Centerline is valid? [True, False] Translation: X:58.41, Y:-5.36, Z:-1.72 [[ 9.99990083e-01 -5.48840975e-04 4.41959808e-03 5.84069746e+01] [ 5.50657970e-04 9.99999764e-01 -4.09915729e-04 -5.36097236e+00] [-4.41937206e-03 4.12345351e-04 9.99990150e-01 -1.71743340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.404860624 meters 0.09996941187594498 Centerline is valid? [False, True] Translation: X:58.41, Y:-5.36, Z:-1.72 [[ 9.99990609e-01 -4.22502874e-04 4.31322469e-03 5.84074549e+01] [ 4.23887725e-04 9.99999859e-01 -3.20161942e-04 -5.36077559e+00] [-4.31308881e-03 3.21987258e-04 9.99990647e-01 -1.71781932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.434860624 meters 0.10054822148598788 Centerline is valid? [True, False] Translation: X:58.41, Y:-5.36, Z:-1.72 [[ 9.99991363e-01 -2.40275359e-04 4.14923457e-03 5.84080538e+01] [ 2.40964520e-04 9.99999957e-01 -1.65594512e-04 -5.36073890e+00] [-4.14919460e-03 1.66592900e-04 9.99991378e-01 -1.71820497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.464860624 meters 0.09942230857185327 Centerline is valid? [False, True] Translation: X:58.41, Y:-5.36, Z:-1.72 [[ 9.99992516e-01 -1.50076820e-04 3.86587509e-03 5.84086330e+01] [ 1.51130533e-04 9.99999952e-01 -2.72277109e-04 -5.36015576e+00] [-3.86583404e-03 2.72859323e-04 9.99992490e-01 -1.71824624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49486062399998 meters 0.09966635882977418 Centerline is valid? [True, True] Translation: X:58.44, Y:-5.36, Z:-1.72 [[ 9.99989405e-01 3.83587673e-04 4.58721406e-03 5.84409342e+01] [-3.81304727e-04 9.99999803e-01 -4.98540035e-04 -5.36389730e+00] [-4.58740439e-03 4.96785627e-04 9.99989354e-01 -1.71896030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52486062399998 meters 0.10202011224348967 Centerline is valid? [True, False] Translation: X:58.44, Y:-5.36, Z:-1.72 [[ 9.99989930e-01 4.90902954e-04 4.46074462e-03 5.84414641e+01] [-4.88854158e-04 9.99999775e-01 -4.60373338e-04 -5.36353701e+00] [-4.46096961e-03 4.58188049e-04 9.99989945e-01 -1.71932999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55486062399999 meters 0.09796248814230445 Centerline is valid? [False, True] Translation: X:58.44, Y:-5.36, Z:-1.72 [[ 9.99990668e-01 2.24607733e-04 4.31436477e-03 5.84415000e+01] [-2.20156750e-04 9.99999443e-01 -1.03211300e-03 -5.36216122e+00] [-4.31459419e-03 1.03115353e-03 9.99990160e-01 -1.71900624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.584860624 meters 0.09956113842664742 Centerline is valid? [True, True] Translation: X:58.47, Y:-5.37, Z:-1.72 [[ 9.99987764e-01 6.83815339e-04 4.89949723e-03 5.84721276e+01] [-6.81262275e-04 9.99999631e-01 -5.22736785e-04 -5.36835817e+00] [-4.89985287e-03 5.19392546e-04 9.99987861e-01 -1.72046600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.614860624 meters 0.0988529436927704 Centerline is valid? [True, True] Translation: X:58.50, Y:-5.37, Z:-1.72 [[ 9.99987767e-01 1.16592419e-03 4.80691335e-03 5.85043573e+01] [-1.16347283e-03 9.99999192e-01 -5.12730210e-04 -5.37084022e+00] [-4.80750727e-03 5.07131225e-04 9.99988315e-01 -1.72162033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.644860624 meters 0.1011616972719268 Centerline is valid? [True, False] Translation: X:58.51, Y:-5.37, Z:-1.72 [[ 9.99988561e-01 1.30322803e-03 4.60204878e-03 5.85051366e+01] [-1.30082704e-03 9.99999016e-01 -5.24677133e-04 -5.37033913e+00] [-4.60272803e-03 5.18684662e-04 9.99989273e-01 -1.72213527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.674860624 meters 0.09365126691541775 Centerline is valid? [False, True] Translation: X:58.51, Y:-5.37, Z:-1.72 [[ 9.99989184e-01 1.01845413e-03 4.53818291e-03 5.85050251e+01] [-1.01379079e-03 9.99998956e-01 -1.02976028e-03 -5.36925418e+00] [-4.53922694e-03 1.02514838e-03 9.99989172e-01 -1.72179774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.704860624 meters 0.10129770211372446 Centerline is valid? [True, False] Translation: X:58.51, Y:-5.37, Z:-1.72 [[ 9.99989638e-01 1.15892177e-03 4.40243965e-03 5.85055978e+01] [-1.15491284e-03 9.99998916e-01 -9.13049042e-04 -5.36904469e+00] [-4.40349303e-03 9.07955146e-04 9.99989892e-01 -1.72222237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.734860624 meters 0.09345471085334706 Centerline is valid? [False, True] Translation: X:58.51, Y:-5.37, Z:-1.72 [[ 9.99990571e-01 1.14856455e-03 4.18785866e-03 5.85059875e+01] [-1.14411351e-03 9.99998778e-01 -1.06508595e-03 -5.36856784e+00] [-4.18907686e-03 1.06028452e-03 9.99990664e-01 -1.72217496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.764860624 meters 0.09420494506933219 Centerline is valid? [True, True] Translation: X:58.54, Y:-5.37, Z:-1.72 [[ 9.99987654e-01 1.82544454e-03 4.62166756e-03 5.85373697e+01] [-1.82320741e-03 9.99998219e-01 -4.88219279e-04 -5.37195938e+00] [-4.62255054e-03 4.79786993e-04 9.99989201e-01 -1.72402674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.794860624 meters 0.09516445677610702 Centerline is valid? [True, True] Translation: X:58.57, Y:-5.38, Z:-1.73 [[ 9.99985267e-01 2.08700272e-03 5.01102248e-03 5.85687793e+01] [-2.08439437e-03 9.99997689e-01 -5.25689066e-04 -5.37606182e+00] [-5.01210801e-03 5.15236374e-04 9.99987307e-01 -1.72508527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.824860624 meters 0.09242869861055322 Centerline is valid? [True, True] Translation: X:58.60, Y:-5.37, Z:-1.72 [[ 9.99983302e-01 2.07313073e-03 5.39430989e-03 5.86010089e+01] [-2.07010176e-03 9.99997697e-01 -5.67034193e-04 -5.37409903e+00] [-5.39547300e-03 5.55857954e-04 9.99985290e-01 -1.72460082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.854860624 meters 0.0955089183786076 Centerline is valid? [True, True] Translation: X:58.63, Y:-5.38, Z:-1.73 [[ 9.99976884e-01 2.90651062e-03 6.14676715e-03 5.86303558e+01] [-2.90255152e-03 9.99995574e-01 -6.52917464e-04 -5.38228299e+00] [-6.14863766e-03 6.35061063e-04 9.99980895e-01 -1.72695741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.884860624 meters 0.09280357208061465 Centerline is valid? [True, True] Translation: X:58.66, Y:-5.38, Z:-1.73 [[ 9.99973299e-01 4.02849864e-03 6.09696488e-03 5.86619943e+01] [-4.02462555e-03 9.99991692e-01 -6.47385784e-04 -5.37898056e+00] [-6.09952221e-03 6.22830497e-04 9.99981204e-01 -1.72731245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.914860624 meters 0.0934070441135472 Centerline is valid? [True, True] Translation: X:58.69, Y:-5.38, Z:-1.73 [[ 9.99965828e-01 4.91800846e-03 6.64499544e-03 5.86924163e+01] [-4.91342298e-03 9.99987680e-01 -7.06213681e-04 -5.38230215e+00] [-6.64838673e-03 6.73539875e-04 9.99977672e-01 -1.72780220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.944860624 meters 0.0934070441135472 Centerline is valid? [True, True] Translation: X:58.72, Y:-5.39, Z:-1.73 [[ 9.99965667e-01 4.95051359e-03 6.64501781e-03 5.87232384e+01] [-4.94593021e-03 9.99987520e-01 -7.06003399e-04 -5.38561492e+00] [-6.64842996e-03 6.73113366e-04 9.99977672e-01 -1.72863297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.974860624 meters 0.09375788145173318 Centerline is valid? [True, True] Translation: X:58.75, Y:-5.39, Z:-1.73 [[ 9.99960049e-01 5.63173144e-03 6.94151327e-03 5.87546796e+01] [-5.62674431e-03 9.99983898e-01 -7.37770388e-04 -5.38791936e+00] [-6.94555642e-03 6.98682793e-04 9.99975635e-01 -1.72977623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.004860624 meters 0.09344240123256664 Centerline is valid? [True, True] Translation: X:58.79, Y:-5.39, Z:-1.73 [[ 9.99947034e-01 7.75830644e-03 6.76294002e-03 5.87855438e+01] [-7.75361716e-03 9.99969682e-01 -7.19323197e-04 -5.38810948e+00] [-6.76831571e-03 6.66847849e-04 9.99976872e-01 -1.73066847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.034860624 meters 0.0954926488858387 Centerline is valid? [True, True] Translation: X:58.81, Y:-5.39, Z:-1.73 [[ 9.99927852e-01 9.76620268e-03 6.99365080e-03 5.88144993e+01] [-9.76123127e-03 9.99952081e-01 -7.44628210e-04 -5.39355490e+00] [-7.00058786e-03 6.76307844e-04 9.99975267e-01 -1.73280976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.064860624 meters 0.09133793020627354 Centerline is valid? [True, True] Translation: X:58.85, Y:-5.39, Z:-1.73 [[ 9.99913169e-01 1.14648626e-02 6.49704682e-03 5.88457832e+01] [-1.14606103e-02 9.99934086e-01 -6.91353507e-04 -5.38743236e+00] [-6.50454485e-03 6.16833354e-04 9.99978655e-01 -1.73247442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.094860624 meters 0.08882826095573104 Centerline is valid? [True, True] Translation: X:58.88, Y:-5.38, Z:-1.73 [[ 9.99844125e-01 1.65213177e-02 6.22676421e-03 5.88769401e+01] [-1.65175081e-02 9.99863357e-01 -6.62731845e-04 -5.38295318e+00] [-6.23686257e-03 5.59777912e-04 9.99980394e-01 -1.73325502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.124860624 meters 0.08806016094591927 Centerline is valid? [True, True] Translation: X:58.91, Y:-5.38, Z:-1.73 [[ 9.99790942e-01 1.94424718e-02 6.32953026e-03 5.89074741e+01] [-1.94385943e-02 9.99810826e-01 -6.73542929e-04 -5.38274713e+00] [-6.34142822e-03 5.50364948e-04 9.99979741e-01 -1.73393461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.154860624 meters 0.08478584809986157 Centerline is valid? [True, True] Translation: X:58.94, Y:-5.38, Z:-1.73 [[ 9.99722406e-01 2.25850829e-02 6.71006416e-03 5.89389741e+01] [-2.25807957e-02 9.99744766e-01 -7.14013168e-04 -5.37674087e+00] [-6.72447757e-03 5.62296375e-04 9.99977232e-01 -1.73307561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.184860624 meters 0.09170817392108901 Centerline is valid? [True, True] Translation: X:58.97, Y:-5.39, Z:-1.74 [[ 9.99659871e-01 2.52386904e-02 6.56895706e-03 5.89670485e+01] [-2.52346357e-02 9.99681311e-01 -6.99417422e-04 -5.39168867e+00] [-6.58451598e-03 5.33414291e-04 9.99978180e-01 -1.73809817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.214860624 meters 0.08381147188990605 Centerline is valid? [True, True] Translation: X:59.00, Y:-5.37, Z:-1.74 [[ 9.99500702e-01 3.09761159e-02 6.23114849e-03 5.89995515e+01] [-3.09725823e-02 9.99520015e-01 -6.62801870e-04 -5.37392144e+00] [-6.24868866e-03 4.69476174e-04 9.99980367e-01 -1.73574275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24486062399998 meters 0.0827493544945832 Centerline is valid? [True, True] Translation: X:59.03, Y:-5.37, Z:-1.74 [[ 9.99408223e-01 3.37894176e-02 6.44045489e-03 5.90298864e+01] [-3.37856994e-02 9.99428865e-01 -6.85283154e-04 -5.37224725e+00] [-6.45993184e-03 4.67282347e-04 9.99979025e-01 -1.73654306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27486062399998 meters 0.08418805496513178 Centerline is valid? [True, True] Translation: X:59.06, Y:-5.38, Z:-1.74 [[ 9.99328366e-01 3.61076455e-02 6.24937089e-03 5.90584532e+01] [-3.61041870e-02 9.99347810e-01 -6.65383174e-04 -5.37649496e+00] [-6.26932053e-03 4.39307825e-04 9.99980251e-01 -1.73934850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30486062399999 meters 0.08105879688164298 Centerline is valid? [True, True] Translation: X:59.09, Y:-5.37, Z:-1.74 [[ 9.99217881e-01 3.91189470e-02 5.77353163e-03 5.90896758e+01] [-3.91160478e-02 9.99234486e-01 -6.14259628e-04 -5.36804110e+00] [-5.79314110e-03 3.87941465e-04 9.99983144e-01 -1.73899887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.334860624 meters 0.08241008480664544 Centerline is valid? [True, True] Translation: X:59.12, Y:-5.37, Z:-1.74 [[ 9.99163767e-01 4.03343568e-02 6.70128119e-03 5.91174660e+01] [-4.03304729e-02 9.99186141e-01 -7.13755610e-04 -5.37276408e+00] [-6.72461616e-03 4.42892904e-04 9.99977291e-01 -1.74116445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.364860624 meters 0.08133167311410941 Centerline is valid? [True, True] Translation: X:59.15, Y:-5.37, Z:-1.74 [[ 9.99134192e-01 4.10786363e-02 6.58873923e-03 5.91469243e+01] [-4.10749006e-02 9.99155824e-01 -7.01363014e-04 -5.37104868e+00] [-6.61198821e-03 4.30123960e-04 9.99978048e-01 -1.74126008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.394860624 meters 0.08139241294511346 Centerline is valid? [True, True] Translation: X:59.18, Y:-5.37, Z:-1.74 [[ 9.99127314e-01 4.12840304e-02 6.34350876e-03 5.91759061e+01] [-4.12805739e-02 9.99147366e-01 -6.74903825e-04 -5.37274508e+00] [-6.36596282e-03 4.12451163e-04 9.99979652e-01 -1.74268751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.424860624 meters 0.08369723231047695 Centerline is valid? [True, True] Translation: X:59.20, Y:-5.38, Z:-1.75 [[ 9.99123164e-01 4.12768789e-02 7.00867060e-03 5.92036414e+01] [-4.12726617e-02 9.99147643e-01 -7.45345109e-04 -5.37849901e+00] [-7.03346223e-03 4.55425073e-04 9.99975161e-01 -1.74506013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.454860624 meters 0.08218904891167048 Centerline is valid? [True, True] Translation: X:59.23, Y:-5.38, Z:-1.74 [[ 9.99148926e-01 4.07121479e-02 6.62908929e-03 5.92329668e+01] [-4.07083676e-02 9.99170823e-01 -7.04238775e-04 -5.37629964e+00] [-6.65226367e-03 4.33780012e-04 9.99977779e-01 -1.74495748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.484860624 meters 0.08235448475733843 Centerline is valid? [True, True] Translation: X:59.26, Y:-5.38, Z:-1.75 [[ 9.99182865e-01 3.99314776e-02 6.25136834e-03 5.92617909e+01] [-3.99281026e-02 9.99202335e-01 -6.63808220e-04 -5.37862009e+00] [-6.27288868e-03 4.13660523e-04 9.99980240e-01 -1.74593612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.514860624 meters 0.0837494892511546 Centerline is valid? [True, True] Translation: X:59.29, Y:-5.38, Z:-1.75 [[ 9.99249285e-01 3.82122707e-02 6.37871075e-03 5.92898211e+01] [-3.82087269e-02 9.99269551e-01 -6.76555415e-04 -5.38364505e+00] [-6.39990414e-03 4.32325099e-04 9.99979427e-01 -1.74841593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.544860624 meters 0.08486797301918997 Centerline is valid? [True, True] Translation: X:59.32, Y:-5.39, Z:-1.75 [[ 9.99290452e-01 3.71859688e-02 5.98299012e-03 5.93183144e+01] [-3.71828341e-02 9.99308278e-01 -6.34362802e-04 -5.38859960e+00] [-6.00244095e-03 4.11448163e-04 9.99981901e-01 -1.74984218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.574860624 meters 0.08588039799705342 Centerline is valid? [True, True] Translation: X:59.35, Y:-5.39, Z:-1.75 [[ 9.99347732e-01 3.56666348e-02 5.65707074e-03 5.93469274e+01] [-3.56638069e-02 9.99363664e-01 -6.00013506e-04 -5.39324554e+00] [-5.67487141e-03 3.97869457e-04 9.99983819e-01 -1.75119176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.604860624 meters 0.08596441813199511 Centerline is valid? [True, True] Translation: X:59.38, Y:-5.40, Z:-1.75 [[ 9.99401769e-01 3.41461982e-02 5.49004197e-03 5.93763543e+01] [-3.41435178e-02 9.99416771e-01 -5.81242990e-04 -5.39604758e+00] [-5.50668726e-03 3.93445927e-04 9.99984761e-01 -1.75155346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.634860624 meters 0.08806961687364152 Centerline is valid? [True, True] Translation: X:59.41, Y:-5.40, Z:-1.75 [[ 9.99514400e-01 3.08989650e-02 4.02706496e-03 5.94053100e+01] [-3.08974991e-02 9.99522468e-01 -4.25734210e-04 -5.40244590e+00] [-4.03829666e-03 3.01101238e-04 9.99991801e-01 -1.75443831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.664860624 meters 0.08938353015267184 Centerline is valid? [True, True] Translation: X:59.43, Y:-5.41, Z:-1.76 [[ 9.99562629e-01 2.93125588e-02 3.91477056e-03 5.94332326e+01] [-2.93111555e-02 9.99570249e-01 -4.15383885e-04 -5.40780847e+00] [-3.92526415e-03 3.00455760e-04 9.99992251e-01 -1.75594300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.694860624 meters 0.08993966188826144 Centerline is valid? [True, True] Translation: X:59.46, Y:-5.41, Z:-1.76 [[ 9.99597791e-01 2.81288152e-02 3.60923580e-03 5.94625009e+01] [-2.81276180e-02 9.99604267e-01 -3.82040633e-04 -5.41151238e+00] [-3.61855385e-03 2.80367767e-04 9.99993414e-01 -1.75763379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.724860624 meters 0.09169507986398667 Centerline is valid? [True, True] Translation: X:59.49, Y:-5.42, Z:-1.76 [[ 9.99642271e-01 2.65915935e-02 2.86647268e-03 5.94901017e+01] [-2.65908298e-02 9.99646355e-01 -3.04223428e-04 -5.41760860e+00] [-2.87354875e-03 2.27892711e-04 9.99995845e-01 -1.75912436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.754860624 meters 0.09362127011962605 Centerline is valid? [True, True] Translation: X:59.52, Y:-5.42, Z:-1.76 [[ 9.99704575e-01 2.41025696e-02 3.13522772e-03 5.95184394e+01] [-2.41016471e-02 9.99709458e-01 -3.31673845e-04 -5.42344026e+00] [-3.14231100e-03 2.56011708e-04 9.99995030e-01 -1.76002073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.784860624 meters 0.0933596863572233 Centerline is valid? [True, True] Translation: X:59.55, Y:-5.43, Z:-1.76 [[ 9.99723709e-01 2.31909814e-02 3.83210033e-03 5.95471085e+01] [-2.31895951e-02 9.99731003e-01 -4.05798034e-04 -5.42537157e+00] [-3.84048036e-03 3.16821061e-04 9.99992575e-01 -1.75967644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.814860624 meters 0.09721413946496464 Centerline is valid? [True, True] Translation: X:59.58, Y:-5.43, Z:-1.76 [[ 9.99767426e-01 2.11712416e-02 4.10750160e-03 5.95758837e+01] [-2.11696377e-02 9.99775804e-01 -4.33564913e-04 -5.43433388e+00] [-4.11575982e-03 3.46509757e-04 9.99991470e-01 -1.76167288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.844860624 meters 0.09791083424074806 Centerline is valid? [True, True] Translation: X:59.60, Y:-5.44, Z:-1.76 [[ 9.99774098e-01 2.08017005e-02 4.36380085e-03 5.96047657e+01] [-2.07998828e-02 9.99783553e-01 -4.61515164e-04 -5.43870474e+00] [-4.37245661e-03 3.70644361e-04 9.99990372e-01 -1.76250908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.874860624 meters 0.09937061619612746 Centerline is valid? [True, True] Translation: X:59.63, Y:-5.44, Z:-1.76 [[ 9.99798706e-01 1.96969403e-02 3.81811177e-03 5.96338776e+01] [-1.96955435e-02 9.99805943e-01 -4.03090656e-04 -5.44400404e+00] [-3.82531049e-03 3.27809730e-04 9.99992630e-01 -1.76443690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.904860624 meters 0.09349319020482254 Centerline is valid? [True, True] Translation: X:59.66, Y:-5.44, Z:-1.76 [[ 9.99829097e-01 1.81801009e-02 3.35567264e-03 5.96644813e+01] [-1.81790134e-02 9.99834685e-01 -3.54308042e-04 -5.43641525e+00] [-3.36155926e-03 2.93244672e-04 9.99994307e-01 -1.76237375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.934860624 meters 0.09334640825130527 Centerline is valid? [True, True] Translation: X:59.69, Y:-5.44, Z:-1.76 [[ 9.99848745e-01 1.68742126e-02 4.21291725e-03 5.96936688e+01] [-1.68724868e-02 9.99857551e-01 -4.44847886e-04 -5.43914285e+00] [-4.21982358e-03 3.73698209e-04 9.99991027e-01 -1.76208830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.964860624 meters 0.09392539731073879 Centerline is valid? [True, True] Translation: X:59.72, Y:-5.44, Z:-1.76 [[ 9.99870790e-01 1.54145463e-02 4.56008450e-03 5.97226621e+01] [-1.54125108e-02 9.99881104e-01 -4.81180861e-04 -5.44249066e+00] [-4.56695951e-03 4.10836336e-04 9.99989487e-01 -1.76200962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99486062399998 meters 0.09727251846839598 Centerline is valid? [True, True] Translation: X:59.75, Y:-5.45, Z:-1.76 [[ 9.99876558e-01 1.49699035e-02 4.77178406e-03 5.97495653e+01] [-1.49676667e-02 9.99887851e-01 -5.04138165e-04 -5.45119735e+00] [-4.77879581e-03 4.32653460e-04 9.99988488e-01 -1.76451868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02486062399998 meters 0.09165669324059901 Centerline is valid? [True, True] Translation: X:59.78, Y:-5.44, Z:-1.76 [[ 9.99878335e-01 1.48799354e-02 4.67999559e-03 5.97796001e+01] [-1.48777870e-02 9.99889198e-01 -4.93553895e-04 -5.44349983e+00] [-4.68682109e-03 4.23865870e-04 9.99988927e-01 -1.76294537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05486062399999 meters 0.09522230092220366 Centerline is valid? [True, True] Translation: X:59.81, Y:-5.45, Z:-1.77 [[ 9.99898615e-01 1.38923445e-02 3.12441383e-03 5.98076002e+01] [-1.38913819e-02 9.99903456e-01 -3.29595038e-04 -5.45259400e+00] [-3.12869104e-03 2.86159196e-04 9.99995065e-01 -1.76645409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.084860624 meters 0.0924198277700634 Centerline is valid? [True, True] Translation: X:59.84, Y:-5.45, Z:-1.77 [[ 9.99899177e-01 1.40396598e-02 2.12681288e-03 5.98371089e+01] [-1.40392127e-02 9.99901420e-01 -2.24995226e-04 -5.45015507e+00] [-2.12976207e-03 1.95113763e-04 9.99997713e-01 -1.76631449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.114860624 meters 0.11010874619388535 Centerline is valid? [True, False] Translation: X:59.84, Y:-5.45, Z:-1.77 [[ 9.99897453e-01 1.41783854e-02 2.01425269e-03 5.98376942e+01] [-1.41781504e-02 9.99899476e-01 -1.30869734e-04 -5.44994684e+00] [-2.01590573e-03 1.02297936e-04 9.99997963e-01 -1.76677943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.144860624 meters 0.09308316938108456 Centerline is valid? [False, True] Translation: X:59.84, Y:-5.45, Z:-1.77 [[ 9.99895277e-01 1.43501656e-02 1.87291819e-03 5.98382777e+01] [-1.43501549e-02 9.99897031e-01 -1.91412877e-05 -5.44982449e+00] [-1.87300002e-03 -7.73738304e-06 9.99998246e-01 -1.76715132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.174860624 meters 0.09346897250232164 Centerline is valid? [True, True] Translation: X:59.87, Y:-5.45, Z:-1.77 [[ 9.99889561e-01 1.46485669e-02 2.50710249e-03 5.98662178e+01] [-1.46479453e-02 9.99892678e-01 -2.66126432e-04 -5.45283167e+00] [-2.51073179e-03 2.29373141e-04 9.99996822e-01 -1.76732553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.204860624 meters 0.09536649854985496 Centerline is valid? [True, True] Translation: X:59.89, Y:-5.46, Z:-1.77 [[ 9.99886937e-01 1.44325960e-02 4.22062034e-03 5.98935022e+01] [-1.44308403e-02 9.99895770e-01 -4.46118344e-04 -5.45894547e+00] [-4.22661907e-03 3.85160806e-04 9.99990994e-01 -1.76851319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.234860624 meters 0.09498780803166446 Centerline is valid? [True, True] Translation: X:59.92, Y:-5.46, Z:-1.77 [[ 9.99907789e-01 1.31210574e-02 3.50023026e-03 5.99225835e+01] [-1.31198444e-02 9.99913863e-01 -3.69305719e-04 -5.45998069e+00] [-3.50477445e-03 3.23349188e-04 9.99993806e-01 -1.76805178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.264860624 meters 0.09476366176013429 Centerline is valid? [True, True] Translation: X:59.95, Y:-5.46, Z:-1.77 [[ 9.99908969e-01 1.29535541e-02 3.77608990e-03 5.99516475e+01] [-1.29521407e-02 9.99916038e-01 -3.98499917e-04 -5.46260149e+00] [-3.78093485e-03 3.49555193e-04 9.99992791e-01 -1.76849589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.294860624 meters 0.09640955764737598 Centerline is valid? [True, True] Translation: X:59.98, Y:-5.47, Z:-1.77 [[ 9.99914401e-01 1.23600329e-02 4.29194454e-03 5.99802842e+01] [-1.23582040e-02 9.99923532e-01 -4.52400368e-04 -5.46812231e+00] [-4.29720803e-03 3.99320917e-04 9.99990687e-01 -1.77024458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.324860624 meters 0.09771845397071512 Centerline is valid? [True, True] Translation: X:60.01, Y:-5.47, Z:-1.77 [[ 9.99929121e-01 1.14276755e-02 3.34093094e-03 6.00082251e+01] [-1.14265616e-02 9.99934653e-01 -3.52327409e-04 -5.47266047e+00] [-3.34473890e-03 3.14127083e-04 9.99994357e-01 -1.77117411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.354860624 meters 0.09408298144502397 Centerline is valid? [True, True] Translation: X:60.04, Y:-5.47, Z:-1.77 [[ 9.99932476e-01 1.12525143e-02 2.90236687e-03 6.00379544e+01] [-1.12516726e-02 9.99936651e-01 -3.06166881e-04 -5.46828699e+00] [-2.90562815e-03 2.73489726e-04 9.99995741e-01 -1.77085132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.384860624 meters 0.09510521950630782 Centerline is valid? [True, True] Translation: X:60.07, Y:-5.47, Z:-1.77 [[ 9.99936134e-01 1.09468314e-02 2.80984284e-03 6.00654005e+01] [-1.09460401e-02 9.99940046e-01 -2.96843208e-04 -5.47133956e+00] [-2.81292387e-03 2.66067597e-04 9.99996008e-01 -1.77251621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.414860624 meters 0.09555931618209972 Centerline is valid? [True, True] Translation: X:60.09, Y:-5.47, Z:-1.77 [[ 9.99936861e-01 1.09909823e-02 2.33914308e-03 6.00929629e+01] [-1.09904340e-02 9.99939573e-01 -2.47123797e-04 -5.47426320e+00] [-2.34171787e-03 2.21399997e-04 9.99997234e-01 -1.77382906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.444860624 meters 0.09573776486547964 Centerline is valid? [True, True] Translation: X:60.12, Y:-5.48, Z:-1.78 [[ 9.99935930e-01 1.12005815e-02 1.63782859e-03 6.01217485e+01] [-1.12003128e-02 9.99937260e-01 -1.73144687e-04 -5.47693969e+00] [-1.63966516e-03 1.54789401e-04 9.99998644e-01 -1.77529932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.474860624 meters 0.09566316102745757 Centerline is valid? [True, True] Translation: X:60.15, Y:-5.48, Z:-1.78 [[ 9.99929091e-01 1.18724174e-02 9.27170555e-04 6.01508261e+01] [-1.18723309e-02 9.99929517e-01 -9.87266488e-05 -5.47822914e+00] [-9.28277329e-04 8.77119726e-05 9.99999565e-01 -1.77668262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.504860624 meters 0.10212882150269004 Centerline is valid? [True, False] Translation: X:60.15, Y:-5.48, Z:-1.78 [[ 9.99932270e-01 1.16077056e-02 8.46070227e-04 6.01508030e+01] [-1.16072027e-02 9.99932456e-01 -5.96826619e-04 -5.47697205e+00] [-8.52940868e-04 5.86965687e-04 9.99999464e-01 -1.77639614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.534860624 meters 0.09404106310033497 Centerline is valid? [False, True] Translation: X:60.15, Y:-5.48, Z:-1.78 [[ 9.99936468e-01 1.12464852e-02 7.58648989e-04 6.01505560e+01] [-1.12455293e-02 9.99935982e-01 -1.25279654e-03 -5.47556374e+00] [-7.72689980e-04 1.24418553e-03 9.99998927e-01 -1.77576811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.564860624 meters 0.09486008515472182 Centerline is valid? [True, True] Translation: X:60.18, Y:-5.48, Z:-1.78 [[ 9.99919537e-01 1.25547393e-02 1.81604767e-03 6.01787426e+01] [-1.25544203e-02 9.99921173e-01 -1.86955170e-04 -5.47988944e+00] [-1.81825169e-03 1.64140701e-04 9.99998334e-01 -1.77642023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.594860624 meters 0.0952182821182761 Centerline is valid? [True, True] Translation: X:60.21, Y:-5.48, Z:-1.78 [[ 9.99896156e-01 1.42332469e-02 2.25655264e-03 6.02081139e+01] [-1.42327605e-02 9.99898682e-01 -2.31458893e-04 -5.48174525e+00] [-2.25961842e-03 1.99317884e-04 9.99997427e-01 -1.77685004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.624860624 meters 0.09469571219686264 Centerline is valid? [True, True] Translation: X:60.24, Y:-5.48, Z:-1.78 [[ 9.99888222e-01 1.47407234e-02 2.50074711e-03 6.02366234e+01] [-1.47401261e-02 9.99891325e-01 -2.57110430e-04 -5.48305111e+00] [-2.50426534e-03 2.20220364e-04 9.99996840e-01 -1.77681293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.654860624 meters 0.09384498333716357 Centerline is valid? [True, True] Translation: X:60.27, Y:-5.48, Z:-1.78 [[ 9.99887524e-01 1.48642738e-02 1.99834207e-03 6.02654403e+01] [-1.48638922e-02 9.99889505e-01 -2.05694110e-04 -5.48364937e+00] [-2.00117876e-03 1.75967833e-04 9.99997982e-01 -1.77754294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.684860624 meters 0.09573555688286717 Centerline is valid? [True, True] Translation: X:60.29, Y:-5.49, Z:-1.78 [[ 9.99890076e-01 1.47693824e-02 1.30404709e-03 6.02931184e+01] [-1.47692187e-02 9.99890920e-01 -1.35144111e-04 -5.48952516e+00] [-1.30590084e-03 1.15869499e-04 9.99999141e-01 -1.77948886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.714860624 meters 0.09573576968305253 Centerline is valid? [True, True] Translation: X:60.32, Y:-5.49, Z:-1.78 [[ 9.99907993e-01 1.34873702e-02 1.44817486e-03 6.03228941e+01] [-1.34871692e-02 9.99909033e-01 -1.48499006e-04 -5.49198587e+00] [-1.45004599e-03 1.28953564e-04 9.99998940e-01 -1.77964286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74486062399998 meters 0.09622322733877944 Centerline is valid? [True, True] Translation: X:60.35, Y:-5.50, Z:-1.78 [[ 9.99915819e-01 1.29153787e-02 1.24450993e-03 6.03518004e+01] [-1.29152286e-02 9.99916587e-01 -1.28505813e-04 -5.49565529e+00] [-1.24606582e-03 1.12421865e-04 9.99999217e-01 -1.78087049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77486062399998 meters 0.09723518592267089 Centerline is valid? [True, True] Translation: X:60.38, Y:-5.50, Z:-1.78 [[ 9.99933309e-01 1.15216714e-02 7.92858907e-04 6.03804245e+01] [-1.15216099e-02 9.99933621e-01 -8.20196205e-05 -5.49986100e+00] [-7.93751281e-04 7.28791394e-05 9.99999682e-01 -1.78230522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80486062399999 meters 0.09962132990388368 Centerline is valid? [True, True] Translation: X:60.41, Y:-5.51, Z:-1.78 [[ 9.99954926e-01 9.40673418e-03 1.28844256e-03 6.04094212e+01] [-9.40657233e-03 9.99955749e-01 -1.31616309e-04 -5.50651866e+00] [-1.28962362e-03 1.19490548e-04 9.99999161e-01 -1.78375049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.834860624 meters 0.09962132990388368 Centerline is valid? [True, True] Translation: X:60.44, Y:-5.51, Z:-1.78 [[ 9.99955510e-01 9.34442904e-03 1.28832310e-03 6.04377077e+01] [-9.34426564e-03 9.99956333e-01 -1.32790027e-04 -5.50931967e+00] [-1.28950769e-03 1.20745685e-04 9.99999161e-01 -1.78451772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.864860624 meters 0.10259605064664291 Centerline is valid? [True, False] Translation: X:60.44, Y:-5.51, Z:-1.78 [[ 9.99986065e-01 5.24384623e-03 6.09228276e-04 6.04390771e+01] [-5.24090916e-03 9.99975096e-01 -4.72647286e-03 -5.50753986e+00] [-6.33998001e-04 4.72321409e-03 9.99988645e-01 -1.78451507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.894860624 meters 0.10311679554092713 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.51, Z:-1.78 [[ 9.99986842e-01 5.05727719e-03 8.60294599e-04 6.04384746e+01] [-5.05313446e-03 9.99975945e-01 -4.75136735e-03 -5.50779295e+00] [-8.84302886e-04 4.74695765e-03 9.99988342e-01 -1.78442661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.924860624 meters 0.09647378449421866 Centerline is valid? [False, True] Translation: X:60.44, Y:-5.51, Z:-1.78 [[ 9.99986403e-01 5.11428614e-03 1.01834589e-03 6.04383756e+01] [-5.10970258e-03 9.99977027e-01 -4.45383379e-03 -5.50832771e+00] [-1.04110068e-03 4.44856979e-03 9.99989563e-01 -1.78482275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.954860624 meters 0.10924648098296527 Centerline is valid? [True, False] Translation: X:60.44, Y:-5.51, Z:-1.79 [[ 9.99986239e-01 5.07267882e-03 1.33796359e-03 6.04379459e+01] [-5.06712709e-03 9.99978672e-01 -4.12063837e-03 -5.50924519e+00] [-1.35883773e-03 4.11380203e-03 9.99990615e-01 -1.78517732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.984860624 meters 0.11045736308580982 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.51, Z:-1.79 [[ 9.99985841e-01 5.11763530e-03 1.45842985e-03 6.04379556e+01] [-5.11190254e-03 9.99979299e-01 -3.90776196e-03 -5.50944748e+00] [-1.47839816e-03 3.90025128e-03 9.99991301e-01 -1.78556615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.014860624 meters 0.10226648020439003 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.51, Z:-1.79 [[ 9.99985612e-01 5.11952728e-03 1.60201709e-03 6.04379257e+01] [-5.11345901e-03 9.99979822e-01 -3.76933849e-03 -5.50952815e+00] [-1.62128200e-03 3.76109240e-03 9.99991613e-01 -1.78595557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.044860624 meters 0.11297145499145023 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.51, Z:-1.79 [[ 9.99987420e-01 4.57776156e-03 2.05054768e-03 6.04366573e+01] [-4.56928106e-03 9.99981067e-01 -4.12149301e-03 -5.50905124e+00] [-2.06937607e-03 4.11207163e-03 9.99989404e-01 -1.78553762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.074860624 meters 0.1080712765312371 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.51, Z:-1.79 [[ 9.99987185e-01 4.60440388e-03 2.10452063e-03 6.04367741e+01] [-4.59597145e-03 9.99981461e-01 -3.99424298e-03 -5.50892685e+00] [-2.12287272e-03 3.98451948e-03 9.99989808e-01 -1.78587797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.104860624 meters 0.10991897395668096 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.51, Z:-1.79 [[ 9.99988200e-01 4.30860170e-03 2.24387384e-03 6.04363124e+01] [-4.29896627e-03 9.99981594e-01 -4.28136742e-03 -5.50811453e+00] [-2.26227924e-03 4.27167057e-03 9.99988317e-01 -1.78570486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.134860624 meters 0.1183439028949448 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.51, Z:-1.79 [[ 9.99987817e-01 4.38977497e-03 2.25724921e-03 6.04365032e+01] [-4.38040426e-03 9.99981837e-01 -4.13970429e-03 -5.50809722e+00] [-2.27538058e-03 4.12976620e-03 9.99988884e-01 -1.78601828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.164860624 meters 0.11196573138075594 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.51, Z:-1.79 [[ 9.99988766e-01 4.17536539e-03 2.24368014e-03 6.04364436e+01] [-4.16521221e-03 9.99981151e-01 -4.51101357e-03 -5.50682473e+00] [-2.26247298e-03 4.50161749e-03 9.99987308e-01 -1.78591191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.194860624 meters 0.1129162904353734 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.51, Z:-1.79 [[ 9.99990199e-01 3.81052591e-03 2.25441385e-03 6.04360932e+01] [-3.79903952e-03 9.99979892e-01 -5.07759940e-03 -5.50549273e+00] [-2.27371684e-03 5.06898502e-03 9.99984568e-01 -1.78545727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.224860624 meters 0.1128802093721228 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.78 [[ 9.99984523e-01 -2.25501534e-04 -5.55903867e-03 6.04464303e+01] [ 2.12982654e-04 9.99997440e-01 -2.25247558e-03 -5.50403896e+00] [ 5.55953238e-03 2.25125674e-03 9.99982012e-01 -1.78117071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.254860624 meters 0.11272632300952348 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.78 [[ 9.99984722e-01 -4.16610494e-04 -5.51208119e-03 6.04461193e+01] [ 4.02915064e-04 9.99996830e-01 -2.48549769e-03 -5.50363650e+00] [ 5.51309920e-03 2.48323881e-03 9.99981719e-01 -1.78089681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.284860624 meters 0.10857502853017556 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.78 [[ 9.99984990e-01 -2.70656129e-04 -5.47229555e-03 6.04465229e+01] [ 2.58093415e-04 9.99997330e-01 -2.29626951e-03 -5.50358291e+00] [ 5.47290244e-03 2.29482268e-03 9.99982390e-01 -1.78154234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.314860624 meters 0.11537405740115118 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.78 [[ 9.99985743e-01 -3.59027467e-04 -5.32782604e-03 6.04463339e+01] [ 3.46601855e-04 9.99997219e-01 -2.33295052e-03 -5.50341826e+00] [ 5.32864881e-03 2.33107063e-03 9.99983086e-01 -1.78170549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.344860624 meters 0.11648254388662184 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.78 [[ 9.99985752e-01 -5.12982351e-05 -5.33786385e-03 6.04469612e+01] [ 4.11702392e-05 9.99998199e-01 -1.89748004e-03 -5.50389128e+00] [ 5.33795158e-03 1.89723325e-03 9.99983953e-01 -1.78252794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.374860624 meters 0.11214847871100736 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.78 [[ 9.99986281e-01 3.18919013e-05 -5.23800524e-03 6.04470321e+01] [-4.07135887e-05 9.99998581e-01 -1.68407126e-03 -5.50425358e+00] [ 5.23794410e-03 1.68426141e-03 9.99984863e-01 -1.78293689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.404860624 meters 0.10958065402786714 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.78 [[ 9.99986745e-01 9.17253781e-05 -5.14798997e-03 6.04470057e+01] [-9.96769762e-05 9.99998802e-01 -1.54436717e-03 -5.50460452e+00] [ 5.14784215e-03 1.54485984e-03 9.99985556e-01 -1.78312823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.434860624 meters 0.11083333384480654 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.78 [[ 9.99986770e-01 2.15488742e-04 -5.13942001e-03 6.04472966e+01] [-2.22470132e-04 9.99999053e-01 -1.35786721e-03 -5.50482169e+00] [ 5.13912254e-03 1.35899261e-03 9.99985871e-01 -1.78353275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.464860624 meters 0.11114456769825787 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.78 [[ 9.99986668e-01 4.00994636e-04 -5.14809821e-03 6.04477887e+01] [-4.06712495e-04 9.99999302e-01 -1.10967512e-03 -5.50489440e+00] [ 5.14764964e-03 1.11175412e-03 9.99986133e-01 -1.78416974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49486062399998 meters 0.10710389224550937 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.78 [[ 9.99986231e-01 3.39512571e-04 -5.23671180e-03 6.04481512e+01] [-3.46567319e-04 9.99999034e-01 -1.34632275e-03 -5.50399723e+00] [ 5.23624964e-03 1.34811909e-03 9.99985382e-01 -1.78438000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52486062399998 meters 0.11279250286746047 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99985591e-01 6.02381576e-04 -5.33425070e-03 6.04489768e+01] [-6.08071051e-04 9.99999248e-01 -1.06503559e-03 -5.50383260e+00] [ 5.33360513e-03 1.06826384e-03 9.99985206e-01 -1.78525551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55486062399999 meters 0.10389053465904378 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99985670e-01 5.06589422e-04 -5.32937871e-03 6.04491334e+01] [-5.13151148e-04 9.99999112e-01 -1.22994111e-03 -5.50305750e+00] [ 5.32875090e-03 1.23265826e-03 9.99985042e-01 -1.78547864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.584860624 meters 0.10463543931556876 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99985594e-01 6.12052862e-04 -5.33258026e-03 6.04496007e+01] [-6.18161005e-04 9.99999155e-01 -1.14386561e-03 -5.50259280e+00] [ 5.33187564e-03 1.14714553e-03 9.99985127e-01 -1.78610877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.614860624 meters 0.10201132565636689 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99984748e-01 5.23219227e-04 -5.49825833e-03 6.04500056e+01] [-5.31375823e-04 9.99998760e-01 -1.48213124e-03 -5.50112597e+00] [ 5.49747604e-03 1.48503027e-03 9.99983786e-01 -1.78618050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.644860624 meters 0.10482814126318943 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99984825e-01 4.58762753e-04 -5.48986720e-03 6.04501149e+01] [-4.67440251e-04 9.99998643e-01 -1.57946028e-03 -5.50051813e+00] [ 5.48913516e-03 1.58200250e-03 9.99983683e-01 -1.78635630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.674860624 meters 0.10574683802795605 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99984755e-01 4.31545388e-04 -5.50488250e-03 6.04503979e+01] [-4.40708568e-04 9.99998519e-01 -1.66345053e-03 -5.49971511e+00] [ 5.50415649e-03 1.66585122e-03 9.99983464e-01 -1.78672497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.704860624 meters 0.10405924679676425 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99985895e-01 2.28297713e-04 -5.30634780e-03 6.04499724e+01] [-2.37927179e-04 9.99998326e-01 -1.81414657e-03 -5.49933450e+00] [ 5.30592476e-03 1.81538351e-03 9.99984276e-01 -1.78673334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.734860624 meters 0.1045765694008235 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99987146e-01 5.65465306e-05 -5.06990314e-03 6.04495834e+01] [-6.61128947e-05 9.99998218e-01 -1.88674513e-03 -5.49911541e+00] [ 5.06978741e-03 1.88705607e-03 9.99985368e-01 -1.78689068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.764860624 meters 0.10721966955815995 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99987484e-01 1.63945524e-04 -5.00058443e-03 6.04498234e+01] [-1.72361598e-04 9.99998570e-01 -1.68263352e-03 -5.49921406e+00] [ 5.00030142e-03 1.68347437e-03 9.99986081e-01 -1.78742036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.794860624 meters 0.10778925201883452 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99988625e-01 -1.35260024e-04 -4.76767382e-03 6.04491716e+01] [ 1.26023724e-04 9.99998115e-01 -1.93752303e-03 -5.49898917e+00] [ 4.76792690e-03 1.93690015e-03 9.99986758e-01 -1.78720713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.824860624 meters 0.10785229710296354 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99988808e-01 3.87028441e-05 -4.73091212e-03 6.04495540e+01] [-4.64221789e-05 9.99998668e-01 -1.63158109e-03 -5.49920793e+00] [ 4.73084267e-03 1.63178245e-03 9.99987478e-01 -1.78785921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.854860624 meters 0.11083286280718936 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99989176e-01 5.63236547e-05 -4.65235220e-03 6.04497017e+01] [-6.36423233e-05 9.99998761e-01 -1.57297839e-03 -5.49905214e+00] [ 4.65225784e-03 1.57325745e-03 9.99987941e-01 -1.78826806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.884860624 meters 0.10990490449988684 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99989440e-01 2.44960356e-04 -4.58911613e-03 6.04501980e+01] [-2.50712226e-04 9.99999184e-01 -1.25283878e-03 -5.49910746e+00] [ 4.58880549e-03 1.25397609e-03 9.99988685e-01 -1.78914749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.914860624 meters 0.10630771698662014 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99989647e-01 5.27490665e-05 -4.55002101e-03 6.04502320e+01] [-5.95203577e-05 9.99998891e-01 -1.48806641e-03 -5.49799517e+00] [ 4.54993747e-03 1.48832182e-03 9.99988541e-01 -1.78936294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.944860624 meters 0.1136103103829937 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99989473e-01 1.74019333e-04 -4.58516843e-03 6.04506117e+01] [-1.80237455e-04 9.99999065e-01 -1.35575999e-03 -5.49791171e+00] [ 4.58492821e-03 1.35657214e-03 9.99988569e-01 -1.78975053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.974860624 meters 0.10568888019841073 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99989722e-01 4.94091284e-05 -4.53361420e-03 6.04503942e+01] [-5.61586620e-05 9.99998890e-01 -1.48866026e-03 -5.49769858e+00] [ 4.53353562e-03 1.48889956e-03 9.99988615e-01 -1.78960925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.004860624 meters 0.11654846072177766 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99990660e-01 4.70032825e-05 -4.32167785e-03 6.04500189e+01] [-5.29446276e-05 9.99999054e-01 -1.37467327e-03 -5.49838631e+00] [ 4.32160914e-03 1.37488924e-03 9.99989717e-01 -1.78966082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.034860624 meters 0.10760705940349331 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99990974e-01 1.64233160e-04 -4.24564187e-03 6.04500875e+01] [-1.68939988e-04 9.99999372e-01 -1.10829084e-03 -5.49887473e+00] [ 4.24545718e-03 1.10899809e-03 9.99990373e-01 -1.78997731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.064860624 meters 0.11037234125259779 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99991980e-01 -2.83354606e-05 -4.00483166e-03 6.04494765e+01] [ 2.35622888e-05 9.99999289e-01 -1.19189544e-03 -5.49904635e+00] [ 4.00486258e-03 1.19179152e-03 9.99991270e-01 -1.78981860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.094860624 meters 0.11020291649201563 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99992219e-01 3.35226393e-04 -3.93063363e-03 6.04499672e+01] [-3.37447783e-04 9.99999784e-01 -5.64498374e-04 -5.50011819e+00] [ 3.93044355e-03 5.65820365e-04 9.99992116e-01 -1.79070356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.124860624 meters 0.11279574153269976 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99992630e-01 5.51450760e-04 -3.79946603e-03 6.04501809e+01] [-5.52008766e-04 9.99999837e-01 -1.45817304e-04 -5.50097803e+00] [ 3.79938500e-03 1.47913568e-04 9.99992771e-01 -1.79134878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.154860624 meters 0.11463305064284215 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99993807e-01 5.21332700e-04 -3.48042858e-03 6.04495955e+01] [-5.21149896e-04 9.99999863e-01 5.34303411e-05 -5.50217498e+00] [ 3.48045596e-03 -5.16161853e-05 9.99993942e-01 -1.79139990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.184860624 meters 0.11017217419854641 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99993912e-01 4.86624268e-04 -3.45539879e-03 6.04494137e+01] [-4.86576966e-04 9.99999882e-01 1.45297815e-05 -5.50248253e+00] [ 3.45540545e-03 -1.28483755e-05 9.99994030e-01 -1.79119156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.214860624 meters 0.11235004521040323 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99993825e-01 7.37582003e-04 -3.43585372e-03 6.04498067e+01] [-7.36075864e-04 9.99999632e-01 4.39603381e-04 -5.50310843e+00] [ 3.43617670e-03 -4.37071618e-04 9.99994001e-01 -1.79179475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24486062399998 meters 0.11235004521040323 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99993825e-01 7.37582003e-04 -3.43585372e-03 6.04498067e+01] [-7.36075864e-04 9.99999632e-01 4.39603381e-04 -5.50310843e+00] [ 3.43617670e-03 -4.37071618e-04 9.99994001e-01 -1.79179475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27486062399998 meters 0.11065940645007419 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99993695e-01 6.36359806e-04 -3.49359383e-03 6.04497288e+01] [-6.35478914e-04 9.99999766e-01 2.53249210e-04 -5.50270608e+00] [ 3.49375417e-03 -2.51027508e-04 9.99993865e-01 -1.79151341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30486062399999 meters 0.11224266687828635 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99993946e-01 4.89150175e-04 -3.44500587e-03 6.04494954e+01] [-4.88815839e-04 9.99999876e-01 9.78907638e-05 -5.50249603e+00] [ 3.44505332e-03 -9.62061978e-05 9.99994061e-01 -1.79134396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.334860624 meters 0.10935858814118526 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99994121e-01 4.30087875e-04 -3.40187312e-03 6.04493009e+01] [-4.29994551e-04 9.99999907e-01 2.81644351e-05 -5.50264495e+00] [ 3.40188492e-03 -2.67014826e-05 9.99994213e-01 -1.79116769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.364860624 meters 0.11147254689045757 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99994092e-01 7.34063666e-04 -3.35801598e-03 6.04496949e+01] [-7.32615283e-04 9.99999638e-01 4.32530680e-04 -5.50371400e+00] [ 3.35833227e-03 -4.30067991e-04 9.99994268e-01 -1.79176576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.394860624 meters 0.11174707365226577 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99994096e-01 7.34122703e-04 -3.35705791e-03 6.04496688e+01] [-7.32789401e-04 9.99999652e-01 3.98376718e-04 -5.50383386e+00] [ 3.35734920e-03 -3.95914349e-04 9.99994286e-01 -1.79170612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.424860624 meters 0.11163468147165474 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99993417e-01 1.05244524e-03 -3.47264736e-03 6.04502895e+01] [-1.04974316e-03 9.99999145e-01 7.79833033e-04 -5.50447393e+00] [ 3.47346512e-03 -7.76182511e-04 9.99993666e-01 -1.79218748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.454860624 meters 0.1094565613454143 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99993302e-01 9.88345564e-04 -3.52404270e-03 6.04502175e+01] [-9.86152410e-04 9.99999319e-01 6.24023721e-04 -5.50436979e+00] [ 3.52465705e-03 -6.20544298e-04 9.99993596e-01 -1.79189358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.484860624 meters 0.1108289227340747 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99992810e-01 1.10443918e-03 -3.62771699e-03 6.04505012e+01] [-1.10198526e-03 9.99999163e-01 6.78367847e-04 -5.50440880e+00] [ 3.62846317e-03 -6.74365279e-04 9.99993190e-01 -1.79194348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.514860624 meters 0.11125938687721304 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.50, Z:-1.79 [[ 9.99993217e-01 1.09974590e-03 -3.51504427e-03 6.04503125e+01] [-1.09718601e-03 9.99999132e-01 7.30113961e-04 -5.50472056e+00] [ 3.51584416e-03 -7.26252352e-04 9.99993556e-01 -1.79197158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.544860624 meters 0.11191567844690806 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.51, Z:-1.79 [[ 9.99992907e-01 1.29610727e-03 -3.53632159e-03 6.04506018e+01] [-1.29262405e-03 9.99998677e-01 9.87090572e-04 -5.50527766e+00] [ 3.53759629e-03 -9.82512436e-04 9.99993260e-01 -1.79224772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.574860624 meters 0.1068840027180448 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.51, Z:-1.79 [[ 9.99992813e-01 1.28175584e-03 -3.56808146e-03 6.04502063e+01] [-1.27833051e-03 9.99998720e-01 9.62106621e-04 -5.50597332e+00] [ 3.56931008e-03 -9.57538519e-04 9.99993172e-01 -1.79158688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.604860624 meters 0.10644966817330935 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.51, Z:-1.79 [[ 9.99993163e-01 1.26597186e-03 -3.47424153e-03 6.04500551e+01] [-1.26253930e-03 9.99998713e-01 9.90017667e-04 -5.50607571e+00] [ 3.47549039e-03 -9.85624532e-04 9.99993475e-01 -1.79162340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.634860624 meters 0.10604984274859429 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.51, Z:-1.79 [[ 9.99993179e-01 1.39631660e-03 -3.41937414e-03 6.04501479e+01] [-1.39218116e-03 9.99998297e-01 1.21149828e-03 -5.50655061e+00] [ 3.42105995e-03 -1.20672963e-03 9.99993420e-01 -1.79188350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.664860624 meters 0.10782762669703586 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.51, Z:-1.79 [[ 9.99993048e-01 1.55266900e-03 -3.39010967e-03 6.04497909e+01] [-1.54750505e-03 9.99997639e-01 1.52533175e-03 -5.50816914e+00] [ 3.39247000e-03 -1.52007493e-03 9.99993090e-01 -1.79143091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.694860624 meters 0.10737786762272764 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.51, Z:-1.79 [[ 9.99993195e-01 1.59605380e-03 -3.32603032e-03 6.04496128e+01] [-1.59049195e-03 9.99997334e-01 1.67419427e-03 -5.50898932e+00] [ 3.32869356e-03 -1.66889286e-03 9.99993067e-01 -1.79133658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.724860624 meters 0.11087990829365928 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.51, Z:-1.79 [[ 9.99993467e-01 1.71520435e-03 -3.18190692e-03 6.04494638e+01] [-1.70893148e-03 9.99996593e-01 1.97309086e-03 -5.51003476e+00] [ 3.18528033e-03 -1.96764031e-03 9.99992991e-01 -1.79149528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.754860624 meters 0.11087990829365928 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.51, Z:-1.79 [[ 9.99993467e-01 1.71520435e-03 -3.18190692e-03 6.04494638e+01] [-1.70893148e-03 9.99996593e-01 1.97309086e-03 -5.51003476e+00] [ 3.18528033e-03 -1.96764031e-03 9.99992991e-01 -1.79149528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.784860624 meters 0.11029355721314477 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.51, Z:-1.79 [[ 9.99993625e-01 1.83983826e-03 -3.06018168e-03 6.04492550e+01] [-1.83281701e-03 9.99995685e-01 2.29561257e-03 -5.51125756e+00] [ 3.06439203e-03 -2.28998918e-03 9.99992683e-01 -1.79153944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.814860624 meters 0.10709114807334849 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.51, Z:-1.79 [[ 9.99995294e-01 1.62987008e-03 -2.59930709e-03 6.04479598e+01] [-1.62325015e-03 9.99995439e-01 2.54688208e-03 -5.51332854e+00] [ 2.60344632e-03 -2.54265077e-03 9.99993378e-01 -1.79100817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.844860624 meters 0.1083285095608989 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.51, Z:-1.79 [[ 9.99995408e-01 1.69272077e-03 -2.51364572e-03 6.04477773e+01] [-1.68578180e-03 9.99994770e-01 2.76007907e-03 -5.51429805e+00] [ 2.51830462e-03 -2.75582894e-03 9.99993032e-01 -1.79094570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.874860624 meters 0.10847607613961471 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99995624e-01 1.72137665e-03 -2.40604627e-03 6.04475224e+01] [-1.71437731e-03 9.99994302e-01 2.90810555e-03 -5.51515104e+00] [ 2.41103850e-03 -2.90396795e-03 9.99992877e-01 -1.79089247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.904860624 meters 0.11034240957173051 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99995660e-01 1.77089360e-03 -2.35452753e-03 6.04473636e+01] [-1.76371658e-03 9.99993803e-01 3.04676486e-03 -5.51594327e+00] [ 2.35990844e-03 -3.04259891e-03 9.99992587e-01 -1.79078252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.934860624 meters 0.11171984973454345 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99995927e-01 1.79314510e-03 -2.22046240e-03 6.04469687e+01] [-1.78604850e-03 9.99993305e-01 3.19387019e-03 -5.51703620e+00] [ 2.22617460e-03 -3.18989133e-03 9.99992434e-01 -1.79056541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.964860624 meters 0.11248898759714947 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99995691e-01 1.84829329e-03 -2.28057749e-03 6.04472265e+01] [-1.84103394e-03 9.99993246e-01 3.18112083e-03 -5.51703755e+00] [ 2.28644173e-03 -3.17690850e-03 9.99992340e-01 -1.79066688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99486062399998 meters 0.11264837622937364 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99995890e-01 1.73373453e-03 -2.28325206e-03 6.04469804e+01] [-1.72683682e-03 9.99993950e-01 3.01951567e-03 -5.51697728e+00] [ 2.28847328e-03 -3.01556046e-03 9.99992835e-01 -1.79032039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02486062399998 meters 0.10821669781590582 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99996086e-01 1.64444356e-03 -2.26350642e-03 6.04465350e+01] [-1.63789876e-03 9.99994482e-01 2.89026951e-03 -5.51730176e+00] [ 2.26824681e-03 -2.88655080e-03 9.99993261e-01 -1.78969473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05486062399999 meters 0.11151342165982571 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99996221e-01 1.57202153e-03 -2.25555537e-03 6.04464040e+01] [-1.56574924e-03 9.99994910e-01 2.77989568e-03 -5.51724239e+00] [ 2.25991395e-03 -2.77635354e-03 9.99993592e-01 -1.78952341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.084860624 meters 0.13186300510666893 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99996272e-01 1.48108915e-03 -2.29385728e-03 6.04462636e+01] [-1.47510653e-03 9.99995512e-01 2.60760232e-03 -5.51714434e+00] [ 2.29770908e-03 -2.60420892e-03 9.99993969e-01 -1.78920405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.114860624 meters 0.10587308214866722 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99996135e-01 1.52857208e-03 -2.32220313e-03 6.04463421e+01] [-1.52244072e-03 9.99995357e-01 2.63979726e-03 -5.51738108e+00] [ 2.32622747e-03 -2.63625164e-03 9.99993819e-01 -1.78919086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.144860624 meters 0.10690673879269831 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99996377e-01 1.43546555e-03 -2.27702775e-03 6.04460746e+01] [-1.42970383e-03 9.99995778e-01 2.52998199e-03 -5.51747804e+00] [ 2.28064984e-03 -2.52671735e-03 9.99994207e-01 -1.78891514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.174860624 meters 0.10898577863049846 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99996496e-01 1.40652195e-03 -2.24277309e-03 6.04458716e+01] [-1.40095212e-03 9.99995936e-01 2.48309330e-03 -5.51771905e+00] [ 2.24625650e-03 -2.47994258e-03 9.99994402e-01 -1.78867188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.204860624 meters 0.10886977100389278 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99996650e-01 1.34939044e-03 -2.20875994e-03 6.04456451e+01] [-1.34404270e-03 9.99996167e-01 2.42084452e-03 -5.51794619e+00] [ 2.21201814e-03 -2.41786774e-03 9.99994630e-01 -1.78843138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.234860624 meters 0.11220685144018229 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99996641e-01 1.48624535e-03 -2.12365114e-03 6.04454597e+01] [-1.48048879e-03 9.99995233e-01 2.70969619e-03 -5.51921332e+00] [ 2.12766829e-03 -2.70654305e-03 9.99994074e-01 -1.78835970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.264860624 meters 0.11369654217226755 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99996853e-01 1.49574900e-03 -2.01393359e-03 6.04452235e+01] [-1.49009318e-03 9.99994950e-01 2.80692123e-03 -5.51976785e+00] [ 2.01812187e-03 -2.80391144e-03 9.99994033e-01 -1.78832186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.294860624 meters 0.11082774482677082 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99996945e-01 1.54436856e-03 -1.93009428e-03 6.04450185e+01] [-1.53857892e-03 9.99994324e-01 2.99755912e-03 -5.52060699e+00] [ 1.93471266e-03 -2.99458036e-03 9.99993645e-01 -1.78825904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.324860624 meters 0.11255420737629167 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.52, Z:-1.79 [[ 9.99997102e-01 1.53068747e-03 -1.85828779e-03 6.04448424e+01] [-1.52498222e-03 9.99994132e-01 3.06771007e-03 -5.52102666e+00] [ 1.86297259e-03 -3.06486733e-03 9.99993568e-01 -1.78822386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.354860624 meters 0.1129176016434943 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.52, Z:-1.79 [[ 9.99997292e-01 1.50157889e-03 -1.77826308e-03 6.04444073e+01] [-1.49598620e-03 9.99993944e-01 3.14219710e-03 -5.52186532e+00] [ 1.78297057e-03 -3.13952833e-03 9.99993482e-01 -1.78777771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.384860624 meters 0.11045958697208437 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.52, Z:-1.79 [[ 9.99997430e-01 1.46227560e-03 -1.73240385e-03 6.04440847e+01] [-1.45679565e-03 9.99993945e-01 3.16026067e-03 -5.52236835e+00] [ 1.73701454e-03 -3.15772879e-03 9.99993506e-01 -1.78743316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.414860624 meters 0.10555650865421336 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.52, Z:-1.79 [[ 9.99998010e-01 1.36197017e-03 -1.45777886e-03 6.04432498e+01] [-1.35717397e-03 9.99993680e-01 3.28602283e-03 -5.52361300e+00] [ 1.46224511e-03 -3.28403783e-03 9.99993538e-01 -1.78697158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.444860624 meters 0.10686315511379307 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.52, Z:-1.79 [[ 9.99998713e-01 1.20926587e-03 -1.05430354e-03 6.04423897e+01] [-1.20561390e-03 9.99993296e-01 3.45765144e-03 -5.52489431e+00] [ 1.05847769e-03 -3.45637591e-03 9.99993467e-01 -1.78686842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.474860624 meters 0.11495119042532129 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.53, Z:-1.79 [[ 9.99999349e-01 -8.96435412e-04 -7.05733032e-04 6.04417071e+01] [ 8.97265764e-04 9.99998905e-01 1.17714559e-03 -5.52577172e+00] [ 7.04677024e-04 -1.17777805e-03 9.99999058e-01 -1.78645324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.504860624 meters 0.11495119042532129 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.53, Z:-1.79 [[ 9.99999349e-01 -8.96435412e-04 -7.05733032e-04 6.04417071e+01] [ 8.97265764e-04 9.99998905e-01 1.17714559e-03 -5.52577172e+00] [ 7.04677024e-04 -1.17777805e-03 9.99999058e-01 -1.78645324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.534860624 meters 0.11495119042532129 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.53, Z:-1.79 [[ 9.99999349e-01 -8.96435412e-04 -7.05733032e-04 6.04417071e+01] [ 8.97265764e-04 9.99998905e-01 1.17714559e-03 -5.52577172e+00] [ 7.04677024e-04 -1.17777805e-03 9.99999058e-01 -1.78645324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.564860624 meters 0.11678230122059616 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.53, Z:-1.79 [[ 9.99999387e-01 -9.50158241e-04 -5.67646071e-04 6.04413941e+01] [ 9.50857952e-04 9.99998787e-01 1.23365821e-03 -5.52622612e+00] [ 5.66473212e-04 -1.23419720e-03 9.99999078e-01 -1.78640772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.594860624 meters 0.12915788436797784 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.53, Z:-1.79 [[ 9.99999289e-01 -1.11143753e-03 -4.32516492e-04 6.04409889e+01] [ 1.11191200e-03 9.99998779e-01 1.09832591e-03 -5.52627511e+00] [ 4.31295243e-04 -1.09880605e-03 9.99999303e-01 -1.78619446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.624860624 meters 0.13035990976027323 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.53, Z:-1.79 [[ 9.99999393e-01 -9.73213742e-04 -5.16085707e-04 6.04412760e+01] [ 9.73863567e-04 9.99998732e-01 1.26039021e-03 -5.52661604e+00] [ 5.14858424e-04 -1.26089204e-03 9.99999073e-01 -1.78632679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.654860624 meters 0.11361037252778729 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.53, Z:-1.79 [[ 9.99999459e-01 -8.71307967e-04 -5.68362765e-04 6.04415104e+01] [ 8.72049337e-04 9.99998768e-01 1.30545590e-03 -5.52688838e+00] [ 5.67224611e-04 -1.30595083e-03 9.99998986e-01 -1.78640594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.684860624 meters 0.10853032945029406 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.53, Z:-1.79 [[ 9.99999246e-01 -1.08272945e-03 -5.78627823e-04 6.04413459e+01] [ 1.08326696e-03 9.99998981e-01 9.29420354e-04 -5.52615688e+00] [ 5.77620923e-04 -9.30046462e-04 9.99999401e-01 -1.78608984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.714860624 meters 0.13398588110520449 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.53, Z:-1.79 [[ 9.99999278e-01 -1.00737662e-03 -6.54494739e-04 6.04417644e+01] [ 1.00801119e-03 9.99999022e-01 9.69948017e-04 -5.52578405e+00] [ 6.53516996e-04 -9.70607055e-04 9.99999315e-01 -1.78644032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74486062399998 meters 0.1340546005174115 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.53, Z:-1.79 [[ 9.99999236e-01 -9.63334619e-04 -7.74514326e-04 6.04421496e+01] [ 9.64046922e-04 9.99999112e-01 9.19830035e-04 -5.52531482e+00] [ 7.73627534e-04 -9.20576000e-04 9.99999277e-01 -1.78661785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77486062399998 meters 0.1352143180958152 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.52, Z:-1.79 [[ 9.99999183e-01 -8.45093357e-04 -9.59224581e-04 6.04428397e+01] [ 8.45947569e-04 9.99999246e-01 8.90466453e-04 -5.52453955e+00] [ 9.58471330e-04 -8.91277179e-04 9.99999143e-01 -1.78706736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80486062399999 meters 0.11009233962179152 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.52, Z:-1.79 [[ 9.99999141e-01 -8.40189433e-04 -1.00563771e-03 6.04432097e+01] [ 8.40969107e-04 9.99999346e-01 7.75131151e-04 -5.52381166e+00] [ 1.00498580e-03 -7.75976196e-04 9.99999194e-01 -1.78740215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.834860624 meters 0.13688805709386434 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.52, Z:-1.79 [[ 9.99999028e-01 -8.76543132e-04 -1.08385653e-03 6.04434702e+01] [ 8.77239487e-04 9.99999409e-01 6.42170033e-04 -5.52315169e+00] [ 1.08329300e-03 -6.43120211e-04 9.99999206e-01 -1.78753028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.864860624 meters 0.11280045184082031 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.52, Z:-1.79 [[ 9.99998854e-01 -9.99617351e-04 -1.13671296e-03 6.04435531e+01] [ 1.00001508e-03 9.99999439e-01 3.49381742e-04 -5.52244957e+00] [ 1.13636308e-03 -3.50518072e-04 9.99999293e-01 -1.78745202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.894860624 meters 0.11490861592334767 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.52, Z:-1.79 [[ 9.99998673e-01 -7.40721689e-04 -1.45096766e-03 6.04447757e+01] [ 7.41280423e-04 9.99999651e-01 3.84576960e-04 -5.52135980e+00] [ 1.45068229e-03 -3.85652023e-04 9.99998873e-01 -1.78825296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.924860624 meters 0.10765113678828342 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99998532e-01 -7.31465857e-04 -1.54927678e-03 6.04453466e+01] [ 7.31882471e-04 9.99999696e-01 2.68358828e-04 -5.52029339e+00] [ 1.54908002e-03 -2.69492323e-04 9.99998764e-01 -1.78876749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.954860624 meters 0.10852535490086224 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99998182e-01 -9.72418502e-04 -1.64031716e-03 6.04454441e+01] [ 9.72051503e-04 9.99999502e-01 -2.24519056e-04 -5.51889116e+00] [ 1.64053467e-03 2.22924175e-04 9.99998629e-01 -1.78861390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.984860624 meters 0.10938159123292153 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99997924e-01 -9.30352785e-04 -1.81266383e-03 6.04461447e+01] [ 9.29723559e-04 9.99999507e-01 -3.47939730e-04 -5.51783891e+00] [ 1.81298664e-03 3.46253731e-04 9.99998297e-01 -1.78907462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.014860624 meters 0.11078214884493229 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.52, Z:-1.79 [[ 9.99997275e-01 -8.72978368e-04 -2.16504377e-03 6.04475207e+01] [ 8.71347769e-04 9.99999336e-01 -7.53977506e-04 -5.51504929e+00] [ 2.16570054e-03 7.52088946e-04 9.99997372e-01 -1.79005133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.044860624 meters 0.10949729449453872 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.51, Z:-1.79 [[ 9.99996781e-01 -8.35351917e-04 -2.39578910e-03 6.04484928e+01] [ 8.32940385e-04 9.99999146e-01 -1.00739253e-03 -5.51332266e+00] [ 2.39662859e-03 1.00539374e-03 9.99996623e-01 -1.79074917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.074860624 meters 0.13897242329615023 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.51, Z:-1.79 [[ 9.99996384e-01 -1.08246336e-03 -2.46168813e-03 6.04488708e+01] [ 1.07866556e-03 9.99998227e-01 -1.54356378e-03 -5.51123255e+00] [ 2.46335462e-03 1.54090286e-03 9.99995779e-01 -1.79108013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.104860624 meters 0.11205525346190341 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.51, Z:-1.79 [[ 9.99995477e-01 -2.02274243e-03 -2.22602356e-03 6.04480793e+01] [ 2.01641966e-03 9.99993937e-01 -2.83897733e-03 -5.50731978e+00] [ 2.23175258e-03 2.83447589e-03 9.99993492e-01 -1.79071124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.134860624 meters 0.11476696284428023 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.51, Z:-1.79 [[ 9.99998695e-01 1.12389127e-03 -1.16034424e-03 6.04456232e+01] [-1.12294647e-03 9.99999038e-01 8.14574728e-04 -5.50750129e+00] [ 1.16125862e-03 -8.13270661e-04 9.99998995e-01 -1.79020025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.164860624 meters 0.12279848426144305 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.51, Z:-1.79 [[ 9.99999814e-01 3.21533616e-04 -5.17931515e-04 6.04445425e+01] [-3.21391637e-04 9.99999911e-01 2.74186412e-04 -5.50630488e+00] [ 5.18019629e-04 -2.74019902e-04 9.99999828e-01 -1.79053985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.194860624 meters 0.12723318982894463 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.51, Z:-1.79 [[ 9.99999991e-01 7.43596271e-05 -1.07679017e-04 6.04440824e+01] [-7.43326359e-05 9.99999966e-01 2.50646364e-04 -5.50608906e+00] [ 1.07697651e-04 -2.50638358e-04 9.99999963e-01 -1.79109534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.224860624 meters 0.12651279278928618 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.51, Z:-1.79 [[ 9.99999953e-01 -1.11468467e-04 2.84044193e-04 6.04435955e+01] [ 1.11368617e-04 9.99999932e-01 3.51519734e-04 -5.50614008e+00] [-2.84083357e-04 -3.51488084e-04 9.99999898e-01 -1.79157318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.254860624 meters 0.1491604051840699 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.51, Z:-1.79 [[ 9.99998802e-01 -1.00654757e-03 1.17634414e-03 6.04419597e+01] [ 1.00668129e-03 9.99999487e-01 -1.13088907e-04 -5.50538457e+00] [-1.17622971e-03 1.14272976e-04 9.99999302e-01 -1.79184109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.284860624 meters 0.1320126912467894 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.50, Z:-1.79 [[ 9.99998407e-01 -1.18369646e-03 1.33602917e-03 6.04419373e+01] [ 1.18403522e-03 9.99999267e-01 -2.52796389e-04 -5.50458661e+00] [-1.33572896e-03 2.54377892e-04 9.99999076e-01 -1.79229215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.314860624 meters 0.12871337567564192 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.50, Z:-1.79 [[ 9.99997839e-01 -1.45844719e-03 1.48173155e-03 6.04418625e+01] [ 1.45924133e-03 9.99998792e-01 -5.35016385e-04 -5.50329571e+00] [-1.48094947e-03 5.37177433e-04 9.99998759e-01 -1.79267622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.344860624 meters 0.14056373939049122 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.50, Z:-1.79 [[ 9.99997682e-01 -1.56267386e-03 1.48126779e-03 6.04422838e+01] [ 1.56371048e-03 9.99998533e-01 -6.98916810e-04 -5.50205886e+00] [-1.48017343e-03 7.01231464e-04 9.99998659e-01 -1.79327786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.374860624 meters 0.13227413070709945 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.50, Z:-1.79 [[ 9.99996948e-01 -2.02631155e-03 1.41363262e-03 6.04424896e+01] [ 2.02845237e-03 9.99996796e-01 -1.51462311e-03 -5.49918394e+00] [-1.41055899e-03 1.51748598e-03 9.99997854e-01 -1.79337816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.404860624 meters 0.13984148326603107 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.50, Z:-1.79 [[ 9.99997128e-01 1.47309495e-03 1.89074722e-03 6.04411365e+01] [-1.47674673e-03 9.99997044e-01 1.93145604e-03 -5.49731892e+00] [-1.88789641e-03 -1.93424265e-03 9.99996347e-01 -1.79289554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.434860624 meters 0.14154113291548037 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.49, Z:-1.79 [[ 9.99997880e-01 1.56952456e-03 1.33294921e-03 6.04425345e+01] [-1.57157230e-03 9.99997585e-01 1.53659435e-03 -5.49488671e+00] [-1.33053427e-03 -1.53868592e-03 9.99997931e-01 -1.79319437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.464860624 meters 0.13269809389000672 Centerline is valid? [False, False] Translation: X:60.44, Y:-5.49, Z:-1.79 [[ 9.99998088e-01 1.89265780e-03 4.91394855e-04 6.04447363e+01] [-1.89314283e-03 9.99997719e-01 9.88481016e-04 -5.49072253e+00] [-4.89522878e-04 -9.89409407e-04 9.99999391e-01 -1.79389613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49486062399998 meters 0.13288677926550913 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.49, Z:-1.79 [[ 9.99997747e-01 2.10499884e-03 -2.74793280e-04 6.04465464e+01] [-2.10485604e-03 9.99997650e-01 5.18888599e-04 -5.48810619e+00] [ 2.75884894e-04 -5.18309030e-04 9.99999828e-01 -1.79422541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52486062399998 meters 0.13190952027875863 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.49, Z:-1.79 [[ 9.99997533e-01 2.15585508e-03 -5.35192477e-04 6.04474358e+01] [-2.15570051e-03 9.99997635e-01 2.89218376e-04 -5.48665754e+00] [ 5.35814724e-04 -2.88063947e-04 9.99999815e-01 -1.79467932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55486062399999 meters 0.13190952027875863 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.49, Z:-1.79 [[ 9.99997533e-01 2.15585508e-03 -5.35192477e-04 6.04474358e+01] [-2.15570051e-03 9.99997635e-01 2.89218376e-04 -5.48665754e+00] [ 5.35814724e-04 -2.88063947e-04 9.99999815e-01 -1.79467932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.584860624 meters 0.13190952027875863 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.49, Z:-1.79 [[ 9.99997533e-01 2.15585508e-03 -5.35192477e-04 6.04474358e+01] [-2.15570051e-03 9.99997635e-01 2.89218376e-04 -5.48665754e+00] [ 5.35814724e-04 -2.88063947e-04 9.99999815e-01 -1.79467932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.614860624 meters 0.1276192323238617 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.48, Z:-1.79 [[ 9.99997603e-01 2.00948043e-03 -8.69752356e-04 6.04480443e+01] [-2.00975897e-03 9.99997929e-01 -3.19490199e-04 -5.48473597e+00] [ 8.69108545e-04 3.21237426e-04 9.99999571e-01 -1.79448628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.644860624 meters 0.1276192323238617 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.48, Z:-1.79 [[ 9.99997603e-01 2.00948043e-03 -8.69752356e-04 6.04480443e+01] [-2.00975897e-03 9.99997929e-01 -3.19490199e-04 -5.48473597e+00] [ 8.69108545e-04 3.21237426e-04 9.99999571e-01 -1.79448628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.674860624 meters 0.1276192323238617 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.48, Z:-1.79 [[ 9.99997603e-01 2.00948043e-03 -8.69752356e-04 6.04480443e+01] [-2.00975897e-03 9.99997929e-01 -3.19490199e-04 -5.48473597e+00] [ 8.69108545e-04 3.21237426e-04 9.99999571e-01 -1.79448628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.704860624 meters 0.12685057134825092 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.48, Z:-1.80 [[ 9.99995004e-01 2.57530801e-03 -1.83278877e-03 6.04506088e+01] [-2.57648473e-03 9.99996476e-01 -6.39965922e-04 -5.48150432e+00] [ 1.83113420e-03 6.44684877e-04 9.99998116e-01 -1.79532805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.734860624 meters 0.12639136125320607 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.48, Z:-1.80 [[ 9.99993664e-01 2.72090663e-03 -2.29537974e-03 6.04519701e+01] [-2.72305733e-03 9.99995856e-01 -9.34363643e-04 -5.47961065e+00] [ 2.29282791e-03 9.40608173e-04 9.99996929e-01 -1.79580168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.764860624 meters 0.12094602751133812 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.48, Z:-1.80 [[ 9.99993355e-01 2.56137807e-03 -2.59411819e-03 6.04526729e+01] [-2.56548938e-03 9.99995457e-01 -1.58277158e-03 -5.47723034e+00] [ 2.59005233e-03 1.58941625e-03 9.99995383e-01 -1.79586158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.794860624 meters 0.12668365246752167 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.47, Z:-1.80 [[ 9.99992920e-01 2.32881134e-03 -2.95580109e-03 6.04533841e+01] [-2.33600221e-03 9.99994315e-01 -2.43168049e-03 -5.47451132e+00] [ 2.95012136e-03 2.43856803e-03 9.99992675e-01 -1.79571200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.824860624 meters 0.11714649341610961 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.47, Z:-1.80 [[ 9.99974925e-01 6.40858001e-03 -3.01326565e-03 6.04542663e+01] [-6.40493870e-03 9.99978748e-01 1.21652660e-03 -5.47130440e+00] [ 3.02099782e-03 -1.19719632e-03 9.99994720e-01 -1.79672133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.854860624 meters 0.11481897080518083 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.47, Z:-1.80 [[ 9.99975679e-01 6.16466657e-03 -3.26171196e-03 6.04549300e+01] [-6.16315690e-03 9.99980896e-01 4.72695010e-04 -5.46856880e+00] [ 3.26456366e-03 -4.52581071e-04 9.99994569e-01 -1.79686445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.884860624 meters 0.1160621753447871 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.47, Z:-1.80 [[ 9.99977453e-01 5.74167431e-03 -3.48223796e-03 6.04551203e+01] [-5.74337594e-03 9.99983392e-01 -4.78855940e-04 -5.46580750e+00] [ 3.47943069e-03 4.98844945e-04 9.99993822e-01 -1.79643933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.914860624 meters 0.12205596812363413 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.46, Z:-1.80 [[ 9.99975368e-01 5.65227142e-03 -4.16110360e-03 6.04567422e+01] [-5.65916888e-03 9.99982629e-01 -1.64770010e-03 -5.46065787e+00] [ 4.15171808e-03 1.67120791e-03 9.99989985e-01 -1.79665745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.944860624 meters 0.11336437259750086 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.46, Z:-1.80 [[ 9.99975596e-01 5.40212373e-03 -4.42984754e-03 6.04573313e+01] [-5.41268890e-03 9.99982527e-01 -2.37648506e-03 -5.45803310e+00] [ 4.41693207e-03 2.40040445e-03 9.99987364e-01 -1.79663107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.974860624 meters 0.11889029215814075 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.46, Z:-1.80 [[ 9.99975548e-01 5.20002059e-03 -4.67576269e-03 6.04580422e+01] [-5.21434902e-03 9.99981731e-01 -3.05745456e-03 -5.45535507e+00] [ 4.65977844e-03 3.08176086e-03 9.99984394e-01 -1.79680675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.004860624 meters 0.10902855222405587 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.45, Z:-1.80 [[ 9.99971504e-01 5.25003235e-03 -5.42470514e-03 6.04600772e+01] [-5.27229805e-03 9.99977703e-01 -4.09838441e-03 -5.45009979e+00] [ 5.40306753e-03 4.12686828e-03 9.99976888e-01 -1.79744049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.034860624 meters 0.11376478449456882 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.45, Z:-1.80 [[ 9.99970576e-01 5.07692197e-03 -5.75087231e-03 6.04609592e+01] [-5.10472198e-03 9.99975307e-01 -4.82973120e-03 -5.44730507e+00] [ 5.72621014e-03 4.85894570e-03 9.99971800e-01 -1.79760283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.064860624 meters 0.10760255837120111 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.44, Z:-1.80 [[ 9.99969321e-01 4.92223630e-03 -6.09324979e-03 6.04618733e+01] [-4.95612030e-03 9.99972270e-01 -5.55835520e-03 -5.44446045e+00] [ 6.06572129e-03 5.58838356e-03 9.99965988e-01 -1.79776357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.094860624 meters 0.10671856119414175 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.44, Z:-1.80 [[ 9.99967385e-01 4.84215125e-03 -6.46391591e-03 6.04629959e+01] [-4.88222025e-03 9.99968877e-01 -6.19755555e-03 -5.44157508e+00] [ 6.43370523e-03 6.22891167e-03 9.99959903e-01 -1.79812609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.124860624 meters 0.1067588825909017 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.44, Z:-1.80 [[ 9.99964398e-01 4.87980467e-03 -6.88409761e-03 6.04642993e+01] [-4.92601808e-03 9.99965340e-01 -6.71216088e-03 -5.43889981e+00] [ 6.85110498e-03 6.74583310e-03 9.99953777e-01 -1.79857449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.154860624 meters 0.10898695796977392 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.44, Z:-1.80 [[ 9.99941103e-01 8.55266401e-03 -6.68155784e-03 6.04640921e+01] [-8.57608306e-03 9.99957154e-01 -3.48427429e-03 -5.43514277e+00] [ 6.65147173e-03 3.54137067e-03 9.99971608e-01 -1.79880962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.184860624 meters 0.10738999662795018 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.43, Z:-1.80 [[ 9.99942229e-01 8.27106417e-03 -6.86500537e-03 6.04643119e+01] [-8.29997048e-03 9.99956764e-01 -4.19292049e-03 -5.43293383e+00] [ 6.83002864e-03 4.24965760e-03 9.99967645e-01 -1.79844299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.214860624 meters 0.10518916711372998 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.43, Z:-1.80 [[ 9.99945748e-01 7.91733575e-03 -6.76883578e-03 6.04639115e+01] [-7.94880750e-03 9.99957664e-01 -4.63531697e-03 -5.43151263e+00] [ 6.73184986e-03 4.68886967e-03 9.99966348e-01 -1.79821972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24486062399998 meters 0.10499114038947967 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.43, Z:-1.80 [[ 9.99952453e-01 7.37385638e-03 -6.38099073e-03 6.04626023e+01] [-7.40596658e-03 9.99959958e-01 -5.02325189e-03 -5.43099297e+00] [ 6.34369448e-03 5.07027045e-03 9.99967024e-01 -1.79769330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27486062399998 meters 0.11375763459686986 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.43, Z:-1.80 [[ 9.99962123e-01 6.97011944e-03 -5.21240584e-03 6.04610536e+01] [-6.98843333e-03 9.99969443e-01 -3.50360010e-03 -5.43432042e+00] [ 5.18782605e-03 3.53989395e-03 9.99980278e-01 -1.80008295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30486062399999 meters 0.11304540619088396 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.44, Z:-1.80 [[ 9.99967084e-01 6.85327352e-03 -4.34319564e-03 6.04598438e+01] [-6.86438909e-03 9.99973190e-01 -2.54958901e-03 -5.43666278e+00] [ 4.32560617e-03 2.57931847e-03 9.99987318e-01 -1.80136116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.334860624 meters 0.12720223155860366 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.44, Z:-1.80 [[ 9.99991647e-01 2.15505835e-03 -3.47284973e-03 6.04579218e+01] [-2.17652690e-03 9.99978473e-01 -6.18994633e-03 -5.43923387e+00] [ 3.45943528e-03 6.19745338e-03 9.99974812e-01 -1.80155194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.364860624 meters 0.1473700456136247 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.44, Z:-1.80 [[ 9.99994243e-01 2.14613068e-03 -2.62827887e-03 6.04568011e+01] [-2.15954010e-03 9.99984613e-01 -5.10981321e-03 -5.44195163e+00] [ 2.61727210e-03 5.11545967e-03 9.99983491e-01 -1.80281779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.394860624 meters 0.13789684416705597 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.44, Z:-1.80 [[ 9.99995557e-01 2.17087276e-03 -2.04301247e-03 6.04559265e+01] [-2.17961929e-03 9.99988428e-01 -4.28875129e-03 -5.44426826e+00] [ 2.03367850e-03 4.29318523e-03 9.99988716e-01 -1.80352890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.424860624 meters 0.13468891112448383 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.45, Z:-1.80 [[ 9.99996676e-01 2.08789441e-03 -1.51278939e-03 6.04549053e+01] [-2.09358741e-03 9.99990696e-01 -3.77148845e-03 -5.44589821e+00] [ 1.50490085e-03 3.77464307e-03 9.99991744e-01 -1.80385295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.454860624 meters 0.1334340252586657 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.45, Z:-1.80 [[ 9.99996994e-01 2.11215207e-03 -1.24567041e-03 6.04544095e+01] [-2.11640354e-03 9.99991907e-01 -3.42161109e-03 -5.44704620e+00] [ 1.23843337e-03 3.42423714e-03 9.99993370e-01 -1.80403119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.484860624 meters 0.13783341586253342 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.45, Z:-1.80 [[ 9.99997108e-01 2.20237162e-03 -9.65985006e-04 6.04538512e+01] [-2.20518150e-03 9.99993313e-01 -2.91746027e-03 -5.44856737e+00] [ 9.59553215e-04 2.91958200e-03 9.99995278e-01 -1.80418735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.514860624 meters 0.15391871405440322 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.45, Z:-1.80 [[ 9.99996747e-01 2.40588851e-03 -8.47148414e-04 6.04538183e+01] [-2.40795763e-03 9.99994100e-01 -2.44995683e-03 -5.44971850e+00] [ 8.41249093e-04 2.45198876e-03 9.99996640e-01 -1.80456298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.544860624 meters 0.13638822181027094 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.45, Z:-1.80 [[ 9.99997021e-01 2.35127481e-03 -6.55955205e-04 6.04531772e+01] [-2.35280269e-03 9.99994498e-01 -2.33828091e-03 -5.45059377e+00] [ 6.50453655e-04 2.33981728e-03 9.99997051e-01 -1.80431235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.574860624 meters 0.1363578993577202 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.45, Z:-1.80 [[ 9.99996769e-01 2.49747383e-03 -4.74212010e-04 6.04528003e+01] [-2.49837846e-03 9.99995042e-01 -1.91674589e-03 -5.45210989e+00] [ 4.69422637e-04 1.91792446e-03 9.99998051e-01 -1.80436813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.604860624 meters 0.14476151958020056 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.45, Z:-1.80 [[ 9.99996709e-01 2.56300040e-03 -1.10208249e-04 6.04516089e+01] [-2.56315444e-03 9.99995705e-01 -1.42105258e-03 -5.45496308e+00] [ 1.06565618e-04 1.42133038e-03 9.99998984e-01 -1.80376742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.634860624 meters 0.136406909160252 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.46, Z:-1.80 [[ 9.99995387e-01 3.03538650e-03 -1.07609526e-04 6.04521061e+01] [-3.03545839e-03 9.99995166e-01 -6.74329652e-04 -5.45665002e+00] [ 1.05562155e-04 6.74653186e-04 9.99999767e-01 -1.80446807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.664860624 meters 0.13576430637642087 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.46, Z:-1.80 [[ 9.99993819e-01 3.51219865e-03 -1.60928337e-04 6.04522163e+01] [-3.51219280e-03 9.99993832e-01 3.65867627e-05 -5.45927593e+00] [ 1.61055844e-04 -3.60213253e-05 9.99999986e-01 -1.80442555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.694860624 meters 0.13486419072447187 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.46, Z:-1.80 [[ 9.99992629e-01 3.82899356e-03 -2.83551737e-04 6.04525150e+01] [-3.82887665e-03 9.99992585e-01 4.11700033e-04 -5.46063958e+00] [ 2.85126031e-04 -4.10611313e-04 9.99999875e-01 -1.80440507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.724860624 meters 0.14063232565896538 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.46, Z:-1.80 [[ 9.99991518e-01 4.09409808e-03 -4.50037284e-04 6.04527237e+01] [-4.09381122e-03 9.99991418e-01 6.36495406e-04 -5.46183741e+00] [ 4.52639296e-04 -6.34647639e-04 9.99999696e-01 -1.80410156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.754860624 meters 0.1342604582822729 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.46, Z:-1.80 [[ 9.99990906e-01 4.23109341e-03 -5.34844315e-04 6.04527851e+01] [-4.23068854e-03 9.99990765e-01 7.55856326e-04 -5.46262391e+00] [ 5.38037474e-04 -7.53586692e-04 9.99999571e-01 -1.80386479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.784860624 meters 0.13356648107408978 Centerline is valid? [False, False] Translation: X:60.45, Y:-5.46, Z:-1.80 [[ 9.99987494e-01 4.88816824e-03 -1.05701774e-03 6.04538276e+01] [-4.88680021e-03 9.99987224e-01 1.29296797e-03 -5.46438678e+00] [ 1.06332448e-03 -1.28778637e-03 9.99998605e-01 -1.80364414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.814860624 meters 0.12924260796435047 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.46, Z:-1.80 [[ 9.99995431e-01 1.83903223e-03 -2.39924499e-03 6.04569733e+01] [-1.84468252e-03 9.99995526e-01 -2.35494232e-03 -5.46420812e+00] [ 2.39490344e-03 2.35935741e-03 9.99994349e-01 -1.80416781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.844860624 meters 0.13169186067386496 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.47, Z:-1.80 [[ 9.99993649e-01 2.31471508e-03 -2.71011835e-03 6.04579017e+01] [-2.31994448e-03 9.99995450e-01 -1.92803308e-03 -5.46521600e+00] [ 2.70564317e-03 1.93430815e-03 9.99994469e-01 -1.80443577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.874860624 meters 0.13120830147408005 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.47, Z:-1.80 [[ 9.99991229e-01 2.87940465e-03 -3.04155032e-03 6.04590654e+01] [-2.88367834e-03 9.99994860e-01 -1.40165105e-03 -5.46625633e+00] [ 3.03749876e-03 1.41040960e-03 9.99994392e-01 -1.80494345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.904860624 meters 0.1289392138163711 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.47, Z:-1.81 [[ 9.99985921e-01 3.86269943e-03 -3.63842537e-03 6.04608783e+01] [-3.86466263e-03 9.99992390e-01 -5.32698163e-04 -5.46829665e+00] [ 3.63634003e-03 5.46751949e-04 9.99993239e-01 -1.80559284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.934860624 meters 0.1256553670789903 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.47, Z:-1.81 [[ 9.99983974e-01 4.12654412e-03 -3.87590901e-03 6.04614388e+01] [-4.12799821e-03 9.99991412e-01 -3.67234206e-04 -5.46886642e+00] [ 3.87436032e-03 3.83228067e-04 9.99992421e-01 -1.80558663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.964860624 meters 0.12451805425397434 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.47, Z:-1.81 [[ 9.99981974e-01 4.34037926e-03 -4.14879708e-03 6.04619966e+01] [-4.34174032e-03 9.99990524e-01 -3.19112194e-04 -5.46917708e+00] [ 4.14737269e-03 3.37119441e-04 9.99991343e-01 -1.80544324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99486062399998 meters 0.12368670178158014 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.47, Z:-1.81 [[ 9.99986506e-01 2.63757516e-03 -4.47566677e-03 6.04647123e+01] [-2.65003178e-03 9.99992626e-01 -2.77954493e-03 -5.46929417e+00] [ 4.46830250e-03 2.79136808e-03 9.99986121e-01 -1.80718791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02486062399998 meters 0.11653480248842021 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.47, Z:-1.81 [[ 9.99985623e-01 2.71047494e-03 -4.62681844e-03 6.04648769e+01] [-2.72338399e-03 9.99992411e-01 -2.78603275e-03 -5.46951663e+00] [ 4.61923185e-03 2.79859330e-03 9.99985415e-01 -1.80692962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05486062399999 meters 0.11215990999207902 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.47, Z:-1.81 [[ 9.99985110e-01 2.82030748e-03 -4.67187032e-03 6.04649940e+01] [-2.83280838e-03 9.99992420e-01 -2.67132738e-03 -5.46997029e+00] [ 4.66430094e-03 2.68452211e-03 9.99985519e-01 -1.80692000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.084860624 meters 0.11757374761905329 Centerline is valid? [False, False] Translation: X:60.47, Y:-5.47, Z:-1.81 [[ 9.99984797e-01 2.92844225e-03 -4.67218466e-03 6.04650421e+01] [-2.94023055e-03 9.99992507e-01 -2.51821199e-03 -5.47052315e+00] [ 4.66477521e-03 2.53191101e-03 9.99985915e-01 -1.80695713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.114860624 meters 0.11383186494897005 Centerline is valid? [False, False] Translation: X:60.47, Y:-5.47, Z:-1.81 [[ 9.99983483e-01 3.29439055e-03 -4.70970233e-03 6.04653345e+01] [-3.30380628e-03 9.99992557e-01 -1.99284001e-03 -5.47210448e+00] [ 4.70310208e-03 2.00836703e-03 9.99986924e-01 -1.80721688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.144860624 meters 0.1138748786049689 Centerline is valid? [False, False] Translation: X:60.47, Y:-5.47, Z:-1.81 [[ 9.99983440e-01 3.42342582e-03 -4.62604999e-03 6.04653756e+01] [-3.43143048e-03 9.99992627e-01 -1.72351552e-03 -5.47280787e+00] [ 4.62011555e-03 1.73936095e-03 9.99987815e-01 -1.80753707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.174860624 meters 0.1563203509960156 Centerline is valid? [False, False] Translation: X:60.55, Y:-5.48, Z:-1.81 [[ 9.99991378e-01 1.00953185e-03 -4.02807060e-03 6.05455712e+01] [-1.01999932e-03 9.99996106e-01 -2.59742503e-03 -5.48178634e+00] [ 4.02543274e-03 2.60151127e-03 9.99988514e-01 -1.80861781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.204860624 meters 0.11635171345947798 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.48, Z:-1.81 [[ 9.99994927e-01 3.08781119e-03 -7.82016043e-04 6.04628647e+01] [-3.08810194e-03 9.99995163e-01 -3.70872940e-04 -5.47587547e+00] [ 7.80867075e-04 3.73286004e-04 9.99999625e-01 -1.81085542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.234860624 meters 0.11299329435075206 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.48, Z:-1.81 [[ 9.99994983e-01 3.13182644e-03 -4.74350818e-04 6.04624785e+01] [-3.13180231e-03 9.99995095e-01 5.15920575e-05 -5.47739078e+00] [ 4.74510069e-04 -5.01062257e-05 9.99999886e-01 -1.81123517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.264860624 meters 0.11282339025534628 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.48, Z:-1.81 [[ 9.99995380e-01 3.02234006e-03 -3.25975726e-04 6.04621050e+01] [-3.02233248e-03 9.99995432e-01 2.37259133e-05 -5.47763035e+00] [ 3.26045945e-04 -2.27405967e-05 9.99999947e-01 -1.81115416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.294860624 meters 0.1288795515754909 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.48, Z:-1.81 [[ 9.99995851e-01 2.87485079e-03 -1.82290607e-04 6.04615965e+01] [-2.87486147e-03 9.99995866e-01 -5.83949167e-05 -5.47797578e+00] [ 1.82121976e-04 5.89187346e-05 9.99999982e-01 -1.81085332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.324860624 meters 0.1159791945416221 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.48, Z:-1.81 [[ 9.99995759e-01 2.91153974e-03 7.43932144e-05 6.04611408e+01] [-2.91155795e-03 9.99995731e-01 2.45958103e-04 -5.47924599e+00] [-7.36767801e-05 -2.46173660e-04 9.99999967e-01 -1.81092833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.354860624 meters 0.13367077226665566 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.48, Z:-1.81 [[ 9.99999493e-01 -6.86972361e-04 -7.36164380e-04 6.04634280e+01] [ 6.84154715e-04 9.99992466e-01 -3.82090920e-03 -5.47793336e+00] [ 7.38783693e-04 3.82040361e-03 9.99992429e-01 -1.81171192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.384860624 meters 0.11529734351468118 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.48, Z:-1.81 [[ 9.99999557e-01 -5.54095144e-04 -7.60618170e-04 6.04636838e+01] [ 5.51330309e-04 9.99993258e-01 -3.63039314e-03 -5.47815930e+00] [ 7.62624626e-04 3.62997218e-03 9.99993121e-01 -1.81198395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.414860624 meters 0.117026935650098 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.48, Z:-1.81 [[ 9.99999657e-01 -5.19328844e-04 -6.45262189e-04 6.04637627e+01] [ 5.17072455e-04 9.99993769e-01 -3.49211599e-03 -5.47798944e+00] [ 6.47071725e-04 3.49178115e-03 9.99993694e-01 -1.81247724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.444860624 meters 0.1160872349712285 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.48, Z:-1.81 [[ 9.99999710e-01 -3.45092801e-04 -6.79288368e-04 6.04642277e+01] [ 3.42849498e-04 9.99994497e-01 -3.29978222e-03 -5.47803183e+00] [ 6.80423360e-04 3.29954837e-03 9.99994325e-01 -1.81297627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.474860624 meters 0.11646206833884372 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.48, Z:-1.81 [[ 9.99999654e-01 -4.98463697e-04 -6.66227814e-04 6.04641861e+01] [ 4.96118126e-04 9.99993695e-01 -3.51621396e-03 -5.47733603e+00] [ 6.67976318e-04 3.51588221e-03 9.99993596e-01 -1.81298597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.504860624 meters 0.12002270476267578 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.48, Z:-1.81 [[ 9.99999674e-01 -4.05027430e-04 -6.97854076e-04 6.04648054e+01] [ 4.02629323e-04 9.99994026e-01 -3.43312327e-03 -5.47672760e+00] [ 6.99240416e-04 3.43284118e-03 9.99993863e-01 -1.81373089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.534860624 meters 0.1170336587967555 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.48, Z:-1.81 [[ 9.99995078e-01 3.13713574e-03 5.41582000e-05 6.04633826e+01] [-3.13715145e-03 9.99995036e-01 2.92486945e-04 -5.47550692e+00] [-5.32403599e-05 -2.92655408e-04 9.99999956e-01 -1.81400692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.564860624 meters 0.1124769205704301 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.47, Z:-1.81 [[ 9.99995593e-01 2.96805808e-03 6.54338734e-05 6.04638253e+01] [-2.96805601e-03 9.99995595e-01 -3.16522351e-05 -5.47364188e+00] [-6.55275309e-05 3.14578842e-05 9.99999997e-01 -1.81465619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.594860624 meters 0.1124769205704301 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.47, Z:-1.81 [[ 9.99995593e-01 2.96805808e-03 6.54338734e-05 6.04638253e+01] [-2.96805601e-03 9.99995595e-01 -3.16522351e-05 -5.47364188e+00] [-6.55275309e-05 3.14578842e-05 9.99999997e-01 -1.81465619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.624860624 meters 0.11925480822719395 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.47, Z:-1.81 [[ 9.99996788e-01 2.53341279e-03 7.11654536e-05 6.04637832e+01] [-2.53336390e-03 9.99996561e-01 -6.78853626e-04 -5.47135110e+00] [-7.28850253e-05 6.78671158e-04 9.99999767e-01 -1.81467034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.654860624 meters 0.1199128329577034 Centerline is valid? [False, False] Translation: X:60.46, Y:-5.47, Z:-1.82 [[ 9.99997246e-01 2.34495606e-03 9.99230850e-05 6.04641865e+01] [-2.34485189e-03 9.99996720e-01 -1.03014850e-03 -5.46942214e+00] [-1.02338410e-04 1.02991135e-03 9.99999464e-01 -1.81530379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.684860624 meters 0.11276866489845826 Centerline is valid? [False, False] Translation: X:60.47, Y:-5.46, Z:-1.82 [[ 9.99998209e-01 1.89177075e-03 -6.18420388e-05 6.04652234e+01] [-1.89189354e-03 9.99996110e-01 -2.04964237e-03 -5.46438885e+00] [ 5.79643447e-05 2.04975569e-03 9.99997898e-01 -1.81636606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.714860624 meters 0.11014254249948355 Centerline is valid? [False, False] Translation: X:60.47, Y:-5.46, Z:-1.82 [[ 9.99998850e-01 1.50448445e-03 -1.90735009e-04 6.04658165e+01] [-1.50501987e-03 9.99994838e-01 -2.83882584e-03 -5.46107418e+00] [ 1.86463055e-04 2.83910963e-03 9.99995952e-01 -1.81683061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74486062399998 meters 0.11605005229779429 Centerline is valid? [False, False] Translation: X:60.47, Y:-5.46, Z:-1.82 [[ 9.99999020e-01 1.33584032e-03 -4.20124814e-04 6.04669923e+01] [-1.33728957e-03 9.99993091e-01 -3.46843261e-03 -5.45764402e+00] [ 4.15488639e-04 3.46899104e-03 9.99993897e-01 -1.81775480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77486062399998 meters 0.1233439224028147 Centerline is valid? [False, False] Translation: X:60.47, Y:-5.45, Z:-1.82 [[ 9.99990771e-01 4.29615534e-03 3.35922410e-05 6.04670251e+01] [-4.29611577e-03 9.99990166e-01 -1.10043074e-03 -5.45060721e+00] [-3.83195321e-05 1.10027627e-03 9.99999394e-01 -1.81902647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80486062399999 meters 0.11165163331724726 Centerline is valid? [False, False] Translation: X:60.47, Y:-5.45, Z:-1.82 [[ 9.99992586e-01 3.83619957e-03 -3.34327119e-04 6.04679606e+01] [-3.83698649e-03 9.99989793e-01 -2.38579151e-03 -5.44542531e+00] [ 3.25171334e-04 2.38705663e-03 9.99997098e-01 -1.81923921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.834860624 meters 0.11680932438467466 Centerline is valid? [False, False] Translation: X:60.47, Y:-5.44, Z:-1.82 [[ 9.99993271e-01 3.58942078e-03 -7.57094094e-04 6.04693982e+01] [-3.59203155e-03 9.99987508e-01 -3.47572123e-03 -5.44021455e+00] [ 7.44608811e-04 3.47841735e-03 9.99993673e-01 -1.81998012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.864860624 meters 0.10993656871902752 Centerline is valid? [False, False] Translation: X:60.47, Y:-5.44, Z:-1.82 [[ 9.99993894e-01 3.28700863e-03 -1.18664536e-03 6.04707687e+01] [-3.29241856e-03 9.99984063e-01 -4.58621820e-03 -5.43510924e+00] [ 1.17155151e-03 4.59009713e-03 9.99988779e-01 -1.82056925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.894860624 meters 0.11073890187563186 Centerline is valid? [False, False] Translation: X:60.47, Y:-5.43, Z:-1.82 [[ 9.99982899e-01 5.80152750e-03 -7.37581513e-04 6.04706780e+01] [-5.80382838e-03 9.99978176e-01 -3.15658648e-03 -5.42569672e+00] [ 7.19252392e-04 3.16081329e-03 9.99994746e-01 -1.82142734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.924860624 meters 0.11066213057749495 Centerline is valid? [False, False] Translation: X:60.47, Y:-5.42, Z:-1.82 [[ 9.99985414e-01 5.29563577e-03 -1.06214169e-03 6.04716801e+01] [-5.30037565e-03 9.99975780e-01 -4.51053520e-03 -5.42008017e+00] [ 1.03822982e-03 4.51609916e-03 9.99989263e-01 -1.82181439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.954860624 meters 0.11645155187696012 Centerline is valid? [False, False] Translation: X:60.47, Y:-5.41, Z:-1.82 [[ 9.99987575e-01 4.81299220e-03 -1.29839582e-03 6.04726499e+01] [-4.82035195e-03 9.99971988e-01 -5.72604931e-03 -5.41473686e+00] [ 1.27080002e-03 5.73223689e-03 9.99982763e-01 -1.82239398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.984860624 meters 0.11179757603050666 Centerline is valid? [False, False] Translation: X:60.47, Y:-5.41, Z:-1.82 [[ 9.99990103e-01 4.18162179e-03 -1.51922356e-03 6.04734006e+01] [-4.19222719e-03 9.99966389e-01 -7.04600416e-03 -5.40916674e+00] [ 1.48970877e-03 7.05230335e-03 9.99974023e-01 -1.82278472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.014860624 meters 0.11532249857609723 Centerline is valid? [False, False] Translation: X:60.47, Y:-5.40, Z:-1.82 [[ 9.99980383e-01 6.24832306e-03 -4.37155822e-04 6.04724085e+01] [-6.25062937e-03 9.99965395e-01 -5.48986547e-03 -5.39924193e+00] [ 4.02838241e-04 5.49249028e-03 9.99984835e-01 -1.82448160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.044860624 meters 0.1124690439691184 Centerline is valid? [False, False] Translation: X:60.47, Y:-5.39, Z:-1.82 [[ 9.99984515e-01 5.52836265e-03 -6.38152616e-04 6.04730337e+01] [-5.53264003e-03 9.99960835e-01 -6.90780059e-03 -5.39338776e+00] [ 5.99938796e-04 6.91122429e-03 9.99975937e-01 -1.82478660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.074860624 meters 0.11476161294692439 Centerline is valid? [False, False] Translation: X:60.47, Y:-5.38, Z:-1.83 [[ 9.99970224e-01 7.71107675e-03 2.99563124e-04 6.04725140e+01] [-7.70932395e-03 9.99955334e-01 -5.46772978e-03 -5.38350860e+00] [-3.41711828e-04 5.46525754e-03 9.99985007e-01 -1.82644515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.104860624 meters 0.1166356824075156 Centerline is valid? [False, False] Translation: X:60.48, Y:-5.38, Z:-1.82 [[ 9.99967765e-01 2.23863714e-03 -7.71088898e-03 6.04840999e+01] [-2.25701546e-03 9.99994631e-01 -2.37554766e-03 -5.37553199e+00] [ 7.70552959e-03 2.39287468e-03 9.99967449e-01 -1.82277074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.134860624 meters 0.11468106237371362 Centerline is valid? [False, False] Translation: X:60.48, Y:-5.37, Z:-1.82 [[ 9.99960472e-01 5.46339064e-03 -7.01473025e-03 6.04828717e+01] [-5.45760846e-03 9.99984752e-01 8.43168191e-04 -5.37125067e+00] [ 7.01922985e-03 -8.04851211e-04 9.99975041e-01 -1.82350439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.164860624 meters 0.12001349221181028 Centerline is valid? [False, False] Translation: X:60.48, Y:-5.36, Z:-1.82 [[ 9.99962952e-01 4.56394878e-03 -7.29831287e-03 6.04833633e+01] [-4.57172637e-03 9.99988999e-01 -1.04934144e-03 -5.36453082e+00] [ 7.29344345e-03 1.08266845e-03 9.99972816e-01 -1.82326922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.194860624 meters 0.11543539295057194 Centerline is valid? [False, False] Translation: X:60.48, Y:-5.35, Z:-1.82 [[ 9.99958438e-01 6.47108402e-03 -6.42235653e-03 6.04828057e+01] [-6.47222768e-03 9.99979043e-01 -1.57306054e-04 -5.35259979e+00] [ 6.42120400e-03 1.98866470e-04 9.99979364e-01 -1.82483655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.224860624 meters 0.11517963335328889 Centerline is valid? [False, False] Translation: X:60.48, Y:-5.35, Z:-1.82 [[ 9.99959886e-01 5.79274609e-03 -6.83152725e-03 6.04837394e+01] [-5.80601702e-03 9.99981293e-01 -1.92437127e-03 -5.34578739e+00] [ 6.82025206e-03 1.96395804e-03 9.99974813e-01 -1.82479199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.254860624 meters 0.11309464543974058 Centerline is valid? [False, False] Translation: X:60.48, Y:-5.34, Z:-1.82 [[ 9.99959553e-01 5.17963967e-03 -7.35281385e-03 6.04849316e+01] [-5.20680993e-03 9.99979670e-01 -3.68089916e-03 -5.33863870e+00] [ 7.33359864e-03 3.71903498e-03 9.99966193e-01 -1.82480861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.284860624 meters 0.11248043355654361 Centerline is valid? [False, False] Translation: X:60.48, Y:-5.33, Z:-1.83 [[ 9.99936603e-01 8.71158910e-03 -7.13436050e-03 6.04846363e+01] [-8.71548628e-03 9.99961887e-01 -5.15345982e-04 -5.33403055e+00] [ 7.12959910e-03 5.77492732e-04 9.99974417e-01 -1.82509854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.314860624 meters 0.10827162803707971 Centerline is valid? [False, False] Translation: X:60.48, Y:-5.32, Z:-1.82 [[ 9.99901896e-01 1.17184974e-02 -7.67302086e-03 6.04841780e+01] [-1.17151728e-02 9.99931261e-01 4.78087901e-04 -5.32483973e+00] [ 7.67809589e-03 -3.88150233e-04 9.99970448e-01 -1.82173946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.344860624 meters 0.10868930414988037 Centerline is valid? [False, False] Translation: X:60.48, Y:-5.32, Z:-1.82 [[ 9.99903637e-01 1.14641537e-02 -7.82872982e-03 6.04844382e+01] [-1.14659547e-02 9.99934247e-01 -1.85204211e-04 -5.32254173e+00] [ 7.82609184e-03 2.74950225e-04 9.99969338e-01 -1.82149673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.374860624 meters 0.11448594709326287 Centerline is valid? [False, False] Translation: X:60.49, Y:-5.32, Z:-1.82 [[ 9.99898216e-01 1.18471538e-02 -7.95004813e-03 6.04856026e+01] [-1.18461754e-02 9.99929817e-01 1.70146235e-04 -5.32256224e+00] [ 7.95150592e-03 -7.59512520e-05 9.99968383e-01 -1.82257675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.404860624 meters 0.11243359853588163 Centerline is valid? [False, False] Translation: X:60.49, Y:-5.32, Z:-1.82 [[ 9.99894871e-01 1.22719427e-02 -7.72309519e-03 6.04858991e+01] [-1.22651235e-02 9.99924348e-01 9.29712704e-04 -5.32475796e+00] [ 7.73392030e-03 -8.34890248e-04 9.99969744e-01 -1.82367503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.434860624 meters 0.10853288468916274 Centerline is valid? [False, False] Translation: X:60.49, Y:-5.32, Z:-1.82 [[ 9.99926672e-01 8.50362599e-03 -8.62196978e-03 6.04878852e+01] [-8.53519221e-03 9.99956982e-01 -3.63097563e-03 -5.32404671e+00] [ 8.59072243e-03 3.70429955e-03 9.99956238e-01 -1.82320575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.464860624 meters 0.11098346060606742 Centerline is valid? [False, False] Translation: X:60.49, Y:-5.32, Z:-1.82 [[ 9.99924783e-01 8.75597453e-03 -8.58838200e-03 6.04883680e+01] [-8.78407671e-03 9.99956171e-01 -3.23986934e-03 -5.32460198e+00] [ 8.55963737e-03 3.31506665e-03 9.99957871e-01 -1.82401326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49486062399998 meters 0.10873051463692307 Centerline is valid? [False, False] Translation: X:60.49, Y:-5.32, Z:-1.82 [[ 9.99920367e-01 8.93701477e-03 -8.91001954e-03 6.04894165e+01] [-8.96816827e-03 9.99953790e-01 -3.46265512e-03 -5.32343943e+00] [ 8.87866201e-03 3.54228594e-03 9.99954310e-01 -1.82420800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52486062399998 meters 0.10840397853080265 Centerline is valid? [False, False] Translation: X:60.49, Y:-5.32, Z:-1.82 [[ 9.99917640e-01 8.93566570e-03 -9.21237975e-03 6.04901123e+01] [-8.97127675e-03 9.99952417e-01 -3.83151402e-03 -5.32200159e+00] [ 9.17770427e-03 3.91384526e-03 9.99950225e-01 -1.82404150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55486062399999 meters 0.108280505940453 Centerline is valid? [False, False] Translation: X:60.49, Y:-5.32, Z:-1.82 [[ 9.99916751e-01 8.80748223e-03 -9.42968324e-03 6.04904308e+01] [-8.84871456e-03 9.99951432e-01 -4.33985418e-03 -5.32043797e+00] [ 9.39100207e-03 4.42293347e-03 9.99946122e-01 -1.82362877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.584860624 meters 0.11212273657907655 Centerline is valid? [False, False] Translation: X:60.49, Y:-5.32, Z:-1.82 [[ 9.99911307e-01 9.08128020e-03 -9.74212626e-03 6.04916162e+01] [-9.12369934e-03 9.99949052e-01 -4.31862555e-03 -5.31960076e+00] [ 9.70241128e-03 4.40712674e-03 9.99943219e-01 -1.82409934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.614860624 meters 0.10787980130592369 Centerline is valid? [False, False] Translation: X:60.49, Y:-5.32, Z:-1.82 [[ 9.99877306e-01 1.28284095e-02 -8.98913025e-03 6.04897527e+01] [-1.28305455e-02 9.99917669e-01 -1.79988574e-04 -5.32001842e+00] [ 8.98608120e-03 2.95301935e-04 9.99959581e-01 -1.82395677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.644860624 meters 0.10669553364528703 Centerline is valid? [False, False] Translation: X:60.49, Y:-5.32, Z:-1.82 [[ 9.99879644e-01 1.26438187e-02 -8.99064048e-03 6.04895118e+01] [-1.26492693e-02 9.99919844e-01 -5.49644790e-04 -5.31936942e+00] [ 8.98297021e-03 6.63303669e-04 9.99959432e-01 -1.82352432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.674860624 meters 0.10755751895355298 Centerline is valid? [False, False] Translation: X:60.49, Y:-5.32, Z:-1.82 [[ 9.99914481e-01 8.65565313e-03 -9.80358988e-03 6.04913711e+01] [-8.70790129e-03 9.99948043e-01 -5.29940433e-03 -5.31725237e+00] [ 9.75721071e-03 5.38431982e-03 9.99937901e-01 -1.82326247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.704860624 meters 0.10638408085704547 Centerline is valid? [False, False] Translation: X:60.49, Y:-5.32, Z:-1.82 [[ 9.99877097e-01 1.27342637e-02 -9.14487865e-03 6.04901097e+01] [-1.27409270e-02 9.99918606e-01 -6.70746789e-04 -5.31850061e+00] [ 9.13559284e-03 7.87178584e-04 9.99957960e-01 -1.82374394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.734860624 meters 0.10818257006259635 Centerline is valid? [False, False] Translation: X:60.50, Y:-5.32, Z:-1.83 [[ 9.99952015e-01 9.17927910e-03 -3.42173904e-03 6.05011881e+01] [-9.15393130e-03 9.99931079e-01 7.35135284e-03 -5.31936871e+00] [ 3.48898334e-03 -7.31967772e-03 9.99967124e-01 -1.82817697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.764860624 meters 0.1071818187561411 Centerline is valid? [False, False] Translation: X:60.50, Y:-5.32, Z:-1.83 [[ 9.99952688e-01 9.04273637e-03 -3.58492293e-03 6.05013550e+01] [-9.01808238e-03 9.99935979e-01 6.83466237e-03 -5.31811531e+00] [ 3.64649747e-03 -6.80200988e-03 9.99970217e-01 -1.82769277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.794860624 meters 0.10521157213099111 Centerline is valid? [False, False] Translation: X:60.50, Y:-5.32, Z:-1.83 [[ 9.99949918e-01 9.18224491e-03 -3.98100450e-03 6.05022260e+01] [-9.15673865e-03 9.99937732e-01 6.37856397e-03 -5.31686815e+00] [ 4.03932615e-03 -6.34179150e-03 9.99971732e-01 -1.82726109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.824860624 meters 0.10092168848533868 Centerline is valid? [False, False] Translation: X:60.50, Y:-5.32, Z:-1.83 [[ 9.99948814e-01 9.24062343e-03 -4.12073079e-03 6.05025196e+01] [-9.21482642e-03 9.99938098e-01 6.23595049e-03 -5.31657472e+00] [ 4.17809978e-03 -6.19765948e-03 9.99972066e-01 -1.82708180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.854860624 meters 0.09819144742025691 Centerline is valid? [False, True] Translation: X:60.50, Y:-5.32, Z:-1.83 [[ 9.99947736e-01 9.29860365e-03 -4.24992030e-03 6.05027884e+01] [-9.27252081e-03 9.99938304e-01 6.11629606e-03 -5.31634189e+00] [ 4.30653111e-03 -6.07656892e-03 9.99972264e-01 -1.82692834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.884860624 meters 0.10249307800243707 Centerline is valid? [True, False] Translation: X:60.50, Y:-5.31, Z:-1.83 [[ 9.99970965e-01 5.40276886e-03 -5.37387803e-03 6.05048748e+01] [-5.39811442e-03 9.99985043e-01 8.80251190e-04 -5.31408977e+00] [ 5.37855345e-03 -8.51216824e-04 9.99985173e-01 -1.82562524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.914860624 meters 0.0997708487344749 Centerline is valid? [False, True] Translation: X:60.51, Y:-5.31, Z:-1.83 [[ 9.99970357e-01 5.47761687e-03 -5.41108858e-03 6.05050315e+01] [-5.47280217e-03 9.99984615e-01 9.04190671e-04 -5.31423630e+00] [ 5.41595815e-03 -8.74550052e-04 9.99984951e-01 -1.82567387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.944860624 meters 0.09769679184417127 Centerline is valid? [True, True] Translation: X:60.53, Y:-5.31, Z:-1.82 [[ 9.99969039e-01 5.94181588e-03 -5.15903601e-03 6.05344925e+01] [-5.93978701e-03 9.99982276e-01 4.08498698e-04 -5.31331737e+00] [ 5.16137180e-03 -3.77842475e-04 9.99986609e-01 -1.82488819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.974860624 meters 0.10075626802992997 Centerline is valid? [True, False] Translation: X:60.54, Y:-5.31, Z:-1.82 [[ 9.99979242e-01 2.16313183e-03 -6.06924119e-03 6.05367124e+01] [-2.18845090e-03 9.99988918e-01 -4.16816718e-03 -5.31163603e+00] [ 6.06015764e-03 4.18136289e-03 9.99972895e-01 -1.82474433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.004860624 meters 0.10125580983636788 Centerline is valid? [False, False] Translation: X:60.54, Y:-5.31, Z:-1.83 [[ 9.99978757e-01 2.39634215e-03 -6.06157587e-03 6.05371510e+01] [-2.41909428e-03 9.99990047e-01 -3.74895874e-03 -5.31218134e+00] [ 6.05253174e-03 3.76354262e-03 9.99974601e-01 -1.82547609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.034860624 meters 0.09777255018782241 Centerline is valid? [False, True] Translation: X:60.54, Y:-5.31, Z:-1.83 [[ 9.99978679e-01 2.37074058e-03 -6.08442293e-03 6.05369555e+01] [-2.39372214e-03 9.99990019e-01 -3.77261613e-03 -5.31245103e+00] [ 6.07541830e-03 3.78710012e-03 9.99974373e-01 -1.82514811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.064860624 meters 0.09674679573757232 Centerline is valid? [True, True] Translation: X:60.57, Y:-5.31, Z:-1.83 [[ 9.99978207e-01 2.07580400e-03 -6.26714162e-03 6.05660821e+01] [-2.07288657e-03 9.99997740e-01 4.71972434e-04 -5.31427952e+00] [ 6.26810718e-03 -4.58971074e-04 9.99980250e-01 -1.82744334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.094860624 meters 0.09993212887329984 Centerline is valid? [True, True] Translation: X:60.59, Y:-5.32, Z:-1.83 [[ 9.99976378e-01 1.59371378e-03 -6.68600144e-03 6.05933797e+01] [-1.59038894e-03 9.99998609e-01 5.02571637e-04 -5.32279678e+00] [ 6.68679310e-03 -4.91926422e-04 9.99977522e-01 -1.82978815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.124860624 meters 0.10240085284540743 Centerline is valid? [True, False] Translation: X:60.59, Y:-5.32, Z:-1.83 [[ 9.99975555e-01 1.90288365e-03 -6.72816765e-03 6.05939186e+01] [-1.89638808e-03 9.99997730e-01 9.71677571e-04 -5.32373762e+00] [ 6.73000137e-03 -9.58894601e-04 9.99976894e-01 -1.83040649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.154860624 meters 0.10357909472447223 Centerline is valid? [False, False] Translation: X:60.59, Y:-5.32, Z:-1.83 [[ 9.99975216e-01 1.86668263e-03 -6.78845096e-03 6.05939353e+01] [-1.86109009e-03 9.99997924e-01 8.30055898e-04 -5.32358416e+00] [ 6.78998632e-03 -8.17401407e-04 9.99976614e-01 -1.83017221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.184860624 meters 0.09915139640666165 Centerline is valid? [False, True] Translation: X:60.59, Y:-5.32, Z:-1.83 [[ 9.99974629e-01 2.03857953e-03 -6.82542212e-03 6.05943206e+01] [-2.03163045e-03 9.99997411e-01 1.02489647e-03 -5.32389179e+00] [ 6.82749378e-03 -1.01100373e-03 9.99976181e-01 -1.83054489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.214860624 meters 0.09647841306253113 Centerline is valid? [True, True] Translation: X:60.62, Y:-5.32, Z:-1.83 [[ 9.99972894e-01 2.63502767e-03 -6.87510738e-03 6.06239338e+01] [-2.63159027e-03 9.99996408e-01 5.08975263e-04 -5.32054908e+00] [ 6.87642384e-03 -4.90869001e-04 9.99976237e-01 -1.82971810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24486062399998 meters 0.09616667020555865 Centerline is valid? [True, True] Translation: X:60.65, Y:-5.32, Z:-1.83 [[ 9.99963426e-01 5.33296979e-03 -6.68624345e-03 6.06522140e+01] [-5.32978093e-03 9.99985674e-01 4.94655848e-04 -5.32409480e+00] [ 6.68878565e-03 -4.59001543e-04 9.99977524e-01 -1.83100328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27486062399998 meters 0.09672483591616966 Centerline is valid? [True, True] Translation: X:60.68, Y:-5.33, Z:-1.83 [[ 9.99963475e-01 5.70181356e-03 -6.36700878e-03 6.06800997e+01] [-5.69893523e-03 9.99983650e-01 4.70121310e-04 -5.32788490e+00] [ 6.36958523e-03 -4.33818968e-04 9.99979620e-01 -1.83150397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30486062399999 meters 0.09538906973255451 Centerline is valid? [True, True] Translation: X:60.71, Y:-5.33, Z:-1.83 [[ 9.99963005e-01 6.55647169e-03 -5.56788908e-03 6.07087005e+01] [-6.55428534e-03 9.99978436e-01 4.10826251e-04 -5.32863020e+00] [ 5.57046259e-03 -3.74317519e-04 9.99984415e-01 -1.83061020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.334860624 meters 0.09498636434532282 Centerline is valid? [True, True] Translation: X:60.74, Y:-5.33, Z:-1.83 [[ 9.99967082e-01 6.98778096e-03 -4.12390373e-03 6.07371626e+01] [-6.98658717e-03 9.99975547e-01 3.03815170e-04 -5.33332707e+00] [ 4.12592588e-03 -2.74993156e-04 9.99991451e-01 -1.82903721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.364860624 meters 0.09364957891682248 Centerline is valid? [True, True] Translation: X:60.77, Y:-5.33, Z:-1.83 [[ 9.99969536e-01 6.89469181e-03 -3.65923938e-03 6.07659367e+01] [-6.89375254e-03 9.99976202e-01 2.69234629e-04 -5.33382486e+00] [ 3.66100858e-03 -2.44000537e-04 9.99993269e-01 -1.82822534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.394860624 meters 0.09262022034184947 Centerline is valid? [True, True] Translation: X:60.79, Y:-5.33, Z:-1.83 [[ 9.99951962e-01 9.57576642e-03 -2.09267207e-03 6.07945950e+01] [-9.57546557e-03 9.99954142e-01 1.53734155e-04 -5.33465844e+00] [ 2.09404822e-03 -1.33688460e-04 9.99997799e-01 -1.82624653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.424860624 meters 0.09076841082056757 Centerline is valid? [True, True] Translation: X:60.82, Y:-5.34, Z:-1.83 [[ 9.99925668e-01 1.20219442e-02 -2.03262950e-03 6.08244391e+01] [-1.20216647e-02 9.99927726e-01 1.49661482e-04 -5.33623558e+00] [ 2.03428181e-03 -1.25214768e-04 9.99997923e-01 -1.82515891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.454860624 meters 0.09076841082056757 Centerline is valid? [True, True] Translation: X:60.85, Y:-5.34, Z:-1.83 [[ 9.99926844e-01 1.19236772e-02 -2.03271555e-03 6.08518626e+01] [-1.19233998e-02 9.99928903e-01 1.48493315e-04 -5.33811761e+00] [ 2.03434162e-03 -1.24245572e-04 9.99997923e-01 -1.82548499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.484860624 meters 0.09054349675722123 Centerline is valid? [True, True] Translation: X:60.88, Y:-5.34, Z:-1.83 [[ 9.99922406e-01 1.21443042e-02 -2.77453636e-03 6.08802672e+01] [-1.21437866e-02 9.99926241e-01 2.03320462e-04 -5.34241494e+00] [ 2.77680090e-03 -1.69611308e-04 9.99996130e-01 -1.82662389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.514860624 meters 0.09121680491094823 Centerline is valid? [True, True] Translation: X:60.91, Y:-5.35, Z:-1.83 [[ 9.99929740e-01 1.14674002e-02 -3.00226216e-03 6.09089524e+01] [-1.14667915e-02 9.99934230e-01 2.19881817e-04 -5.34892033e+00] [ 3.00458618e-03 -1.85440053e-04 9.99995469e-01 -1.82875874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.544860624 meters 0.09269145569908852 Centerline is valid? [True, True] Translation: X:60.94, Y:-5.36, Z:-1.83 [[ 9.99939215e-01 1.04424463e-02 -3.53859018e-03 6.09364932e+01] [-1.04415955e-02 9.99945452e-01 2.58825873e-04 -5.35651970e+00] [ 3.54109993e-03 -2.21861614e-04 9.99993706e-01 -1.83170181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.574860624 meters 0.09410173477683945 Centerline is valid? [True, True] Translation: X:60.97, Y:-5.37, Z:-1.83 [[ 9.99953614e-01 8.80004117e-03 -3.91532535e-03 6.09652915e+01] [-8.79898482e-03 9.99961247e-01 2.86940881e-04 -5.36638295e+00] [ 3.91769871e-03 -2.52476682e-04 9.99992294e-01 -1.83389011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.604860624 meters 0.09354303529033227 Centerline is valid? [True, True] Translation: X:60.99, Y:-5.37, Z:-1.83 [[ 9.99958174e-01 8.22233264e-03 -4.00552277e-03 6.09936124e+01] [-8.22122499e-03 9.99966162e-01 2.92917596e-04 -5.36933365e+00] [ 4.00779570e-03 -2.59975041e-04 9.99991935e-01 -1.83328264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.634860624 meters 0.09461411068389004 Centerline is valid? [True, True] Translation: X:61.02, Y:-5.38, Z:-1.83 [[ 9.99965168e-01 7.35440324e-03 -3.94667505e-03 6.10216534e+01] [-7.35332219e-03 9.99972922e-01 2.88355270e-04 -5.37563274e+00] [ 3.94868886e-03 -2.59324052e-04 9.99992170e-01 -1.83239729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.664860624 meters 0.09507812428224009 Centerline is valid? [True, True] Translation: X:61.05, Y:-5.38, Z:-1.83 [[ 9.99968660e-01 6.90420078e-03 -3.87431897e-03 6.10487521e+01] [-6.90315859e-03 9.99976133e-01 2.82308594e-04 -5.37876177e+00] [ 3.87617562e-03 -2.55554708e-04 9.99992455e-01 -1.83281785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.694860624 meters 0.09445663042481856 Centerline is valid? [True, True] Translation: X:61.08, Y:-5.38, Z:-1.83 [[ 9.99967056e-01 7.24959954e-03 -3.65115087e-03 6.10776558e+01] [-7.24867595e-03 9.99973693e-01 2.66128216e-04 -5.38104524e+00] [ 3.65298414e-03 -2.39653439e-04 9.99993299e-01 -1.83236510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.724860624 meters 0.09567836115381632 Centerline is valid? [True, True] Translation: X:61.11, Y:-5.39, Z:-1.83 [[ 9.99966065e-01 7.45752538e-03 -3.50048556e-03 6.11053477e+01] [-7.45667999e-03 9.99972166e-01 2.54494823e-04 -5.38627781e+00] [ 3.50228603e-03 -2.28384186e-04 9.99993841e-01 -1.83296491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.754860624 meters 0.09661535529953084 Centerline is valid? [True, True] Translation: X:61.13, Y:-5.39, Z:-1.83 [[ 9.99961582e-01 7.83655045e-03 -3.92731864e-03 6.11330492e+01] [-7.83548939e-03 9.99969261e-01 2.85487728e-04 -5.39144489e+00] [ 3.92943516e-03 -2.54704297e-04 9.99992247e-01 -1.83386784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.784860624 meters 0.09217321967130593 Centerline is valid? [True, True] Translation: X:61.16, Y:-5.39, Z:-1.83 [[ 9.99954179e-01 8.94939856e-03 -3.39835347e-03 6.11622019e+01] [-8.94861112e-03 9.99959930e-01 2.46845867e-04 -5.38506276e+00] [ 3.40042642e-03 -2.16424012e-04 9.99994195e-01 -1.83195471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.814860624 meters 0.09045378731746276 Centerline is valid? [True, True] Translation: X:61.19, Y:-5.38, Z:-1.83 [[ 9.99923808e-01 1.17831916e-02 -3.67891206e-03 6.11927456e+01] [-1.17822857e-02 9.99930551e-01 2.67803809e-04 -5.38260663e+00] [ 3.68181214e-03 -2.24437412e-04 9.99993197e-01 -1.83113116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.844860624 meters 0.08816889156878291 Centerline is valid? [True, True] Translation: X:61.22, Y:-5.38, Z:-1.83 [[ 9.99882990e-01 1.50190429e-02 -2.90428996e-03 6.12229193e+01] [-1.50184922e-02 9.99887194e-01 2.11334413e-04 -5.37900853e+00] [ 2.90713638e-03 -1.67691629e-04 9.99995760e-01 -1.82943263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.874860624 meters 0.08816889156878291 Centerline is valid? [True, True] Translation: X:61.25, Y:-5.38, Z:-1.83 [[ 9.99884434e-01 1.49225905e-02 -2.90437985e-03 6.12503410e+01] [-1.49220429e-02 9.99888638e-01 2.10099209e-04 -5.38086676e+00] [ 2.90719164e-03 -1.66735647e-04 9.99995760e-01 -1.82975867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.904860624 meters 0.08724804983474123 Centerline is valid? [True, True] Translation: X:61.28, Y:-5.38, Z:-1.83 [[ 9.99831259e-01 1.80751576e-02 -3.27740977e-03 6.12794498e+01] [-1.80744746e-02 9.99836615e-01 2.37893273e-04 -5.38035542e+00] [ 3.28117425e-03 -1.78615672e-04 9.99994601e-01 -1.82996531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.934860624 meters 0.08710421652588698 Centerline is valid? [True, True] Translation: X:61.31, Y:-5.38, Z:-1.83 [[ 9.99822056e-01 1.85353685e-02 -3.50657415e-03 6.13077529e+01] [-1.85345915e-02 9.99828187e-01 2.53953657e-04 -5.38211981e+00] [ 3.51067880e-03 -1.88915548e-04 9.99993820e-01 -1.83057753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.964860624 meters 0.08574127720289537 Centerline is valid? [True, True] Translation: X:61.34, Y:-5.38, Z:-1.83 [[ 9.99781601e-01 2.05150593e-02 -3.98527890e-03 6.13371834e+01] [-2.05140710e-02 9.99789523e-01 2.88717299e-04 -5.38151433e+00] [ 3.99036314e-03 -2.06899950e-04 9.99992017e-01 -1.83250180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99486062399998 meters 0.0862399430128603 Centerline is valid? [True, True] Translation: X:61.36, Y:-5.38, Z:-1.83 [[ 9.99761829e-01 2.12724889e-02 -4.87508224e-03 6.13644750e+01] [-2.12710221e-02 9.99773684e-01 3.52538940e-04 -5.38375077e+00] [ 4.88147832e-03 -2.48756994e-04 9.99988055e-01 -1.83462556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02486062399998 meters 0.08571710249900191 Centerline is valid? [True, True] Translation: X:61.39, Y:-5.38, Z:-1.83 [[ 9.99746520e-01 2.19979989e-02 -4.79413280e-03 6.13934786e+01] [-2.19965893e-02 9.99757986e-01 3.46559225e-04 -5.38445210e+00] [ 4.80059616e-03 -2.41016809e-04 9.99988448e-01 -1.83455340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05486062399999 meters 0.08610606967025745 Centerline is valid? [True, True] Translation: X:61.42, Y:-5.39, Z:-1.83 [[ 9.99748717e-01 2.19542203e-02 -4.52934555e-03 6.14215027e+01] [-2.19529673e-02 9.99758951e-01 3.26179260e-04 -5.38666712e+00] [ 4.53541476e-03 -2.26664722e-04 9.99989689e-01 -1.83386927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.084860624 meters 0.10802516406432439 Centerline is valid? [True, False] Translation: X:61.50, Y:-5.39, Z:-1.83 [[ 9.99847097e-01 1.54439062e-02 -8.20177036e-03 6.14963729e+01] [-1.54315685e-02 9.99879701e-01 1.56544154e-03 -5.38644761e+00] [ 8.22496023e-03 -1.43863600e-03 9.99965140e-01 -1.82925995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.114860624 meters 0.08294155643308848 Centerline is valid? [False, True] Translation: X:61.46, Y:-5.38, Z:-1.83 [[ 9.99862081e-01 1.43084435e-02 -8.43131759e-03 6.14557429e+01] [-1.42533328e-02 9.99876893e-01 6.56065723e-03 -5.38421397e+00] [ 8.52415243e-03 -6.43957802e-03 9.99942934e-01 -1.82986918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.144860624 meters 0.08347251958484611 Centerline is valid? [True, True] Translation: X:61.48, Y:-5.38, Z:-1.83 [[ 9.99858926e-01 1.42558154e-02 -8.88258490e-03 6.14828253e+01] [-1.42514087e-02 9.99898287e-01 5.59206909e-04 -5.38331073e+00] [ 8.88965338e-03 -4.32538672e-04 9.99960393e-01 -1.82733358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.174860624 meters 0.08294791804340393 Centerline is valid? [True, True] Translation: X:61.51, Y:-5.38, Z:-1.83 [[ 9.99846845e-01 1.52700288e-02 -8.55059141e-03 6.15121063e+01] [-1.52659911e-02 9.99883324e-01 5.37286731e-04 -5.38360364e+00] [ 8.55779814e-03 -4.06671191e-04 9.99963299e-01 -1.82733521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.204860624 meters 0.08285220606078357 Centerline is valid? [True, True] Translation: X:61.54, Y:-5.38, Z:-1.83 [[ 9.99816470e-01 1.65105964e-02 -9.71736052e-03 6.15397609e+01] [-1.65054503e-02 9.99863590e-01 6.09541279e-04 -5.38251583e+00] [ 9.72609886e-03 -4.49039999e-04 9.99952600e-01 -1.82876675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.234860624 meters 0.08220985661782629 Centerline is valid? [True, True] Translation: X:61.57, Y:-5.38, Z:-1.83 [[ 9.99787181e-01 1.77310404e-02 -1.05452521e-02 6.15689935e+01] [-1.77250502e-02 9.99842680e-01 6.61236036e-04 -5.38113349e+00] [ 1.05553175e-02 -4.74180189e-04 9.99944179e-01 -1.82873412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.264860624 meters 0.0821186841908206 Centerline is valid? [True, True] Translation: X:61.60, Y:-5.38, Z:-1.83 [[ 9.99760542e-01 1.87433159e-02 -1.12936922e-02 6.15968263e+01] [-1.87365207e-02 9.99824206e-01 7.07202868e-04 -5.38052320e+00] [ 1.13049621e-02 -4.95429026e-04 9.99935974e-01 -1.82900096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.294860624 meters 0.0810172423741519 Centerline is valid? [True, True] Translation: X:61.63, Y:-5.38, Z:-1.83 [[ 9.99667875e-01 2.32112449e-02 -1.11972402e-02 6.16260541e+01] [-2.32048452e-02 9.99730485e-01 7.01135462e-04 -5.37532087e+00] [ 1.12104966e-02 -4.41072372e-04 9.99937063e-01 -1.83020261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.324860624 meters 0.07954054935000786 Centerline is valid? [True, True] Translation: X:61.66, Y:-5.37, Z:-1.83 [[ 9.99600487e-01 2.61547200e-02 -1.07143549e-02 6.16563575e+01] [-2.61490300e-02 9.99657831e-01 6.70832154e-04 -5.37087272e+00] [ 1.07282342e-02 -3.90394159e-04 9.99942375e-01 -1.82904255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.354860624 meters 0.07802693102633886 Centerline is valid? [True, True] Translation: X:61.69, Y:-5.37, Z:-1.83 [[ 9.99503743e-01 2.95559376e-02 -1.08955887e-02 6.16867208e+01] [-2.95502571e-02 9.99563063e-01 6.82011333e-04 -5.36628254e+00] [ 1.09109855e-02 -3.59705434e-04 9.99940409e-01 -1.82825431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.384860624 meters 0.07655945982981532 Centerline is valid? [True, True] Translation: X:61.72, Y:-5.36, Z:-1.83 [[ 9.99409169e-01 3.26553994e-02 -1.07209252e-02 6.17161322e+01] [-3.26500956e-02 9.99466619e-01 6.69416063e-04 -5.36111940e+00] [ 1.07370669e-02 -3.18981318e-04 9.99942305e-01 -1.82721230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.414860624 meters 0.07534130555823489 Centerline is valid? [True, True] Translation: X:61.75, Y:-5.35, Z:-1.83 [[ 9.99195747e-01 3.86062967e-02 -1.08357090e-02 6.17455928e+01] [-3.86012268e-02 9.99254466e-01 6.76727020e-04 -5.35433894e+00] [ 1.08537566e-02 -2.57911099e-04 9.99941063e-01 -1.82668333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.444860624 meters 0.07479301014272192 Centerline is valid? [True, True] Translation: X:61.77, Y:-5.35, Z:-1.83 [[ 9.99109607e-01 4.08468290e-02 -1.05607454e-02 6.17741818e+01] [-4.08421760e-02 9.99165395e-01 6.55982395e-04 -5.35263603e+00] [ 1.05787262e-02 -2.24074491e-04 9.99944019e-01 -1.82614593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.474860624 meters 0.07426993574114181 Centerline is valid? [True, True] Translation: X:61.80, Y:-5.35, Z:-1.82 [[ 9.99042048e-01 4.23458704e-02 -1.10368925e-02 6.18034958e+01] [-4.23409069e-02 9.99102988e-01 6.83107780e-04 -5.34959319e+00] [ 1.10559191e-02 -2.15141358e-04 9.99938858e-01 -1.82485274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.504860624 meters 0.07413459137670876 Centerline is valid? [True, True] Translation: X:61.83, Y:-5.35, Z:-1.83 [[ 9.98868179e-01 4.56862530e-02 -1.32335958e-02 6.18316098e+01] [-4.56794064e-02 9.98955815e-01 8.19322744e-04 -5.34899051e+00] [ 1.32572093e-02 -2.13892616e-04 9.99912096e-01 -1.82797390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.534860624 meters 0.07407572675664068 Centerline is valid? [True, True] Translation: X:61.86, Y:-5.35, Z:-1.83 [[ 9.98820719e-01 4.65677707e-02 -1.37336935e-02 6.18595932e+01] [-4.65605428e-02 9.98915112e-01 8.45727701e-04 -5.34810681e+00] [ 1.37581777e-02 -2.05282124e-04 9.99905331e-01 -1.82641775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.564860624 meters 0.07418290847824713 Centerline is valid? [True, True] Translation: X:61.89, Y:-5.35, Z:-1.83 [[ 9.98754290e-01 4.78610727e-02 -1.41133367e-02 6.18875898e+01] [-4.78535669e-02 9.98853984e-01 8.69238641e-04 -5.35006870e+00] [ 1.41387653e-02 -1.92782318e-04 9.99900024e-01 -1.82969679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.594860624 meters 0.07413877866639167 Centerline is valid? [True, True] Translation: X:61.92, Y:-5.35, Z:-1.83 [[ 9.98702877e-01 4.85798233e-02 -1.52500717e-02 6.19163795e+01] [-4.85712069e-02 9.98819285e-01 9.35095866e-04 -5.35047916e+00] [ 1.52774925e-02 -1.93168544e-04 9.99883274e-01 -1.82883171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.624860624 meters 0.07416907702095552 Centerline is valid? [True, True] Translation: X:61.94, Y:-5.35, Z:-1.83 [[ 9.98607987e-01 4.99716147e-02 -1.68797666e-02 6.19444031e+01] [-4.99612602e-02 9.98750620e-01 1.03483018e-03 -5.35176498e+00] [ 1.69103894e-02 -1.90055271e-04 9.99856991e-01 -1.83046720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.654860624 meters 0.07447446149930831 Centerline is valid? [True, True] Translation: X:61.97, Y:-5.35, Z:-1.83 [[ 9.98588687e-01 5.02776874e-02 -1.71110536e-02 6.19714871e+01] [-5.02671256e-02 9.98735260e-01 1.04705770e-03 -5.35420056e+00] [ 1.71420562e-02 -1.85456494e-04 9.99853047e-01 -1.83168142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.684860624 meters 0.07462602693512176 Centerline is valid? [True, True] Translation: X:62.00, Y:-5.36, Z:-1.83 [[ 9.98600760e-01 4.96370403e-02 -1.82396729e-02 6.20004392e+01] [-4.96250158e-02 9.98767301e-01 1.11154977e-03 -5.35554683e+00] [ 1.82723629e-02 -2.04850395e-04 9.99833025e-01 -1.82898602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.714860624 meters 0.07477790823905349 Centerline is valid? [True, True] Translation: X:62.03, Y:-5.36, Z:-1.83 [[ 9.98686811e-01 4.82181244e-02 -1.73108423e-02 6.20277449e+01] [-4.82071585e-02 9.98836807e-01 1.05043874e-03 -5.35979401e+00] [ 1.73413566e-02 -2.14552802e-04 9.99849604e-01 -1.82874700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74486062399998 meters 0.07491240559720289 Centerline is valid? [True, True] Translation: X:62.06, Y:-5.36, Z:-1.83 [[ 9.98727748e-01 4.73175893e-02 -1.74336008e-02 6.20560214e+01] [-4.73063910e-02 9.98879869e-01 1.05440305e-03 -5.36285800e+00] [ 1.74639647e-02 -2.28340846e-04 9.99847467e-01 -1.82889703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77486062399998 meters 0.07504166440414284 Centerline is valid? [True, True] Translation: X:62.08, Y:-5.37, Z:-1.83 [[ 9.98782253e-01 4.61781125e-02 -1.73664189e-02 6.20841628e+01] [-4.61668928e-02 9.98933192e-01 1.04662655e-03 -5.36571332e+00] [ 1.73962235e-02 -2.43598421e-04 9.99848645e-01 -1.82892127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80486062399999 meters 0.07563584273605367 Centerline is valid? [True, True] Translation: X:62.11, Y:-5.37, Z:-1.83 [[ 9.98915375e-01 4.27700272e-02 -1.84064802e-02 6.21138182e+01] [-4.27568304e-02 9.99084892e-01 1.11008385e-03 -5.37172877e+00] [ 1.84371146e-02 -3.21877068e-04 9.99829970e-01 -1.82893890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.834860624 meters 0.07581549597467567 Centerline is valid? [True, True] Translation: X:62.14, Y:-5.37, Z:-1.83 [[ 9.99013281e-01 4.08319256e-02 -1.74705081e-02 6.21422277e+01] [-4.08198295e-02 9.99165973e-01 1.04856260e-03 -5.37459175e+00] [ 1.74987521e-02 -3.34384802e-04 9.99846829e-01 -1.82837541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.864860624 meters 0.0762291984197592 Centerline is valid? [True, True] Translation: X:62.17, Y:-5.38, Z:-1.83 [[ 9.99082055e-01 3.85849370e-02 -1.86077804e-02 6.21712092e+01] [-3.85708177e-02 9.99255245e-01 1.11721456e-03 -5.37880937e+00] [ 1.86370298e-02 -3.98471719e-04 9.99826236e-01 -1.82945250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.894860624 meters 0.07824935526445316 Centerline is valid? [True, True] Translation: X:62.20, Y:-5.39, Z:-1.83 [[ 9.99249703e-01 3.32685715e-02 -1.98301005e-02 6.21998959e+01] [-3.32514993e-02 9.99446307e-01 1.19011947e-03 -5.38992145e+00] [ 1.98587143e-02 -5.29845960e-04 9.99802656e-01 -1.83448103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.924860624 meters 0.07917425976392076 Centerline is valid? [True, True] Translation: X:62.23, Y:-5.39, Z:-1.83 [[ 9.99347866e-01 2.96820899e-02 -2.05625055e-02 6.22295880e+01] [-2.96629864e-02 9.99559196e-01 1.23349385e-03 -5.39442529e+00] [ 2.05900541e-02 -6.22744121e-04 9.99787808e-01 -1.83471466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.954860624 meters 0.07904466518289516 Centerline is valid? [True, True] Translation: X:62.26, Y:-5.40, Z:-1.83 [[ 9.99436036e-01 2.64219566e-02 -2.07241332e-02 6.22593613e+01] [-2.64018648e-02 9.99650638e-01 1.24254717e-03 -5.39586071e+00] [ 2.07497235e-02 -6.94690658e-04 9.99784460e-01 -1.83209637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.984860624 meters 0.08122979957400102 Centerline is valid? [True, True] Translation: X:62.29, Y:-5.40, Z:-1.84 [[ 9.99522705e-01 2.27543818e-02 -2.08949697e-02 6.22871213e+01] [-2.27331878e-02 9.99740785e-01 1.25131255e-03 -5.40431288e+00] [ 2.09180263e-02 -7.75706033e-04 9.99780893e-01 -1.83537948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.014860624 meters 0.08123401614615997 Centerline is valid? [True, True] Translation: X:62.32, Y:-5.41, Z:-1.83 [[ 9.99584077e-01 1.96362101e-02 -2.11208752e-02 6.23160776e+01] [-1.96138787e-02 9.99806830e-01 1.26396802e-03 -5.40617995e+00] [ 2.11416148e-02 -8.49180019e-04 9.99776130e-01 -1.83349900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.044860624 meters 0.08648261921982321 Centerline is valid? [True, True] Translation: X:62.34, Y:-5.42, Z:-1.84 [[ 9.99680587e-01 1.23280099e-02 -2.20622632e-02 6.23440911e+01] [-1.23018654e-02 9.99923457e-01 1.32036980e-03 -5.42255061e+00] [ 2.20768520e-02 -1.04854107e-03 9.99755727e-01 -1.83984720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.074860624 meters 0.08666687678402117 Centerline is valid? [True, True] Translation: X:62.37, Y:-5.43, Z:-1.84 [[ 9.99714542e-01 8.25820054e-03 -2.24195374e-02 6.23743120e+01] [-8.23018704e-03 9.99965232e-01 1.34149711e-03 -5.42512140e+00] [ 2.24298363e-02 -1.15659719e-03 9.99747751e-01 -1.83840022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.104860624 meters 0.09234937485202074 Centerline is valid? [True, True] Translation: X:62.40, Y:-5.44, Z:-1.84 [[ 9.99748760e-01 3.82147402e-03 -2.20865090e-02 6.24028416e+01] [-3.79320818e-03 9.99991933e-01 1.32153141e-03 -5.43905887e+00] [ 2.20913810e-02 -1.23742066e-03 9.99755190e-01 -1.84347615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.134860624 meters 0.09541965567683801 Centerline is valid? [True, True] Translation: X:62.43, Y:-5.45, Z:-1.84 [[ 9.99713956e-01 -2.78553718e-03 -2.37538758e-02 6.24333555e+01] [ 2.82009981e-03 9.99995013e-01 1.42165610e-03 -5.44567992e+00] [ 2.37497972e-02 -1.48823774e-03 9.99716826e-01 -1.84430315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.164860624 meters 0.09753007830054013 Centerline is valid? [True, True] Translation: X:62.46, Y:-5.45, Z:-1.85 [[ 9.99719938e-01 -5.46423307e-03 -2.30258114e-02 6.24635600e+01] [ 5.49741474e-03 9.99983940e-01 1.37801044e-03 -5.45150366e+00] [ 2.30179119e-02 -1.50420695e-03 9.99733921e-01 -1.84544374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.194860624 meters 0.09760666912485254 Centerline is valid? [True, True] Translation: X:62.49, Y:-5.45, Z:-1.84 [[ 9.99687586e-01 -8.53063136e-03 -2.34937846e-02 6.24942810e+01] [ 8.56601393e-03 9.99962323e-01 1.40581158e-03 -5.45259669e+00] [ 2.34809069e-02 -1.60662047e-03 9.99722995e-01 -1.84394823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.224860624 meters 0.10225388948645157 Centerline is valid? [True, False] Translation: X:62.49, Y:-5.45, Z:-1.85 [[ 9.99931759e-01 -9.94576820e-03 -6.12851522e-03 6.24884839e+01] [ 9.98558368e-03 9.99929012e-01 6.50077229e-03 -5.45422169e+00] [ 6.06342499e-03 -6.56152547e-03 9.99960090e-01 -1.85260880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.254860624 meters 0.1037759637522472 Centerline is valid? [False, False] Translation: X:62.49, Y:-5.45, Z:-1.85 [[ 9.99930399e-01 -1.02357270e-02 -5.86748528e-03 6.24876951e+01] [ 1.02728530e-02 9.99927181e-01 6.33257694e-03 -5.45418115e+00] [ 5.80223949e-03 -6.39241200e-03 9.99962735e-01 -1.85237647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.284860624 meters 0.10654795206176092 Centerline is valid? [False, False] Translation: X:62.49, Y:-5.45, Z:-1.85 [[ 9.99928255e-01 -1.07050976e-02 -5.37457130e-03 6.24864049e+01] [ 1.07384920e-02 9.99922974e-01 6.22348082e-03 -5.45404337e+00] [ 5.30753435e-03 -6.28074910e-03 9.99966191e-01 -1.85241389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.314860624 meters 0.1107349196348438 Centerline is valid? [False, False] Translation: X:62.48, Y:-5.45, Z:-1.85 [[ 9.99923328e-01 -1.15275858e-02 -4.52256732e-03 6.24841591e+01] [ 1.15548342e-02 9.99914963e-01 6.04586202e-03 -5.45417911e+00] [ 4.45248854e-03 -6.09765598e-03 9.99971497e-01 -1.85226531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.344860624 meters 0.11201400307538044 Centerline is valid? [False, False] Translation: X:62.48, Y:-5.45, Z:-1.85 [[ 9.99920576e-01 -1.19088789e-02 -4.12560246e-03 6.24831505e+01] [ 1.19333907e-02 9.99910981e-01 5.96863151e-03 -5.45401434e+00] [ 4.05415549e-03 -6.01738988e-03 9.99973677e-01 -1.85237394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.374860624 meters 0.11291462321439738 Centerline is valid? [False, False] Translation: X:62.47, Y:-5.46, Z:-1.86 [[ 9.99958692e-01 -7.46868081e-03 5.17999720e-03 6.24721310e+01] [ 7.44988893e-03 9.99965633e-01 3.63763409e-03 -5.45608213e+00] [-5.20698751e-03 -3.59889343e-03 9.99979967e-01 -1.85804663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.404860624 meters 0.11291462321439738 Centerline is valid? [False, False] Translation: X:62.47, Y:-5.46, Z:-1.86 [[ 9.99958692e-01 -7.46868081e-03 5.17999720e-03 6.24721310e+01] [ 7.44988893e-03 9.99965633e-01 3.63763409e-03 -5.45608213e+00] [-5.20698751e-03 -3.59889343e-03 9.99979967e-01 -1.85804663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.434860624 meters 0.11273791944641649 Centerline is valid? [False, False] Translation: X:62.47, Y:-5.46, Z:-1.86 [[ 9.99960307e-01 -7.42977306e-03 4.91757826e-03 6.24726508e+01] [ 7.41353543e-03 9.99967035e-01 3.31199108e-03 -5.45515822e+00] [-4.94202349e-03 -3.27540297e-03 9.99982424e-01 -1.85772008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.464860624 meters 0.10999629765540217 Centerline is valid? [False, False] Translation: X:62.47, Y:-5.45, Z:-1.86 [[ 9.99965315e-01 -7.07909859e-03 4.38799945e-03 6.24742673e+01] [ 7.06576689e-03 9.99970397e-01 3.04631225e-03 -5.45358143e+00] [-4.40943470e-03 -3.01520201e-03 9.99985733e-01 -1.85794103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49486062399998 meters 0.10951567036082095 Centerline is valid? [False, False] Translation: X:62.48, Y:-5.45, Z:-1.86 [[ 9.99969600e-01 -6.66515049e-03 4.04663521e-03 6.24755473e+01] [ 6.65220391e-03 9.99972740e-01 3.20441860e-03 -5.45334891e+00] [-4.06788283e-03 -3.17740214e-03 9.99986678e-01 -1.85844490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52486062399998 meters 0.1099524677262088 Centerline is valid? [False, False] Translation: X:62.48, Y:-5.45, Z:-1.86 [[ 9.99972869e-01 -6.36734162e-03 3.70385764e-03 6.24766323e+01] [ 6.35585234e-03 9.99974979e-01 3.10551965e-03 -5.45285830e+00] [-3.72353887e-03 -3.08189422e-03 9.99988319e-01 -1.85854773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55486062399999 meters 0.11013653073718191 Centerline is valid? [False, False] Translation: X:62.48, Y:-5.45, Z:-1.86 [[ 9.99978613e-01 -5.71839766e-03 3.17401647e-03 6.24786574e+01] [ 5.70777247e-03 9.99978111e-01 3.34657798e-03 -5.45246631e+00] [-3.19308406e-03 -3.32838984e-03 9.99989363e-01 -1.85937579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.584860624 meters 0.11143346697146732 Centerline is valid? [False, False] Translation: X:62.48, Y:-5.45, Z:-1.86 [[ 9.99979372e-01 -5.65739810e-03 3.04118324e-03 6.24790084e+01] [ 5.64768399e-03 9.99978953e-01 3.19334103e-03 -5.45205932e+00] [-3.05918523e-03 -3.17609952e-03 9.99990277e-01 -1.85929465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.614860624 meters 0.10796583785727365 Centerline is valid? [False, False] Translation: X:62.48, Y:-5.45, Z:-1.86 [[ 9.99980163e-01 -5.58949454e-03 2.90377601e-03 6.24792758e+01] [ 5.58056263e-03 9.99979701e-01 3.07501472e-03 -5.45185773e+00] [-2.92090484e-03 -3.05874901e-03 9.99991056e-01 -1.85909437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.644860624 meters 0.10800977690928029 Centerline is valid? [False, False] Translation: X:62.48, Y:-5.45, Z:-1.86 [[ 9.99981575e-01 -5.42440830e-03 2.72505454e-03 6.24798159e+01] [ 5.41619709e-03 9.99980797e-01 3.01162429e-03 -5.45166425e+00] [-2.74133850e-03 -2.99680936e-03 9.99991752e-01 -1.85907112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.674860624 meters 0.10707170359295427 Centerline is valid? [False, False] Translation: X:62.48, Y:-5.45, Z:-1.86 [[ 9.99983857e-01 -5.10808981e-03 2.48850290e-03 6.24805005e+01] [ 5.10015276e-03 9.99981920e-01 3.18545854e-03 -5.45219461e+00] [-2.50472951e-03 -3.17271537e-03 9.99991830e-01 -1.85909506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.704860624 meters 0.10128683269080242 Centerline is valid? [False, False] Translation: X:62.48, Y:-5.45, Z:-1.86 [[ 9.99985134e-01 -4.91981165e-03 2.35098631e-03 6.24807784e+01] [ 4.91209748e-03 9.99982570e-01 3.27583348e-03 -5.45285935e+00] [-2.36706182e-03 -3.26423651e-03 9.99991871e-01 -1.85889658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.734860624 meters 0.1011339419092263 Centerline is valid? [False, False] Translation: X:62.48, Y:-5.45, Z:-1.86 [[ 9.99987495e-01 -4.53392624e-03 2.11023186e-03 6.24813559e+01] [ 4.52647952e-03 9.99983559e-01 3.52036339e-03 -5.45411733e+00] [-2.12615824e-03 -3.51076745e-03 9.99991577e-01 -1.85869346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.764860624 meters 0.10229780728854257 Centerline is valid? [False, False] Translation: X:62.48, Y:-5.45, Z:-1.86 [[ 9.99988828e-01 -4.29896656e-03 1.96537690e-03 6.24817858e+01] [ 4.29176417e-03 9.99984113e-01 3.65428012e-03 -5.45471384e+00] [-1.98105530e-03 -3.64580436e-03 9.99991392e-01 -1.85868650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.794860624 meters 0.10206637634285133 Centerline is valid? [False, False] Translation: X:62.48, Y:-5.46, Z:-1.86 [[ 9.99990291e-01 -4.03400997e-03 1.77312565e-03 6.24822272e+01] [ 4.02731152e-03 9.99984802e-01 3.76523463e-03 -5.45550664e+00] [-1.78828770e-03 -3.75805714e-03 9.99991339e-01 -1.85846023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.824860624 meters 0.10241682673183204 Centerline is valid? [False, False] Translation: X:62.48, Y:-5.46, Z:-1.86 [[ 9.99991945e-01 -3.66085275e-03 1.64541829e-03 6.24828153e+01] [ 3.65398936e-03 9.99984692e-01 4.15504100e-03 -5.45665088e+00] [-1.66060409e-03 -4.14899519e-03 9.99990014e-01 -1.85876638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.854860624 meters 0.10298192122232828 Centerline is valid? [False, False] Translation: X:62.48, Y:-5.46, Z:-1.86 [[ 9.99993059e-01 -3.43795228e-03 1.43615788e-03 6.24831871e+01] [ 3.43195792e-03 9.99985476e-01 4.15570806e-03 -5.45738432e+00] [-1.45042414e-03 -4.15075038e-03 9.99990334e-01 -1.85835882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.884860624 meters 0.10156842341311369 Centerline is valid? [False, False] Translation: X:62.48, Y:-5.46, Z:-1.86 [[ 9.99993923e-01 -3.22408014e-03 1.32617069e-03 6.24835216e+01] [ 3.21835838e-03 9.99985601e-01 4.29424251e-03 -5.45807458e+00] [-1.33999657e-03 -4.28994833e-03 9.99989900e-01 -1.85833148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.914860624 meters 0.09875886995235174 Centerline is valid? [False, True] Translation: X:62.48, Y:-5.46, Z:-1.86 [[ 9.99995693e-01 -2.73082127e-03 1.07586323e-03 6.24842282e+01] [ 2.72570972e-03 9.99985126e-01 4.72426832e-03 -5.45983204e+00] [-1.08874836e-03 -4.72131548e-03 9.99988262e-01 -1.85829835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.944860624 meters 0.09994493949863495 Centerline is valid? [True, True] Translation: X:62.51, Y:-5.46, Z:-1.86 [[ 9.99996905e-01 -2.24869187e-03 1.06438174e-03 6.25149291e+01] [ 2.24877561e-03 9.99997468e-01 -7.74871780e-05 -5.46301625e+00] [-1.06420480e-03 7.98804939e-05 9.99999431e-01 -1.85683669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.974860624 meters 0.09996319516532064 Centerline is valid? [True, True] Translation: X:62.55, Y:-5.47, Z:-1.86 [[ 9.99996174e-01 -2.57388902e-03 1.01310431e-03 6.25467290e+01] [ 2.57396473e-03 9.99996685e-01 -7.34323250e-05 -5.46685012e+00] [-1.01291194e-03 7.60397388e-05 9.99999484e-01 -1.85779958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.004860624 meters 0.1003552074736861 Centerline is valid? [True, False] Translation: X:62.55, Y:-5.47, Z:-1.86 [[ 9.99997190e-01 -2.16206060e-03 9.72046091e-04 6.25468719e+01] [ 2.16148564e-03 9.99997489e-01 5.92157955e-04 -5.46958043e+00] [-9.73323931e-04 -5.90055228e-04 9.99999352e-01 -1.85779116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.034860624 meters 0.09920537404749936 Centerline is valid? [False, True] Translation: X:62.55, Y:-5.47, Z:-1.86 [[ 9.99997725e-01 -1.94176645e-03 8.82757167e-04 6.25469990e+01] [ 1.94103973e-03 9.99997777e-01 8.23354515e-04 -5.47087417e+00] [-8.84353967e-04 -8.21639176e-04 9.99999271e-01 -1.85757311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.064860624 meters 0.09973371259899388 Centerline is valid? [True, True] Translation: X:62.58, Y:-5.48, Z:-1.86 [[ 9.99997163e-01 -2.03687911e-03 1.23522842e-03 6.25793150e+01] [ 2.03699195e-03 9.99997921e-01 -9.01019592e-05 -5.47532397e+00] [-1.23504233e-03 9.26178539e-05 9.99999233e-01 -1.85739310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.094860624 meters 0.0997126841749853 Centerline is valid? [True, True] Translation: X:62.61, Y:-5.48, Z:-1.86 [[ 9.99996501e-01 -1.86224141e-03 1.87872898e-03 6.26111690e+01] [ 1.86250368e-03 9.99998256e-01 -1.37858724e-04 -5.47901261e+00] [-1.87846898e-03 1.41357382e-04 9.99998226e-01 -1.85699473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.124860624 meters 0.09822416805494007 Centerline is valid? [True, True] Translation: X:62.64, Y:-5.48, Z:-1.86 [[ 9.99996360e-01 -1.44509289e-04 2.69410151e-03 6.26425596e+01] [ 1.45045960e-04 9.99999970e-01 -1.99007884e-04 -5.48128723e+00] [-2.69407267e-03 1.99397928e-04 9.99996351e-01 -1.85693370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.154860624 meters 0.0962312293063143 Centerline is valid? [True, True] Translation: X:62.67, Y:-5.48, Z:-1.86 [[ 9.99992394e-01 1.34748855e-03 3.66011527e-03 6.26747260e+01] [-1.34650767e-03 9.99999057e-01 -2.70441610e-04 -5.48113360e+00] [-3.66047623e-03 2.65511180e-04 9.99993265e-01 -1.85621837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.184860624 meters 0.09573658539380342 Centerline is valid? [True, True] Translation: X:62.71, Y:-5.48, Z:-1.86 [[ 9.99988887e-01 2.34244654e-03 4.09134565e-03 6.27057753e+01] [-2.34122677e-03 9.99997213e-01 -3.02897270e-04 -5.48341862e+00] [-4.09204377e-03 2.93315136e-04 9.99991585e-01 -1.85636497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.214860624 meters 0.09390254968080325 Centerline is valid? [True, True] Translation: X:62.74, Y:-5.48, Z:-1.86 [[ 9.99978031e-01 4.92082725e-03 4.44097252e-03 6.27369143e+01] [-4.91941332e-03 9.99987845e-01 -3.29248916e-04 -5.48353532e+00] [-4.44253872e-03 3.07394703e-04 9.99990085e-01 -1.85612212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24486062399998 meters 0.09401110032529475 Centerline is valid? [True, True] Translation: X:62.77, Y:-5.49, Z:-1.86 [[ 9.99970769e-01 5.71122793e-03 5.08352344e-03 6.27663950e+01] [-5.70938220e-03 9.99983630e-01 -3.77519469e-04 -5.48637440e+00] [-5.08559632e-03 3.48484655e-04 9.99987008e-01 -1.85690422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27486062399998 meters 0.09393104127089265 Centerline is valid? [True, True] Translation: X:62.80, Y:-5.49, Z:-1.86 [[ 9.99949150e-01 8.28828228e-03 5.74467363e-03 6.27955393e+01] [-8.28596700e-03 9.99965580e-01 -4.26714618e-04 -5.48835144e+00] [-5.74801263e-03 3.79092743e-04 9.99983408e-01 -1.85767316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30486062399999 meters 0.09274157195383273 Centerline is valid? [True, True] Translation: X:62.83, Y:-5.49, Z:-1.86 [[ 9.99935135e-01 9.85017761e-03 5.71830768e-03 6.28256842e+01] [-9.84791138e-03 9.99951418e-01 -4.24333159e-04 -5.48812895e+00] [-5.72220963e-03 3.67992247e-04 9.99983560e-01 -1.85800476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.334860624 meters 0.09114908212917679 Centerline is valid? [True, True] Translation: X:62.86, Y:-5.49, Z:-1.86 [[ 9.99911553e-01 1.17191867e-02 6.28857500e-03 6.28553759e+01] [-1.17164821e-02 9.99931251e-01 -4.66742747e-04 -5.48702915e+00] [-6.29361251e-03 3.93021488e-04 9.99980118e-01 -1.85809705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.364860624 meters 0.09082908886681362 Centerline is valid? [True, True] Translation: X:62.88, Y:-5.49, Z:-1.86 [[ 9.99902333e-01 1.28015403e-02 5.60754519e-03 6.28838193e+01] [-1.27994048e-02 9.99917997e-01 -4.16552054e-04 -5.48763415e+00] [-5.61241787e-03 3.44738129e-04 9.99984191e-01 -1.85862224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.394860624 meters 0.08821913268352014 Centerline is valid? [True, True] Translation: X:62.91, Y:-5.48, Z:-1.86 [[ 9.99874589e-01 1.44140184e-02 6.56061355e-03 6.29137880e+01] [-1.44111369e-02 9.99896036e-01 -4.86286820e-04 -5.48380306e+00] [-6.56694083e-03 3.91679935e-04 9.99978361e-01 -1.85795895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.424860624 meters 0.08862280239898535 Centerline is valid? [True, True] Translation: X:62.94, Y:-5.49, Z:-1.86 [[ 9.99867914e-01 1.54338240e-02 5.09424829e-03 6.29412195e+01] [-1.54320961e-02 9.99880847e-01 -3.78314123e-04 -5.48589043e+00] [-5.09948013e-03 2.99649223e-04 9.99986953e-01 -1.86002253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.454860624 meters 0.08662174764386797 Centerline is valid? [True, True] Translation: X:62.97, Y:-5.48, Z:-1.86 [[ 9.99818153e-01 1.85061412e-02 4.60258325e-03 6.29716328e+01] [-1.85047673e-02 9.99828714e-01 -3.40911318e-04 -5.48226823e+00] [-4.60810385e-03 2.55679593e-04 9.99989350e-01 -1.86024643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.484860624 meters 0.0871587050798037 Centerline is valid? [True, True] Translation: X:63.00, Y:-5.48, Z:-1.86 [[ 9.99812664e-01 1.86926033e-02 5.02234411e-03 6.29996193e+01] [-1.86909660e-02 9.99825239e-01 -3.72753782e-04 -5.48414180e+00] [-5.02843413e-03 2.78811488e-04 9.99987318e-01 -1.86097517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.514860624 meters 0.08660967785909138 Centerline is valid? [True, True] Translation: X:63.03, Y:-5.48, Z:-1.86 [[ 9.99798250e-01 1.96299376e-02 4.25723901e-03 6.30283181e+01] [-1.96287728e-02 9.99807287e-01 -3.15204807e-04 -5.48432672e+00] [-4.26260604e-03 2.31576838e-04 9.99990888e-01 -1.86112465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.544860624 meters 0.08785965451809961 Centerline is valid? [True, True] Translation: X:63.06, Y:-5.49, Z:-1.86 [[ 9.99798642e-01 1.93962939e-02 5.14391789e-03 6.30555183e+01] [-1.93945896e-02 9.99811835e-01 -3.80995627e-04 -5.48702893e+00] [-5.15033988e-03 2.81154734e-04 9.99986697e-01 -1.86215621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.574860624 meters 0.0860263888552136 Centerline is valid? [True, True] Translation: X:63.08, Y:-5.48, Z:-1.86 [[ 9.99800545e-01 1.92515935e-02 5.31471728e-03 6.30841790e+01] [-1.92497771e-02 9.99814629e-01 -3.92728787e-04 -5.48434301e+00] [-5.32129273e-03 2.90343333e-04 9.99985800e-01 -1.86133228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.604860624 meters 0.08510744453735276 Centerline is valid? [True, True] Translation: X:63.11, Y:-5.48, Z:-1.86 [[ 9.99775278e-01 2.01793636e-02 6.49508068e-03 6.31134394e+01] [-2.01766815e-02 9.99796316e-01 -4.78207333e-04 -5.48412569e+00] [-6.50340765e-03 3.47050695e-04 9.99978792e-01 -1.86104521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.634860624 meters 0.08509437181215328 Centerline is valid? [True, True] Translation: X:63.14, Y:-5.48, Z:-1.86 [[ 9.99755137e-01 2.13158806e-02 5.94129302e-03 6.31409867e+01] [-2.13136533e-02 9.99772742e-01 -4.37962782e-04 -5.48415489e+00] [-5.94927838e-03 3.11224882e-04 9.99982254e-01 -1.86099561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.664860624 meters 0.0860828542513481 Centerline is valid? [True, True] Translation: X:63.17, Y:-5.49, Z:-1.86 [[ 9.99697312e-01 2.38246840e-02 6.13750784e-03 6.31692444e+01] [-2.38223630e-02 9.99716106e-01 -4.51001132e-04 -5.48671369e+00] [-6.14651039e-03 3.04654679e-04 9.99981064e-01 -1.86327641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.694860624 meters 0.08260003824345116 Centerline is valid? [True, True] Translation: X:63.20, Y:-5.48, Z:-1.86 [[ 9.99656691e-01 2.55567571e-02 5.77513791e-03 6.31991150e+01] [-2.55547321e-02 9.99673335e-01 -4.24170416e-04 -5.47940866e+00] [-5.78409179e-03 2.76442692e-04 9.99983234e-01 -1.86239771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.724860624 meters 0.08236114325680646 Centerline is valid? [True, True] Translation: X:63.23, Y:-5.48, Z:-1.86 [[ 9.99626443e-01 2.66716577e-02 5.96640599e-03 6.32268486e+01] [-2.66695154e-02 9.99644209e-01 -4.38351948e-04 -5.47974035e+00] [-5.97597477e-03 2.79067042e-04 9.99982105e-01 -1.86323795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.754860624 meters 0.08056218633213078 Centerline is valid? [True, True] Translation: X:63.26, Y:-5.48, Z:-1.86 [[ 9.99530895e-01 3.01406558e-02 5.43420699e-03 6.32566288e+01] [-3.01389353e-02 9.99545640e-01 -3.98238914e-04 -5.47566239e+00] [-5.44374109e-03 2.34270885e-04 9.99985155e-01 -1.86357811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.784860624 meters 0.08041982821568461 Centerline is valid? [True, True] Translation: X:63.29, Y:-5.48, Z:-1.86 [[ 9.99524769e-01 3.02475931e-02 5.94294684e-03 6.32855120e+01] [-3.02455360e-02 9.99542404e-01 -4.35732085e-04 -5.47621608e+00] [-5.95340722e-03 2.55777399e-04 9.99982246e-01 -1.86457344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.814860624 meters 0.08089483007443193 Centerline is valid? [True, True] Translation: X:63.31, Y:-5.48, Z:-1.86 [[ 9.99512459e-01 3.05999906e-02 6.20355346e-03 6.33135497e+01] [-3.05977574e-02 9.99531676e-01 -4.54602750e-04 -5.47884586e+00] [-6.21455903e-03 2.64566289e-04 9.99980654e-01 -1.86498906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.844860624 meters 0.07935519089077593 Centerline is valid? [True, True] Translation: X:63.34, Y:-5.48, Z:-1.86 [[ 9.99490729e-01 3.12287877e-02 6.56093275e-03 6.33430039e+01] [-3.12263087e-02 9.99512225e-01 -4.79963343e-04 -5.47664976e+00] [-6.57272116e-03 2.74845200e-04 9.99978362e-01 -1.86408831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.874860624 meters 0.07952517166537924 Centerline is valid? [True, True] Translation: X:63.37, Y:-5.48, Z:-1.86 [[ 9.99488566e-01 3.11688764e-02 7.14898611e-03 6.33707359e+01] [-3.11659343e-02 9.99514088e-01 -5.22599509e-04 -5.47868934e+00] [-7.16180117e-03 2.99527402e-04 9.99974309e-01 -1.86406377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.904860624 meters 0.07987958216631685 Centerline is valid? [True, True] Translation: X:63.40, Y:-5.48, Z:-1.86 [[ 9.99490160e-01 3.10392763e-02 7.48223377e-03 6.33972762e+01] [-3.10360522e-02 9.99518116e-01 -5.46660454e-04 -5.48140628e+00] [-7.49559615e-03 3.14162746e-04 9.99971858e-01 -1.86487903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.934860624 meters 0.0794468343412472 Centerline is valid? [True, True] Translation: X:63.43, Y:-5.48, Z:-1.87 [[ 9.99478012e-01 3.15219823e-02 7.07584340e-03 6.34259509e+01] [-3.15191202e-02 9.99503016e-01 -5.15652736e-04 -5.48211587e+00] [-7.08858122e-03 2.92359212e-04 9.99974833e-01 -1.86533537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.964860624 meters 0.07939815975441172 Centerline is valid? [True, True] Translation: X:63.45, Y:-5.48, Z:-1.87 [[ 9.99452710e-01 3.23342037e-02 6.98419786e-03 6.34540961e+01] [-3.23314383e-02 9.99477073e-01 -5.08530224e-04 -5.48468161e+00] [-6.99698856e-03 2.82442749e-04 9.99975481e-01 -1.86681708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99486062399998 meters 0.08085644301231812 Centerline is valid? [True, True] Translation: X:63.48, Y:-5.49, Z:-1.87 [[ 9.99478473e-01 3.16615122e-02 6.35058917e-03 6.34811448e+01] [-3.16592127e-02 9.99498615e-01 -4.62312368e-04 -5.49092215e+00] [-6.36204258e-03 2.61016607e-04 9.99979728e-01 -1.86937611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02486062399998 meters 0.07943532156895115 Centerline is valid? [True, True] Translation: X:63.51, Y:-5.49, Z:-1.87 [[ 9.99477084e-01 3.16545755e-02 6.59902763e-03 6.35099210e+01] [-3.16520977e-02 9.99498832e-01 -4.79605006e-04 -5.48815741e+00] [-6.61090209e-03 2.70481146e-04 9.99978111e-01 -1.86842556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05486062399999 meters 0.07972357131441785 Centerline is valid? [True, True] Translation: X:63.54, Y:-5.49, Z:-1.87 [[ 9.99455054e-01 3.25096623e-02 5.71990565e-03 6.35378608e+01] [-3.25078113e-02 9.99471395e-01 -4.16296443e-04 -5.49092817e+00] [-5.73041573e-03 2.30127970e-04 9.99983555e-01 -1.86966068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.084860624 meters 0.07891049944265034 Centerline is valid? [True, True] Translation: X:63.57, Y:-5.49, Z:-1.87 [[ 9.99421068e-01 3.34323408e-02 6.30932411e-03 6.35672223e+01] [-3.34301055e-02 9.99440952e-01 -4.59436321e-04 -5.48900298e+00] [-6.32115693e-03 2.48248967e-04 9.99979990e-01 -1.86847950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.114860624 meters 0.07753099200372353 Centerline is valid? [True, True] Translation: X:63.60, Y:-5.49, Z:-1.87 [[ 9.99374914e-01 3.48506601e-02 5.93399903e-03 6.35959801e+01] [-3.48487255e-02 9.99392507e-01 -4.29127701e-04 -5.48659019e+00] [-5.94534955e-03 2.22067156e-04 9.99982302e-01 -1.86763224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.144860624 meters 0.07727827772259134 Centerline is valid? [True, True] Translation: X:63.62, Y:-5.49, Z:-1.87 [[ 9.99334915e-01 3.59540211e-02 6.08564535e-03 6.36235425e+01] [-3.59520081e-02 9.99353421e-01 -4.39887311e-04 -5.48726000e+00] [-6.09752621e-03 2.20803578e-04 9.99981386e-01 -1.86855691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.174860624 meters 0.07640717266839388 Centerline is valid? [True, True] Translation: X:63.65, Y:-5.48, Z:-1.87 [[ 9.99222658e-01 3.90267339e-02 5.56724608e-03 6.36526849e+01] [-3.90251000e-02 9.99238150e-01 -4.01854234e-04 -5.48494699e+00] [-5.57868773e-03 1.84279521e-04 9.99984422e-01 -1.86902828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.204860624 meters 0.07630627842328926 Centerline is valid? [True, True] Translation: X:63.68, Y:-5.49, Z:-1.87 [[ 9.99199151e-01 3.96119021e-02 5.65275426e-03 6.36818665e+01] [-3.96102174e-02 9.99215123e-01 -4.09718292e-04 -5.48596566e+00] [-5.66454727e-03 1.85483345e-04 9.99983939e-01 -1.86976537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.234860624 meters 0.0764715467778312 Centerline is valid? [True, True] Translation: X:63.71, Y:-5.49, Z:-1.87 [[ 9.99212524e-01 3.93266442e-02 5.26761626e-03 6.37106121e+01] [-3.93251804e-02 9.99226393e-01 -3.81211937e-04 -5.48778598e+00] [-5.27853298e-03 1.73761781e-04 9.99986053e-01 -1.87086478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.264860624 meters 0.0764715467778312 Centerline is valid? [True, True] Translation: X:63.74, Y:-5.49, Z:-1.87 [[ 9.99222207e-01 3.90798150e-02 5.26766522e-03 6.37378896e+01] [-3.90783513e-02 9.99236077e-01 -3.80533990e-04 -5.48955118e+00] [-5.27851233e-03 1.74386342e-04 9.99986053e-01 -1.87142364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.294860624 meters 0.07640085045005555 Centerline is valid? [True, True] Translation: X:63.77, Y:-5.49, Z:-1.87 [[ 9.99197603e-01 3.97925610e-02 4.55007511e-03 6.37655674e+01] [-3.97914907e-02 9.99207952e-01 -3.25556150e-04 -5.49103657e+00] [-4.55942595e-03 1.44240653e-04 9.99989595e-01 -1.87254603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.324860624 meters 0.07672107362458558 Centerline is valid? [True, True] Translation: X:63.79, Y:-5.49, Z:-1.87 [[ 9.99209134e-01 3.95206705e-02 4.38430719e-03 6.37934227e+01] [-3.95196635e-02 9.99218743e-01 -3.16091330e-04 -5.49396952e+00] [-4.39337406e-03 1.42574999e-04 9.99990339e-01 -1.87367799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.354860624 meters 0.07639297882597905 Centerline is valid? [True, True] Translation: X:63.82, Y:-5.50, Z:-1.87 [[ 9.99214840e-01 3.94404839e-02 3.76183363e-03 6.38217121e+01] [-3.94397533e-02 9.99221914e-01 -2.68231081e-04 -5.49522350e+00] [-3.76948577e-03 1.19654686e-04 9.99992888e-01 -1.87362048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.384860624 meters 0.07639749340065545 Centerline is valid? [True, True] Translation: X:63.85, Y:-5.50, Z:-1.87 [[ 9.99226341e-01 3.92038341e-02 3.12706348e-03 6.38499875e+01] [-3.92033205e-02 9.99231229e-01 -2.25399744e-04 -5.49747462e+00] [-3.13349602e-03 1.02634090e-04 9.99995085e-01 -1.87447899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.414860624 meters 0.0775981117906591 Centerline is valid? [True, True] Translation: X:63.88, Y:-5.50, Z:-1.88 [[ 9.99280342e-01 3.78289117e-02 2.78784895e-03 6.38770921e+01] [-3.78285035e-02 9.99284226e-01 -1.99027473e-04 -5.50372734e+00] [-2.79338247e-03 9.34240873e-05 9.99996094e-01 -1.87703959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.444860624 meters 0.07794223344116251 Centerline is valid? [True, True] Translation: X:63.91, Y:-5.51, Z:-1.88 [[ 9.99309783e-01 3.71009108e-02 1.86546962e-03 6.39052636e+01] [-3.71007271e-02 9.99311522e-01 -1.32986078e-04 -5.50694864e+00] [-1.86911919e-03 6.36840091e-05 9.99998251e-01 -1.87758988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.474860624 meters 0.07797249956858948 Centerline is valid? [True, True] Translation: X:63.93, Y:-5.51, Z:-1.88 [[ 9.99319499e-01 3.68432996e-02 1.76376673e-03 6.39334398e+01] [-3.68431339e-02 9.99321053e-01 -1.26369958e-04 -5.50910663e+00] [-1.76722512e-03 6.13012689e-05 9.99998437e-01 -1.87783630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.504860624 meters 0.07712701917585899 Centerline is valid? [True, True] Translation: X:63.96, Y:-5.51, Z:-1.88 [[ 9.99344063e-01 3.61250222e-02 2.53508385e-03 6.39612163e+01] [-3.61246746e-02 9.99347274e-01 -1.82767022e-04 -5.50830785e+00] [-2.54003160e-03 9.10680591e-05 9.99996770e-01 -1.87558152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.534860624 meters 0.07960993758878565 Centerline is valid? [True, True] Translation: X:63.99, Y:-5.52, Z:-1.88 [[ 9.99396402e-01 3.46128240e-02 2.96374050e-03 6.39877685e+01] [-3.46123550e-02 9.99400791e-01 -2.09401037e-04 -5.51789153e+00] [-2.96921256e-03 1.06692604e-04 9.99995586e-01 -1.87857633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.564860624 meters 0.0782156790885883 Centerline is valid? [True, True] Translation: X:64.02, Y:-5.52, Z:-1.88 [[ 9.99435244e-01 3.34970444e-02 2.67229737e-03 6.40165474e+01] [-3.34966579e-02 9.99438812e-01 -1.89292298e-04 -5.51504782e+00] [-2.67713844e-03 9.96723633e-05 9.99996411e-01 -1.87599432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.594860624 meters 0.07887781496276211 Centerline is valid? [True, True] Translation: X:64.04, Y:-5.52, Z:-1.88 [[ 9.99479968e-01 3.20923295e-02 3.14258710e-03 6.40439418e+01] [-3.20917910e-02 9.99484901e-01 -2.21647569e-04 -5.51964627e+00] [-3.14808154e-03 1.20681057e-04 9.99995037e-01 -1.87624179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.624860624 meters 0.101679915061398 Centerline is valid? [True, False] Translation: X:64.14, Y:-5.52, Z:-1.88 [[ 9.99773215e-01 2.12462783e-02 -1.45382960e-03 6.41406461e+01] [-2.12381197e-02 9.99759785e-01 5.41424953e-03 -5.52445092e+00] [ 1.56851302e-03 -5.38214506e-03 9.99984286e-01 -1.87625021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.654860624 meters 0.08208058538094262 Centerline is valid? [False, True] Translation: X:64.07, Y:-5.52, Z:-1.87 [[ 9.99860791e-01 1.59080474e-02 -5.03316567e-03 6.40676943e+01] [-1.58810745e-02 9.99859551e-01 5.35437117e-03 -5.51819980e+00] [ 5.11763636e-03 -5.27369372e-03 9.99972999e-01 -1.87275895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.684860624 meters 0.08380799233394505 Centerline is valid? [True, True] Translation: X:64.10, Y:-5.52, Z:-1.87 [[ 9.99902809e-01 1.28001536e-02 -5.52525037e-03 6.40973041e+01] [-1.27984904e-02 9.99918039e-01 3.36284026e-04 -5.52252252e+00] [ 5.52910201e-03 -2.65536479e-04 9.99984679e-01 -1.87111143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.714860624 meters 0.0848902992131508 Centerline is valid? [True, True] Translation: X:64.13, Y:-5.53, Z:-1.87 [[ 9.99936606e-01 9.41355212e-03 -6.17818417e-03 6.41269344e+01] [-9.41140828e-03 9.99955641e-01 3.75983553e-04 -5.52682467e+00] [ 6.18144946e-03 -3.17814305e-04 9.99980844e-01 -1.87116131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74486062399998 meters 0.08883525425397205 Centerline is valid? [True, True] Translation: X:64.16, Y:-5.54, Z:-1.87 [[ 9.99969626e-01 3.43989886e-03 -6.99382889e-03 6.41554758e+01] [-3.43700564e-03 9.99994003e-01 4.25659899e-04 -5.53786157e+00] [ 6.99525118e-03 -4.01609141e-04 9.99975452e-01 -1.87440058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77486062399998 meters 0.0899788684123333 Centerline is valid? [True, True] Translation: X:64.19, Y:-5.54, Z:-1.88 [[ 9.99971962e-01 4.36477663e-04 -7.47564638e-03 6.41857874e+01] [-4.33087395e-04 9.99999803e-01 4.55121049e-04 -5.54216116e+00] [ 7.47584356e-03 -4.51870680e-04 9.99971953e-01 -1.87548808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80486062399999 meters 0.09595047119279773 Centerline is valid? [True, True] Translation: X:64.21, Y:-5.55, Z:-1.88 [[ 9.99948947e-01 -5.80284767e-03 -8.27223183e-03 6.42145875e+01] [ 5.80720875e-03 9.99983011e-01 5.03272866e-04 -5.55477719e+00] [ 8.26917088e-03 -5.51285749e-04 9.99965658e-01 -1.87767892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.834860624 meters 0.09572536429463735 Centerline is valid? [True, True] Translation: X:64.24, Y:-5.56, Z:-1.88 [[ 9.99929066e-01 -8.06270288e-03 -8.76678463e-03 6.42446525e+01] [ 8.06768530e-03 9.99967314e-01 5.33112016e-04 -5.55580250e+00] [ 8.76219975e-03 -6.03801860e-04 9.99961429e-01 -1.87717824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.864860624 meters 0.09902798350171527 Centerline is valid? [True, True] Translation: X:64.27, Y:-5.56, Z:-1.88 [[ 9.99909185e-01 -9.97517973e-03 -9.06187970e-03 6.42743867e+01] [ 9.98058408e-03 9.99950041e-01 5.51354860e-04 -5.56337895e+00] [ 9.05592711e-03 -6.41747641e-04 9.99958788e-01 -1.87922495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.894860624 meters 0.09832276670142884 Centerline is valid? [True, True] Translation: X:64.31, Y:-5.56, Z:-1.88 [[ 9.99884950e-01 -1.18701815e-02 -9.44386305e-03 6.43057751e+01] [ 1.18761419e-02 9.99929311e-01 5.75306588e-04 -5.56326415e+00] [ 9.43636647e-03 -6.87397056e-04 9.99955240e-01 -1.87812317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.924860624 meters 0.10326954080093782 Centerline is valid? [True, False] Translation: X:64.30, Y:-5.56, Z:-1.88 [[ 9.99884566e-01 -1.25138339e-02 -8.61736059e-03 6.43040010e+01] [ 1.25210449e-02 9.99921302e-01 7.83360776e-04 -5.56362861e+00] [ 8.60687957e-03 -8.91168708e-04 9.99962563e-01 -1.87878463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.954860624 meters 0.10770397597389576 Centerline is valid? [False, False] Translation: X:64.30, Y:-5.56, Z:-1.88 [[ 9.99884818e-01 -1.25676230e-02 -8.50909017e-03 6.43040676e+01] [ 1.25758104e-02 9.99920508e-01 9.09374979e-04 -5.56321132e+00] [ 8.49698508e-03 -1.01627894e-03 9.99963384e-01 -1.87941104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.984860624 meters 0.10486017826432076 Centerline is valid? [False, False] Translation: X:64.30, Y:-5.56, Z:-1.88 [[ 9.99882057e-01 -1.28770749e-02 -8.36982461e-03 6.43036840e+01] [ 1.28822998e-02 9.99916857e-01 5.70645245e-04 -5.56205558e+00] [ 8.36178048e-03 -6.78400531e-04 9.99964810e-01 -1.87941152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.014860624 meters 0.1067230666475345 Centerline is valid? [False, False] Translation: X:64.30, Y:-5.56, Z:-1.88 [[ 9.99880837e-01 -1.29405759e-02 -8.41739849e-03 6.43040836e+01] [ 1.29447894e-02 9.99916113e-01 4.46278919e-04 -5.56075942e+00] [ 8.41091727e-03 -5.55187190e-04 9.99964473e-01 -1.87990926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.044860624 meters 0.10475634432080734 Centerline is valid? [False, False] Translation: X:64.30, Y:-5.56, Z:-1.88 [[ 9.99930297e-01 -9.03601746e-03 -7.59941161e-03 6.43026175e+01] [ 9.07535436e-03 9.99945516e-01 5.15785358e-03 -5.56164632e+00] [ 7.55239110e-03 -5.22646142e-03 9.99957822e-01 -1.88101672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.074860624 meters 0.10510108425147995 Centerline is valid? [False, False] Translation: X:64.30, Y:-5.56, Z:-1.88 [[ 9.99926131e-01 -9.55477007e-03 -7.51262125e-03 6.43024168e+01] [ 9.58881003e-03 9.99943864e-01 4.50814712e-03 -5.55857392e+00] [ 7.46912522e-03 -4.57985120e-03 9.99961618e-01 -1.88128161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.104860624 meters 0.10738325056494046 Centerline is valid? [False, False] Translation: X:64.30, Y:-5.56, Z:-1.88 [[ 9.99924152e-01 -9.96565740e-03 -7.23706163e-03 6.43016916e+01] [ 9.99652154e-03 9.99941039e-01 4.24115576e-03 -5.55743722e+00] [ 7.19436903e-03 -4.31317952e-03 9.99964818e-01 -1.88140538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.134860624 meters 0.10999673019781712 Centerline is valid? [False, False] Translation: X:64.30, Y:-5.56, Z:-1.88 [[ 9.99924542e-01 -9.95932680e-03 -7.19178726e-03 6.43020077e+01] [ 9.99051945e-03 9.99940786e-01 4.31443770e-03 -5.55674998e+00] [ 7.14839251e-03 -4.38596184e-03 9.99964831e-01 -1.88209942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.164860624 meters 0.11148850208216185 Centerline is valid? [False, False] Translation: X:64.30, Y:-5.56, Z:-1.88 [[ 9.99923392e-01 -1.02471311e-02 -6.94307492e-03 6.43014637e+01] [ 1.02763934e-02 9.99938409e-01 4.19211103e-03 -5.55597747e+00] [ 6.89969018e-03 -4.26313965e-03 9.99967109e-01 -1.88238480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.194860624 meters 0.11074760417468259 Centerline is valid? [False, False] Translation: X:64.30, Y:-5.56, Z:-1.88 [[ 9.99923445e-01 -1.02783738e-02 -6.88907205e-03 6.43013767e+01] [ 1.03074208e-02 9.99938081e-01 4.19424015e-03 -5.55589626e+00] [ 6.84553552e-03 -4.26492763e-03 9.99967474e-01 -1.88243665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.224860624 meters 0.1078088993511173 Centerline is valid? [False, False] Translation: X:64.29, Y:-5.56, Z:-1.89 [[ 9.99990791e-01 -3.81183757e-03 1.97179957e-03 6.42910424e+01] [ 3.80745126e-03 9.99990280e-01 2.22351263e-03 -5.55861945e+00] [-1.98025607e-03 -2.21598462e-03 9.99995584e-01 -1.88814961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.254860624 meters 0.10963693873949629 Centerline is valid? [False, False] Translation: X:64.29, Y:-5.56, Z:-1.89 [[ 9.99992043e-01 -3.53519326e-03 1.84831965e-03 6.42916460e+01] [ 3.53055918e-03 9.99990631e-01 2.50446703e-03 -5.55906371e+00] [-1.85715611e-03 -2.49792150e-03 9.99995156e-01 -1.88854967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.284860624 meters 0.10838824453682239 Centerline is valid? [False, False] Translation: X:64.29, Y:-5.56, Z:-1.89 [[ 9.99993312e-01 -3.24239610e-03 1.69205440e-03 6.42923834e+01] [ 3.23776522e-03 9.99991025e-01 2.73243561e-03 -5.55939448e+00] [-1.70089885e-03 -2.72693886e-03 9.99994835e-01 -1.88896614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.314860624 meters 0.11956672436204696 Centerline is valid? [False, False] Translation: X:64.29, Y:-5.56, Z:-1.89 [[ 9.99994339e-01 -3.04412935e-03 1.43360912e-03 6.42928597e+01] [ 3.04041661e-03 9.99992037e-01 2.58488479e-03 -5.55959057e+00] [-1.44146643e-03 -2.58051139e-03 9.99995632e-01 -1.88847191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.344860624 meters 0.10665837209009527 Centerline is valid? [False, False] Translation: X:64.29, Y:-5.56, Z:-1.89 [[ 9.99995456e-01 -2.76787208e-03 1.19480138e-03 6.42936041e+01] [ 2.76463945e-03 9.99992537e-01 2.69880151e-03 -5.55979327e+00] [-1.20226240e-03 -2.69548605e-03 9.99995644e-01 -1.88860029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.374860624 meters 0.11036017434270662 Centerline is valid? [False, False] Translation: X:64.29, Y:-5.56, Z:-1.89 [[ 9.99996288e-01 -2.51415364e-03 1.05015311e-03 6.42941423e+01] [ 2.51112844e-03 9.99992722e-01 2.87217342e-03 -5.56021894e+00] [-1.05736655e-03 -2.86952568e-03 9.99995324e-01 -1.88876591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.404860624 meters 0.11125006282637348 Centerline is valid? [False, False] Translation: X:64.29, Y:-5.56, Z:-1.89 [[ 9.99996834e-01 -2.33828863e-03 9.29895967e-04 6.42944208e+01] [ 2.33553732e-03 9.99992925e-01 2.94888618e-03 -5.56072444e+00] [-9.36784735e-04 -2.94670504e-03 9.99995220e-01 -1.88863225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.434860624 meters 0.11118242017522177 Centerline is valid? [False, False] Translation: X:64.29, Y:-5.56, Z:-1.89 [[ 9.99997157e-01 -2.26605074e-03 7.42248986e-04 6.42944692e+01] [ 2.26400197e-03 9.99993657e-01 2.74952281e-03 -5.56116287e+00] [-7.48474836e-04 -2.74783454e-03 9.99995945e-01 -1.88780743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.464860624 meters 0.10750702199733198 Centerline is valid? [False, False] Translation: X:64.30, Y:-5.56, Z:-1.89 [[ 9.99997990e-01 -1.96834821e-03 3.81153484e-04 6.42953414e+01] [ 1.96728996e-03 9.99994264e-01 2.75719207e-03 -5.56121611e+00] [-3.86578412e-04 -2.75643669e-03 9.99996126e-01 -1.88762158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49486062399998 meters 0.10623998294443941 Centerline is valid? [False, False] Translation: X:64.30, Y:-5.56, Z:-1.89 [[ 9.99998464e-01 -1.74392639e-03 -1.75785506e-04 6.42963555e+01] [ 1.74431593e-03 9.99995968e-01 2.24077784e-03 -5.56031101e+00] [ 1.71877046e-04 -2.24108102e-03 9.99997474e-01 -1.88672170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52486062399998 meters 0.1006978611043391 Centerline is valid? [False, False] Translation: X:64.30, Y:-5.56, Z:-1.89 [[ 9.99998541e-01 -9.16685634e-04 -1.44160079e-03 6.42991284e+01] [ 9.19078520e-04 9.99998200e-01 1.66009544e-03 -5.55882981e+00] [ 1.44007641e-03 -1.66141796e-03 9.99997583e-01 -1.88575173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55486062399999 meters 0.09903102300160094 Centerline is valid? [False, True] Translation: X:64.30, Y:-5.56, Z:-1.89 [[ 9.99997487e-01 -1.67421858e-04 -2.23576174e-03 6.43013438e+01] [ 1.71356259e-04 9.99998437e-01 1.75968298e-03 -5.55879352e+00] [ 2.23546363e-03 -1.76006167e-03 9.99995952e-01 -1.88585954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.584860624 meters 0.0977883691238814 Centerline is valid? [True, True] Translation: X:64.33, Y:-5.56, Z:-1.89 [[ 9.99993084e-01 2.52046586e-03 -2.73469810e-03 6.43304060e+01] [-2.51996608e-03 9.99996808e-01 1.86184917e-04 -5.55812757e+00] [ 2.73515864e-03 -1.79292283e-04 9.99996243e-01 -1.88738617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.614860624 meters 0.09543034710683121 Centerline is valid? [True, True] Translation: X:64.36, Y:-5.56, Z:-1.89 [[ 9.99981113e-01 5.37707152e-03 -2.97676770e-03 6.43601812e+01] [-5.37649211e-03 9.99985526e-01 2.02610477e-04 -5.55689073e+00] [ 2.97781406e-03 -1.86602082e-04 9.99995549e-01 -1.88890268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.644860624 meters 0.09158789021791278 Centerline is valid? [True, True] Translation: X:64.39, Y:-5.55, Z:-1.89 [[ 9.99952232e-01 9.06304933e-03 -3.65993449e-03 6.43912358e+01] [-9.06219636e-03 9.99958906e-01 2.49573794e-04 -5.55352728e+00] [ 3.66204599e-03 -2.16394828e-04 9.99993271e-01 -1.89048060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.674860624 meters 0.09053050604086275 Centerline is valid? [True, True] Translation: X:64.42, Y:-5.55, Z:-1.89 [[ 9.99949634e-01 9.26862400e-03 -3.85005909e-03 6.44202516e+01] [-9.26768586e-03 9.99957020e-01 2.61438972e-04 -5.55357674e+00] [ 3.85231679e-03 -2.25744666e-04 9.99992554e-01 -1.88991927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.704860624 meters 0.09094343627452157 Centerline is valid? [True, True] Translation: X:64.45, Y:-5.56, Z:-1.89 [[ 9.99948121e-01 9.70110799e-03 -3.10543975e-03 6.44478935e+01] [-9.70050172e-03 9.99952927e-01 2.10230317e-04 -5.55777637e+00] [ 3.10733303e-03 -1.80095087e-04 9.99995156e-01 -1.88940049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.734860624 meters 0.08903814655525052 Centerline is valid? [True, True] Translation: X:64.48, Y:-5.56, Z:-1.89 [[ 9.99959829e-01 8.67747992e-03 -2.24523269e-03 6.44763847e+01] [-8.67716269e-03 9.99962341e-01 1.50995679e-04 -5.55738419e+00] [ 2.24645840e-03 -1.31507364e-04 9.99997468e-01 -1.88569070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.764860624 meters 0.09057704899518441 Centerline is valid? [True, True] Translation: X:64.50, Y:-5.56, Z:-1.89 [[ 9.99968018e-01 7.85866115e-03 -1.48497580e-03 6.45040362e+01] [-7.85852185e-03 9.99969116e-01 9.96211001e-05 -5.56419327e+00] [ 1.48571283e-03 -8.79481992e-05 9.99998892e-01 -1.88635858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.794860624 meters 0.09134571588867296 Centerline is valid? [True, True] Translation: X:64.53, Y:-5.57, Z:-1.89 [[ 9.99975209e-01 6.99835009e-03 -7.77468985e-04 6.45310431e+01] [-6.99831204e-03 9.99975510e-01 5.16479976e-05 -5.56998925e+00] [ 7.77811396e-04 -4.62057466e-05 9.99999696e-01 -1.88602736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.824860624 meters 0.0935790808226775 Centerline is valid? [True, True] Translation: X:64.56, Y:-5.58, Z:-1.89 [[ 9.99980351e-01 6.26851048e-03 -5.95481871e-05 6.45586703e+01] [-6.26851031e-03 9.99980353e-01 2.88915055e-06 -5.57831415e+00] [ 5.95651278e-05 -2.51581536e-06 9.99999998e-01 -1.88759858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.854860624 meters 0.09216626639987731 Centerline is valid? [True, True] Translation: X:64.59, Y:-5.58, Z:-1.89 [[ 9.99991597e-01 4.09868759e-03 -8.40414752e-05 6.45881699e+01] [-4.09868717e-03 9.99991600e-01 5.22256213e-06 -5.58065247e+00] [ 8.40621749e-05 -4.87805853e-06 9.99999996e-01 -1.88776371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.884860624 meters 0.09203963261844826 Centerline is valid? [True, True] Translation: X:64.62, Y:-5.58, Z:-1.89 [[ 9.99991665e-01 4.05367001e-03 4.87733829e-04 6.46168257e+01] [-4.05365395e-03 9.99991783e-01 -3.39144445e-05 -5.58383800e+00] [-4.87867300e-04 3.19370577e-05 9.99999880e-01 -1.88784031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.914860624 meters 0.09263309144928186 Centerline is valid? [True, True] Translation: X:64.65, Y:-5.59, Z:-1.89 [[ 9.99994474e-01 3.28419427e-03 5.16283012e-04 6.46454943e+01] [-3.28417622e-03 9.99994606e-01 -3.58089671e-05 -5.58740748e+00] [-5.16397831e-04 3.41132048e-05 9.99999866e-01 -1.88856507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.944860624 meters 0.1494769585009617 Centerline is valid? [True, False] Translation: X:64.74, Y:-5.59, Z:-1.89 [[ 9.99998109e-01 -1.62798970e-03 1.06396807e-03 6.47351021e+01] [ 1.63411727e-03 9.99981938e-01 -5.78390094e-03 -5.58845765e+00] [-1.05453272e-03 5.78562865e-03 9.99982707e-01 -1.88716792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.974860624 meters 0.0932425617540066 Centerline is valid? [False, True] Translation: X:64.66, Y:-5.59, Z:-1.89 [[ 9.99988683e-01 -4.99181949e-04 -4.73118717e-03 6.46562102e+01] [ 5.23899216e-04 9.99986215e-01 5.22452782e-03 -5.59046311e+00] [ 4.72851395e-03 -5.22694736e-03 9.99975160e-01 -1.88700076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.004860624 meters 0.09629981171470291 Centerline is valid? [True, True] Translation: X:64.68, Y:-5.60, Z:-1.89 [[ 9.99985698e-01 -1.54208161e-03 -5.12107307e-03 6.46847641e+01] [ 1.54382149e-03 9.99998752e-01 3.35813644e-04 -5.59666686e+00] [ 5.12054882e-03 -3.43714864e-04 9.99986831e-01 -1.88552609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.034860624 meters 0.0969126669869184 Centerline is valid? [True, True] Translation: X:64.71, Y:-5.60, Z:-1.89 [[ 9.99986019e-01 -2.16749311e-03 -4.82324582e-03 6.47129599e+01] [ 2.16903156e-03 9.99997598e-01 3.13758630e-04 -5.60055028e+00] [ 4.82255417e-03 -3.24216016e-04 9.99988319e-01 -1.88572777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.064860624 meters 0.09745017200307302 Centerline is valid? [True, True] Translation: X:64.74, Y:-5.60, Z:-1.89 [[ 9.99979122e-01 -3.07348557e-03 -5.68414445e-03 6.47423256e+01] [ 3.07564677e-03 9.99995201e-01 3.71512368e-04 -5.60431198e+00] [ 5.68297534e-03 -3.88987032e-04 9.99983776e-01 -1.88677048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.094860624 meters 0.09718981012002946 Centerline is valid? [True, True] Translation: X:64.77, Y:-5.61, Z:-1.89 [[ 9.99979932e-01 -2.91886298e-03 -5.62278679e-03 6.47722723e+01] [ 2.92097434e-03 9.99995666e-01 3.67325397e-04 -5.60679991e+00] [ 5.62169025e-03 -3.83742041e-04 9.99984125e-01 -1.88697057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.124860624 meters 0.09734713404712193 Centerline is valid? [True, True] Translation: X:64.80, Y:-5.61, Z:-1.89 [[ 9.99981353e-01 -2.10224104e-03 -5.73352024e-03 6.48011352e+01] [ 2.10442079e-03 9.99997716e-01 3.74171298e-04 -5.60901134e+00] [ 5.73272055e-03 -3.86230060e-04 9.99983493e-01 -1.88761292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.154860624 meters 0.09226347828554937 Centerline is valid? [True, True] Translation: X:64.83, Y:-5.60, Z:-1.89 [[ 9.99980368e-01 -7.80838277e-04 -6.21728698e-03 6.48309539e+01] [ 7.83359144e-04 9.99999612e-01 4.03036160e-04 -5.60038097e+00] [ 6.21696986e-03 -4.07898616e-04 9.99980591e-01 -1.88618361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.184860624 meters 0.09205707922500793 Centerline is valid? [True, True] Translation: X:64.86, Y:-5.60, Z:-1.89 [[ 9.99985276e-01 -4.97546180e-04 -5.40368480e-03 6.48598206e+01] [ 4.99437572e-04 9.99999814e-01 3.48675163e-04 -5.60098745e+00] [ 5.40351032e-03 -3.51368832e-04 9.99985339e-01 -1.88557242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.214860624 meters 0.09205707922500793 Centerline is valid? [True, True] Translation: X:64.89, Y:-5.60, Z:-1.89 [[ 9.99985136e-01 -7.26505898e-04 -5.40376514e-03 6.48880155e+01] [ 7.28393926e-04 9.99999674e-01 3.47431462e-04 -5.60265373e+00] [ 5.40351097e-03 -3.51362367e-04 9.99985339e-01 -1.88581520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24486062399998 meters 0.09091731576170743 Centerline is valid? [True, True] Translation: X:64.92, Y:-5.60, Z:-1.89 [[ 9.99979889e-01 1.56346377e-03 -6.14624384e-03 6.49169249e+01] [-1.56105396e-03 9.99998703e-01 3.96855172e-04 -5.60208129e+00] [ 6.14685633e-03 -3.87252573e-04 9.99981033e-01 -1.88553980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27486062399998 meters 0.08953286051542579 Centerline is valid? [True, True] Translation: X:64.95, Y:-5.60, Z:-1.89 [[ 9.99977226e-01 3.69857792e-03 -5.64512414e-03 6.49473561e+01] [-3.69657860e-03 9.99993101e-01 3.64560527e-04 -5.60187746e+00] [ 5.64643355e-03 -3.43684580e-04 9.99984000e-01 -1.88583874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30486062399999 meters 0.09178599132692136 Centerline is valid? [True, True] Translation: X:64.97, Y:-5.61, Z:-1.89 [[ 9.99975084e-01 4.13345666e-03 -5.72244601e-03 6.49743726e+01] [-4.13141582e-03 9.99991398e-01 3.68413141e-04 -5.60831201e+00] [ 5.72391960e-03 -3.44762157e-04 9.99983559e-01 -1.88668898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.334860624 meters 0.08849333873875276 Centerline is valid? [True, True] Translation: X:65.00, Y:-5.60, Z:-1.89 [[ 9.99971409e-01 4.96604710e-03 -5.70266190e-03 6.50040739e+01] [-4.96403850e-03 9.99987612e-01 3.66321601e-04 -5.60364746e+00] [ 5.70441042e-03 -3.38002894e-04 9.99983673e-01 -1.88616267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.364860624 meters 0.08765255715581168 Centerline is valid? [True, True] Translation: X:65.03, Y:-5.60, Z:-1.89 [[ 9.99971260e-01 5.74647321e-03 -4.94546361e-03 6.50331560e+01] [-5.74497239e-03 9.99983447e-01 3.17627832e-04 -5.60483155e+00] [ 4.94720699e-03 -2.89207152e-04 9.99987721e-01 -1.88589942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.394860624 meters 0.08736766092713875 Centerline is valid? [True, True] Translation: X:65.06, Y:-5.61, Z:-1.89 [[ 9.99964432e-01 6.49698394e-03 -5.37818878e-03 6.50617354e+01] [-6.49522141e-03 9.99978846e-01 3.45119476e-04 -5.60662721e+00] [ 5.38031725e-03 -3.10174673e-04 9.99985478e-01 -1.88691197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.424860624 meters 0.08713992888063248 Centerline is valid? [True, True] Translation: X:65.09, Y:-5.61, Z:-1.89 [[ 9.99967256e-01 6.72720547e-03 -4.49793267e-03 6.50907255e+01] [-6.72597673e-03 9.99977339e-01 2.88251134e-04 -5.60830685e+00] [ 4.49976986e-03 -2.57988705e-04 9.99989843e-01 -1.88597827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.454860624 meters 0.08680271851191619 Centerline is valid? [True, True] Translation: X:65.12, Y:-5.61, Z:-1.89 [[ 9.99962360e-01 7.58063400e-03 -4.22041262e-03 6.51181173e+01] [-7.57956192e-03 9.99971238e-01 2.69959490e-04 -5.60948146e+00] [ 4.22233770e-03 -2.37960450e-04 9.99991058e-01 -1.88561106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.484860624 meters 0.08567768848809712 Centerline is valid? [True, True] Translation: X:65.15, Y:-5.61, Z:-1.89 [[ 9.99955157e-01 8.14819998e-03 -4.82610081e-03 6.51473412e+01] [-8.14680510e-03 9.99966767e-01 3.08614960e-04 -5.60836275e+00] [ 4.82845507e-03 -2.69283818e-04 9.99988307e-01 -1.88554269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.514860624 meters 0.0848509524082397 Centerline is valid? [True, True] Translation: X:65.18, Y:-5.61, Z:-1.88 [[ 9.99934332e-01 1.08171756e-02 -3.78415702e-03 6.51761729e+01] [-1.08163369e-02 9.99941472e-01 2.42021851e-04 -5.60949030e+00] [ 3.78655353e-03 -2.01075241e-04 9.99992811e-01 -1.88418714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.544860624 meters 0.08330258543422178 Centerline is valid? [True, True] Translation: X:65.21, Y:-5.61, Z:-1.88 [[ 9.99916719e-01 1.24205345e-02 -3.50491843e-03 6.52056934e+01] [-1.24198261e-02 9.99922846e-01 2.23829704e-04 -5.60771984e+00] [ 3.50742809e-03 -1.80280586e-04 9.99993833e-01 -1.88341979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.574860624 meters 0.08411103344696316 Centerline is valid? [True, True] Translation: X:65.23, Y:-5.61, Z:-1.88 [[ 9.99903223e-01 1.31916473e-02 -4.41870097e-03 6.52333953e+01] [-1.31905311e-02 9.99912961e-01 2.81659870e-04 -5.61108838e+00] [ 4.42203193e-03 -2.23347599e-04 9.99990198e-01 -1.88492841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.604860624 meters 0.08132706704929966 Centerline is valid? [True, True] Translation: X:65.26, Y:-5.61, Z:-1.88 [[ 9.99885382e-01 1.46851301e-02 -3.68380808e-03 6.52626863e+01] [-1.46843653e-02 9.99892151e-01 2.34581191e-04 -5.60563094e+00] [ 3.68685565e-03 -1.80459920e-04 9.99993187e-01 -1.88429488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.634860624 meters 0.08380766935726931 Centerline is valid? [True, True] Translation: X:65.29, Y:-5.61, Z:-1.89 [[ 9.99874911e-01 1.51342087e-02 -4.59533585e-03 6.52895577e+01] [-1.51330272e-02 9.99885447e-01 2.91768051e-04 -5.61264935e+00] [ 4.59922512e-03 -2.22190212e-04 9.99989399e-01 -1.88613946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.664860624 meters 0.08148160405335543 Centerline is valid? [True, True] Translation: X:65.32, Y:-5.61, Z:-1.88 [[ 9.99848535e-01 1.68668310e-02 -4.29149997e-03 6.53184139e+01] [-1.68658160e-02 9.99857725e-01 2.72604003e-04 -5.60760888e+00] [ 4.29548736e-03 -2.00183065e-04 9.99990754e-01 -1.88499754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.694860624 meters 0.07881251107014925 Centerline is valid? [True, True] Translation: X:65.35, Y:-5.60, Z:-1.88 [[ 9.99772040e-01 2.09849728e-02 -3.93695981e-03 6.53486577e+01] [-2.09841500e-02 9.99779777e-01 2.50181127e-04 -5.59946346e+00] [ 3.94134285e-03 -1.67510341e-04 9.99992219e-01 -1.88340522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.724860624 meters 0.07794766353952882 Centerline is valid? [True, True] Translation: X:65.38, Y:-5.60, Z:-1.88 [[ 9.99719206e-01 2.34189284e-02 -3.61426406e-03 6.53781603e+01] [-2.34182591e-02 9.99725729e-01 2.27404215e-04 -5.59669000e+00] [ 3.61859833e-03 -1.42700589e-04 9.99993443e-01 -1.88330122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.754860624 meters 0.07717070728809944 Centerline is valid? [True, True] Translation: X:65.41, Y:-5.59, Z:-1.88 [[ 9.99649717e-01 2.61595292e-02 -4.01516350e-03 6.54072843e+01] [-2.61587205e-02 9.99657770e-01 2.53805485e-04 -5.59334071e+00] [ 4.02042882e-03 -1.48685041e-04 9.99991907e-01 -1.88390713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.784860624 meters 0.07599563730686221 Centerline is valid? [True, True] Translation: X:65.44, Y:-5.59, Z:-1.88 [[ 9.99567184e-01 2.91928101e-02 -3.63659403e-03 6.54373683e+01] [-2.91921664e-02 9.99573791e-01 2.29977189e-04 -5.58889967e+00] [ 3.64175776e-03 -1.23717593e-04 9.99993361e-01 -1.88360667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.814860624 meters 0.07486962051260772 Centerline is valid? [True, True] Translation: X:65.47, Y:-5.58, Z:-1.88 [[ 9.99466371e-01 3.24822413e-02 -3.44641791e-03 6.54669872e+01] [-3.24816831e-02 9.99472307e-01 2.17832336e-04 -5.58484244e+00] [ 3.45167494e-03 -1.05770640e-04 9.99994037e-01 -1.88363800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.844860624 meters 0.07258690148288034 Centerline is valid? [True, True] Translation: X:65.50, Y:-5.57, Z:-1.88 [[ 9.99186041e-01 4.00020273e-02 -5.20506405e-03 6.54972417e+01] [-4.00008562e-02 9.99199591e-01 3.28959353e-04 -5.57375826e+00] [ 5.21405691e-03 -1.20484575e-04 9.99986399e-01 -1.88484673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.874860624 meters 0.07211191011466186 Centerline is valid? [True, True] Translation: X:65.53, Y:-5.57, Z:-1.89 [[ 9.99058924e-01 4.30120113e-02 -5.58870144e-03 6.55253616e+01] [-4.30107128e-02 9.99074549e-01 3.52390268e-04 -5.57137470e+00] [ 5.59868639e-03 -1.11684609e-04 9.99984321e-01 -1.88618746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.904860624 meters 0.07163453444272677 Centerline is valid? [True, True] Translation: X:65.55, Y:-5.57, Z:-1.89 [[ 9.99024617e-01 4.38241770e-02 -5.40883538e-03 6.55543001e+01] [-4.38229860e-02 9.99039254e-01 3.38586014e-04 -5.57002640e+00] [ 5.41847712e-03 -1.01224446e-04 9.99985315e-01 -1.88512981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.934860624 meters 0.07203861767817439 Centerline is valid? [True, True] Translation: X:65.58, Y:-5.57, Z:-1.89 [[ 9.99031396e-01 4.36475843e-02 -5.58193097e-03 6.55821825e+01] [-4.36463083e-02 9.99046984e-01 3.50268510e-04 -5.57385493e+00] [ 5.59189968e-03 -1.06298558e-04 9.99984360e-01 -1.88664604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.964860624 meters 0.07165949698756542 Centerline is valid? [True, True] Translation: X:65.61, Y:-5.57, Z:-1.89 [[ 9.99032605e-01 4.35843168e-02 -5.85327259e-03 6.56096266e+01] [-4.35829301e-02 9.99049746e-01 3.64329340e-04 -5.57419415e+00] [ 5.86358954e-03 -1.08874120e-04 9.99982803e-01 -1.88590608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99486062399998 meters 0.07147997708225753 Centerline is valid? [True, True] Translation: X:65.64, Y:-5.58, Z:-1.89 [[ 9.99007597e-01 4.40365935e-02 -6.67827018e-03 6.56374722e+01] [-4.40348075e-02 9.99029912e-01 4.14314319e-04 -5.57619592e+00] [ 6.69003666e-03 -1.19826811e-04 9.99977614e-01 -1.88637313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02486062399998 meters 0.07160301976305453 Centerline is valid? [True, True] Translation: X:65.66, Y:-5.58, Z:-1.89 [[ 9.99015522e-01 4.40369551e-02 -5.36037583e-03 6.56649135e+01] [-4.40358038e-02 9.99029898e-01 3.32670656e-04 -5.57920562e+00] [ 5.36982552e-03 -9.62946907e-05 9.99985578e-01 -1.88654491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05486062399999 meters 0.07149074839517197 Centerline is valid? [True, True] Translation: X:65.69, Y:-5.58, Z:-1.89 [[ 9.99065992e-01 4.28979419e-02 -5.18746242e-03 6.56931278e+01] [-4.28968591e-02 9.99079455e-01 3.19875794e-04 -5.58157381e+00] [ 5.19640914e-03 -9.70511828e-05 9.99986494e-01 -1.88546713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.084860624 meters 0.07191534126736833 Centerline is valid? [True, True] Translation: X:65.72, Y:-5.59, Z:-1.89 [[ 9.99122845e-01 4.15201375e-02 -5.44227992e-03 6.57205338e+01] [-4.15189203e-02 9.99137661e-01 3.36481125e-04 -5.58560388e+00] [ 5.45155757e-03 -1.10228393e-04 9.99985134e-01 -1.88582309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.114860624 meters 0.07200404710232104 Centerline is valid? [True, True] Translation: X:65.75, Y:-5.59, Z:-1.89 [[ 9.99180912e-01 4.00872454e-02 -5.52425947e-03 6.57490056e+01] [-4.00859829e-02 9.99196176e-01 3.39118346e-04 -5.58830090e+00] [ 5.53341326e-03 -1.17395208e-04 9.99984684e-01 -1.88593925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.144860624 meters 0.07259730220612272 Centerline is valid? [True, True] Translation: X:65.78, Y:-5.59, Z:-1.89 [[ 9.99275697e-01 3.76965560e-02 -5.20102237e-03 6.57764550e+01] [-3.76954010e-02 9.99289225e-01 3.19973560e-04 -5.59335023e+00] [ 5.20938751e-03 -1.23687179e-04 9.99986423e-01 -1.88563726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.174860624 meters 0.07254260253905254 Centerline is valid? [True, True] Translation: X:65.81, Y:-5.60, Z:-1.88 [[ 9.99386271e-01 3.44182798e-02 -6.51635104e-03 6.58062163e+01] [-3.44163945e-02 9.99407500e-01 4.01260541e-04 -5.59523934e+00] [ 6.52630080e-03 -1.76744967e-04 9.99978688e-01 -1.88444800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.204860624 meters 0.07416592524461017 Centerline is valid? [True, True] Translation: X:65.83, Y:-5.60, Z:-1.89 [[ 9.99468207e-01 3.16734284e-02 -7.75229515e-03 6.58346457e+01] [-3.16706807e-02 9.99498244e-01 4.76968290e-04 -5.60363511e+00] [ 7.76351262e-03 -2.31194177e-04 9.99969837e-01 -1.88659234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.234860624 meters 0.07440812817415274 Centerline is valid? [True, True] Translation: X:65.86, Y:-5.61, Z:-1.89 [[ 9.99544526e-01 2.88904143e-02 -8.72258840e-03 6.58635649e+01] [-2.88868307e-02 9.99582544e-01 5.36582857e-04 -5.60717746e+00] [ 8.73444921e-03 -2.84370523e-04 9.99961814e-01 -1.88674347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.264860624 meters 0.07536841850898636 Centerline is valid? [True, True] Translation: X:65.89, Y:-5.61, Z:-1.89 [[ 9.99624380e-01 2.57501576e-02 -9.38238661e-03 6.58924914e+01] [-2.57458780e-02 9.99668354e-01 5.76645282e-04 -5.61301668e+00] [ 9.39412368e-03 -3.34870901e-04 9.99955818e-01 -1.88797708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.294860624 meters 0.07830434778827546 Centerline is valid? [True, True] Translation: X:65.92, Y:-5.63, Z:-1.89 [[ 9.99759533e-01 1.89051016e-02 -1.11118373e-02 6.59214841e+01] [-1.88986715e-02 9.99821171e-01 6.83402421e-04 -5.62523640e+00] [ 1.11227700e-02 -4.73239123e-04 9.99938028e-01 -1.89177666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.324860624 meters 0.08014012633606393 Centerline is valid? [True, True] Translation: X:65.95, Y:-5.63, Z:-1.89 [[ 9.99812086e-01 1.55602387e-02 -1.15616522e-02 6.59512492e+01] [-1.55530543e-02 9.99878791e-01 7.11059939e-04 -5.63275225e+00] [ 1.15713151e-02 -5.31107317e-04 9.99932909e-01 -1.89279276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.354860624 meters 0.08389806690549828 Centerline is valid? [True, True] Translation: X:65.98, Y:-5.64, Z:-1.90 [[ 9.99854881e-01 1.23743813e-02 -1.17086061e-02 6.59802757e+01] [-1.23667991e-02 9.99923269e-01 7.19754194e-04 -5.64387027e+00] [ 1.17166142e-02 -5.74851764e-04 9.99931193e-01 -1.89522923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.384860624 meters 0.08554973184609259 Centerline is valid? [True, True] Translation: X:66.01, Y:-5.65, Z:-1.89 [[ 9.99911570e-01 7.19966985e-03 -1.11810583e-02 6.60100127e+01] [-7.19243143e-03 9.99973898e-01 6.87459598e-04 -5.64907397e+00] [ 1.11857159e-02 -6.06979811e-04 9.99937254e-01 -1.89281640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.414860624 meters 0.0873655534724507 Centerline is valid? [True, True] Translation: X:66.04, Y:-5.65, Z:-1.89 [[ 9.99936576e-01 4.16418526e-03 -1.04643768e-02 6.60402178e+01] [-4.15767936e-03 9.99991150e-01 6.43396317e-04 -5.65437980e+00] [ 1.04669634e-02 -5.99847987e-04 9.99945040e-01 -1.89251523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.444860624 meters 0.0912346131240334 Centerline is valid? [True, True] Translation: X:66.07, Y:-5.66, Z:-1.89 [[ 9.99948721e-01 6.78338011e-04 -1.01042577e-02 6.60687228e+01] [-6.72097905e-04 9.99999581e-01 6.20954765e-04 -5.66329296e+00] [ 1.01046747e-02 -6.14131872e-04 9.99948758e-01 -1.89379503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.474860624 meters 0.0904676654328625 Centerline is valid? [True, True] Translation: X:66.10, Y:-5.66, Z:-1.89 [[ 9.99957209e-01 -1.87906519e-03 -9.05815304e-03 6.60995182e+01] [ 1.88418567e-03 9.99998070e-01 5.56789743e-04 -5.66264179e+00] [ 9.05708931e-03 -5.73833159e-04 9.99958819e-01 -1.89308596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.504860624 meters 0.0949950069246684 Centerline is valid? [True, True] Translation: X:66.13, Y:-5.67, Z:-1.89 [[ 9.99944303e-01 -7.86138727e-03 -7.04197162e-03 6.61281202e+01] [ 7.86462977e-03 9.99968980e-01 4.32878876e-04 -5.67029413e+00] [ 7.03835015e-03 -4.88237265e-04 9.99975111e-01 -1.89462953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.534860624 meters 0.0984697072393295 Centerline is valid? [True, True] Translation: X:66.16, Y:-5.68, Z:-1.90 [[ 9.99914098e-01 -1.17496808e-02 -5.80876231e-03 6.61577253e+01] [ 1.17519528e-02 9.99930880e-01 3.57155971e-04 -5.67605008e+00] [ 5.80416434e-03 -4.25389592e-04 9.99983065e-01 -1.89501108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.564860624 meters 0.09720111307391162 Centerline is valid? [True, True] Translation: X:66.19, Y:-5.67, Z:-1.89 [[ 9.99876498e-01 -1.51017714e-02 -4.35032385e-03 6.61886471e+01] [ 1.51030773e-02 9.99885906e-01 2.67478132e-04 -5.67310854e+00] [ 4.34578811e-03 -3.33148376e-04 9.99990502e-01 -1.89351372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.594860624 meters 0.10483309174495792 Centerline is valid? [True, False] Translation: X:66.19, Y:-5.67, Z:-1.89 [[ 9.99872197e-01 -1.54752364e-02 -4.01340614e-03 6.61876862e+01] [ 1.54765236e-02 9.99880189e-01 2.89881782e-04 -5.67314927e+00] [ 4.00843930e-03 -3.51958309e-04 9.99991904e-01 -1.89348550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.624860624 meters 0.10922771482443949 Centerline is valid? [False, False] Translation: X:66.19, Y:-5.67, Z:-1.89 [[ 9.99861195e-01 -1.62801924e-02 -3.54204841e-03 6.61861965e+01] [ 1.62790967e-02 9.99867430e-01 -3.37937745e-04 -5.67123323e+00] [ 3.54708053e-03 2.80229489e-04 9.99993670e-01 -1.89321743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.654860624 meters 0.11492496945562079 Centerline is valid? [False, False] Translation: X:66.19, Y:-5.67, Z:-1.89 [[ 9.99859982e-01 -1.63732831e-02 -3.45435689e-03 6.61861391e+01] [ 1.63722759e-02 9.99865914e-01 -3.19651182e-04 -5.67076371e+00] [ 3.45912745e-03 2.63050741e-04 9.99993983e-01 -1.89355930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.684860624 meters 0.11475585320485326 Centerline is valid? [False, False] Translation: X:66.19, Y:-5.67, Z:-1.89 [[ 9.99856096e-01 -1.66520546e-02 -3.23975851e-03 6.61855592e+01] [ 1.66507709e-02 9.99861277e-01 -4.22825187e-04 -5.67028030e+00] [ 3.24634999e-03 3.68819864e-04 9.99994663e-01 -1.89364705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.714860624 meters 0.11572281260027417 Centerline is valid? [False, False] Translation: X:66.19, Y:-5.67, Z:-1.89 [[ 9.99853432e-01 -1.68560644e-02 -2.99788674e-03 6.61851339e+01] [ 1.68550224e-02 9.99857875e-01 -3.72489496e-04 -5.66999858e+00] [ 3.00373937e-03 3.21905453e-04 9.99995437e-01 -1.89408239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74486062399998 meters 0.12329938371933684 Centerline is valid? [False, False] Translation: X:66.18, Y:-5.67, Z:-1.90 [[ 9.99852718e-01 -1.69898963e-02 -2.42591841e-03 6.61845394e+01] [ 1.69907014e-02 9.99855599e-01 3.11689014e-04 -5.67085254e+00] [ 2.42027254e-03 -3.52861163e-04 9.99997009e-01 -1.89560738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77486062399998 meters 0.1272989218656598 Centerline is valid? [False, False] Translation: X:66.18, Y:-5.67, Z:-1.90 [[ 9.99851974e-01 -1.70814075e-02 -2.06276421e-03 6.61840205e+01] [ 1.70828280e-02 9.99853851e-01 6.73018227e-04 -5.67146194e+00] [ 2.05096664e-03 -7.08156449e-04 9.99997646e-01 -1.89632829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80486062399999 meters 0.1293691841960165 Centerline is valid? [False, False] Translation: X:66.18, Y:-5.67, Z:-1.90 [[ 9.99913502e-01 -1.30773395e-02 -1.40419643e-03 6.61827032e+01] [ 1.30846196e-02 9.99900309e-01 5.30696639e-03 -5.67250967e+00] [ 1.33465544e-03 -5.32488073e-03 9.99984932e-01 -1.89704366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.834860624 meters 0.1318991414067088 Centerline is valid? [False, False] Translation: X:66.18, Y:-5.67, Z:-1.90 [[ 9.99911691e-01 -1.32153829e-02 -1.40150773e-03 6.61826835e+01] [ 1.32223501e-02 9.99899655e-01 5.08425746e-03 -5.67155977e+00] [ 1.33417669e-03 -5.10233970e-03 9.99986093e-01 -1.89708023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.864860624 meters 0.13293572350673669 Centerline is valid? [False, False] Translation: X:66.18, Y:-5.67, Z:-1.90 [[ 9.99911125e-01 -1.32390240e-02 -1.57181434e-03 6.61832904e+01] [ 1.32462954e-02 9.99901173e-01 4.70955005e-03 -5.66981339e+00] [ 1.50930915e-03 -4.72995220e-03 9.99987675e-01 -1.89729513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.894860624 meters 0.13605702125320793 Centerline is valid? [False, False] Translation: X:66.18, Y:-5.67, Z:-1.90 [[ 9.99913104e-01 -1.30676672e-02 -1.73816305e-03 6.61839174e+01] [ 1.30757821e-02 9.99903263e-01 4.74223875e-03 -5.66948538e+00] [ 1.67602491e-03 -4.76455451e-03 9.99987245e-01 -1.89756672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.924860624 meters 0.13937053940573876 Centerline is valid? [False, False] Translation: X:66.18, Y:-5.67, Z:-1.90 [[ 9.99910790e-01 -1.32365046e-02 -1.79085761e-03 6.61839452e+01] [ 1.32442278e-02 9.99902735e-01 4.37169326e-03 -5.66833155e+00] [ 1.73281749e-03 -4.39502178e-03 9.99988841e-01 -1.89741109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.954860624 meters 0.14411985604012667 Centerline is valid? [False, False] Translation: X:66.18, Y:-5.67, Z:-1.90 [[ 9.99909535e-01 -1.33295258e-02 -1.80131725e-03 6.61839386e+01] [ 1.33369141e-02 9.99902432e-01 4.15376281e-03 -5.66763174e+00] [ 1.74577381e-03 -4.17741105e-03 9.99989751e-01 -1.89733487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2965.95 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%| | 0/5366 [00:00