+ python -m lidar_slam --no-model /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 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 0.026502481 Adjusted end_distance from 9.223372036854776e+18 to 208.076502481 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.026502481 meters 0.18640140913073794 Centerline is valid? [0, False] SLAMing on 0.056502481 meters 0.19248312360280495 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99980763e-01 -7.15655734e-04 6.16135372e-03 1.05310195e-02] [ 8.09510651e-04 9.99883478e-01 -1.52438470e-02 9.11262993e-03] [-6.14972644e-03 1.52485414e-02 9.99864822e-01 -4.73817756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08650248099999999 meters 0.19555876226221824 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99998595 -0.00103273 0.00519873 0.01168456] [ 0.00111559 0.999872 -0.01596082 0.00685852] [-0.00518159 0.0159664 0.9998591 -0.00400831] [ 0. 0. 0. 1. ]] SLAMing on 0.11650248099999999 meters 0.1946999658662094 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.00 [[ 0.99992623 -0.01086444 -0.00543197 0.03067016] [ 0.01067032 0.99934523 -0.03457256 0.00934353] [ 0.00580402 0.03451205 0.99938743 -0.00323177] [ 0. 0. 0. 1. ]] SLAMing on 0.146502481 meters 0.2014381136072635 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:-0.01 [[ 0.99994398 -0.01034654 0.00223505 0.04265137] [ 0.01040009 0.99962195 -0.02545201 0.00486763] [-0.00197086 0.02547383 0.99967355 -0.00929259] [ 0. 0. 0. 1. ]] SLAMing on 0.176502481 meters 0.20228182842297227 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.01 [[ 9.99963008e-01 -8.58713901e-03 4.93994682e-04 4.89205557e-02] [ 8.59614235e-03 9.99705233e-01 -2.27058170e-02 7.18321104e-03] [-2.98871062e-04 2.27092235e-02 9.99742068e-01 -1.21799081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.206502481 meters 0.21050618365256613 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.02 [[ 9.99999421e-01 6.89507936e-04 -8.26294691e-04 5.52094106e-02] [-6.99889104e-04 9.99919996e-01 -1.26297868e-02 1.02963258e-02] [ 8.17520246e-04 1.26303578e-02 9.99919900e-01 -1.58602146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.236502481 meters 0.21401988773847747 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.02 [[ 0.99999159 0.00366717 -0.00183814 0.05942575] [-0.00368463 0.99994725 -0.00958705 0.01126152] [ 0.00180288 0.00959374 0.99995235 -0.01856021] [ 0. 0. 0. 1. ]] SLAMing on 0.266502481 meters 0.21822403242875907 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.03 [[ 9.99998712e-01 1.54750226e-03 -4.25431833e-04 7.77816345e-02] [-1.55098841e-03 9.99964186e-01 -8.31996070e-03 7.92870612e-03] [ 4.12541438e-04 8.32060982e-03 9.99965298e-01 -3.01029237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29650248100000004 meters 0.2300108342600329 Centerline is valid? [False, False] Translation: X:0.10, Y:0.00, Z:-0.04 [[ 0.99997291 0.00200559 -0.00708158 0.10177048] [-0.00215178 0.99978347 -0.02069745 0.00471172] [ 0.00703853 0.02071213 0.9997607 -0.04056625] [ 0. 0. 0. 1. ]] SLAMing on 0.326502481 meters 0.23219524762531107 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:-0.05 [[ 9.99999205e-01 -1.00760771e-03 -7.57653979e-04 1.15025474e-01] [ 9.95877813e-04 9.99882053e-01 -1.53260499e-02 -3.39413399e-04] [ 7.73007262e-04 1.53252832e-02 9.99882262e-01 -4.69848981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.356502481 meters 0.23389657183155382 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:-0.05 [[ 0.99999574 -0.00188807 -0.0022256 0.12075856] [ 0.00185369 0.9998805 -0.01534755 -0.0020234 ] [ 0.00225431 0.01534336 0.99987974 -0.05048057] [ 0. 0. 0. 1. ]] SLAMing on 0.386502481 meters 0.24128210590967689 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:-0.05 [[ 0.99997367 -0.00513931 -0.00512386 0.1329975 ] [ 0.00507731 0.99991462 -0.01204074 -0.00148781] [ 0.00518531 0.01201441 0.99991438 -0.05067643] [ 0. 0. 0. 1. ]] SLAMing on 0.41650248100000004 meters 0.24881572967695198 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:-0.05 [[ 0.99998513 -0.00188375 -0.00511848 0.13341708] [ 0.00184468 0.99996921 -0.00762753 -0.00100728] [ 0.00513269 0.00761797 0.99995781 -0.05023497] [ 0. 0. 0. 1. ]] SLAMing on 0.446502481 meters 0.24419981664970486 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.00, Z:-0.05 [[ 0.99998182 0.00207571 -0.00566148 0.13494106] [-0.00209372 0.99999276 -0.00317628 -0.00120921] [ 0.00565484 0.00318808 0.99997893 -0.05050607] [ 0. 0. 0. 1. ]] SLAMing on 0.476502481 meters 0.24400128026166365 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.00, Z:-0.05 [[ 9.99962825e-01 5.89288452e-03 -6.29463781e-03 1.36694988e-01] [-5.88673183e-03 9.99982177e-01 9.95529274e-04 -1.56038029e-03] [ 6.30039216e-03 -9.58437420e-04 9.99979693e-01 -5.08125644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.506502481 meters 0.2420399897312754 Centerline is valid? [False, False] Translation: X:0.14, Y:0.00, Z:-0.05 [[ 9.99955840e-01 6.63209688e-03 -6.65834050e-03 1.37199265e-01] [-6.62501946e-03 9.99977466e-01 1.08443464e-03 2.11405213e-06] [ 6.66538254e-03 -1.04027512e-03 9.99977245e-01 -5.08297845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.536502481 meters 0.26855833906000504 Centerline is valid? [False, False] Translation: X:0.14, Y:0.00, Z:-0.05 [[ 9.99956979e-01 6.06998544e-03 -7.01395508e-03 1.38706886e-01] [-6.07154391e-03 9.99981548e-01 -2.00923308e-04 3.57202149e-03] [ 7.01260606e-03 2.43500200e-04 9.99975382e-01 -5.19953443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.566502481 meters 0.25030447688312696 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.05 [[ 0.99992723 0.00951643 -0.00741392 0.14167931] [-0.00949437 0.99995042 0.00300398 0.00531171] [ 0.00744214 -0.00293337 0.999968 -0.05481775] [ 0. 0. 0. 1. ]] SLAMing on 0.5965024809999999 meters 0.25094486542577193 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.06 [[ 0.99993261 0.00868008 -0.00770912 0.14385968] [-0.00866616 0.99996076 0.00183774 0.00759896] [ 0.00772476 -0.00177081 0.9999686 -0.05701671] [ 0. 0. 0. 1. ]] SLAMing on 0.6265024809999999 meters 0.2524751188468156 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.06 [[ 9.99953245e-01 5.42625212e-03 -8.00399423e-03 1.46976104e-01] [-5.43324633e-03 9.99984877e-01 -8.52354558e-04 6.14401397e-03] [ 7.99924809e-03 8.95802378e-04 9.99967604e-01 -5.98284006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.656502481 meters 0.24972715813890092 Centerline is valid? [False, False] Translation: X:0.15, Y:0.00, Z:-0.06 [[ 9.99947333e-01 4.93635594e-03 -8.99794283e-03 1.50111403e-01] [-4.94014033e-03 9.99987718e-01 -3.98406646e-04 2.75126224e-03] [ 8.99586564e-03 4.42836763e-04 9.99959438e-01 -6.09351704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6865024809999999 meters 0.2470280339686984 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.00, Z:-0.06 [[ 9.99952751e-01 7.22147763e-04 -9.69400817e-03 1.52851197e-01] [-7.57645416e-04 9.99993020e-01 -3.65864099e-03 -7.78185066e-04] [ 9.69129842e-03 3.66581275e-03 9.99946319e-01 -6.24512326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7165024809999999 meters 0.24474087168712397 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.06 [[ 0.99956623 -0.02241587 -0.01910176 0.18169459] [ 0.02234004 0.99974172 -0.00417425 -0.02802472] [ 0.0191904 0.0037457 0.99980883 -0.06170847] [ 0. 0. 0. 1. ]] SLAMing on 0.7465024809999999 meters 0.2440169116691838 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.07 [[ 0.99907303 -0.04078532 -0.01377058 0.19913702] [ 0.04069244 0.99914748 -0.00695936 -0.0502838 ] [ 0.01404268 0.00639255 0.99988096 -0.06843629] [ 0. 0. 0. 1. ]] SLAMing on 0.776502481 meters 0.2450082591091131 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.10, Z:-0.07 [[ 0.99745234 -0.06800966 -0.02152961 0.25485125] [ 0.06794491 0.99768212 -0.00372594 -0.10168325] [ 0.02173311 0.00225362 0.99976127 -0.06896657] [ 0. 0. 0. 1. ]] SLAMing on 0.806502481 meters 0.24897645574464897 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.13, Z:-0.07 [[ 0.99738072 -0.07020555 -0.01740326 0.27748921] [ 0.07024197 0.99752887 0.00148945 -0.13087996] [ 0.01725568 -0.00270799 0.99984744 -0.07097055] [ 0. 0. 0. 1. ]] SLAMing on 0.8365024809999999 meters 0.24560713694833552 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.18, Z:-0.07 [[ 0.99732081 -0.07019004 -0.02060483 0.32545784] [ 0.07030167 0.9975145 0.00474355 -0.18374173] [ 0.02022067 -0.0061794 0.99977644 -0.07054189] [ 0. 0. 0. 1. ]] SLAMing on 0.8665024809999999 meters 0.24377934155349915 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.21, Z:-0.07 [[ 0.99822889 -0.05718756 -0.01639122 0.35056578] [ 0.05729139 0.99833985 0.00593598 -0.21293903] [ 0.01602454 -0.00686455 0.99984803 -0.06895084] [ 0. 0. 0. 1. ]] SLAMing on 0.896502481 meters 0.23362584268024747 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.25, Z:-0.07 [[ 0.99921921 -0.03689005 -0.01414529 0.38559728] [ 0.03693219 0.99931405 0.00272984 -0.25152331] [ 0.01403488 -0.00325012 0.99989622 -0.06715955] [ 0. 0. 0. 1. ]] SLAMing on 0.9265024809999999 meters 0.22127673364697212 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.07 [[ 0.99990099 -0.01357021 -0.00372151 0.40028986] [ 0.01357796 0.99990568 0.0020641 -0.26727641] [ 0.00369315 -0.00211442 0.99999094 -0.0685308 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9565024809999999 meters 0.2151522138251149 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.07 [[ 9.99992542e-01 -1.47121801e-03 3.57102898e-03 4.03969734e-01] [ 1.47103846e-03 9.99998917e-01 5.29049674e-05 -2.68933258e-01] [-3.57110295e-03 -4.76514518e-05 9.99993622e-01 -7.06694177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9865024809999999 meters 0.2099327577595055 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.27, Z:-0.07 [[ 0.99999356 0.00250772 0.00256695 0.4049784 ] [-0.00251832 0.99998828 0.00413554 -0.26841978] [-0.00255655 -0.00414198 0.99998815 -0.06877589] [ 0. 0. 0. 1. ]] SLAMing on 1.016502481 meters 0.20186630157287214 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.26, Z:-0.07 [[ 0.99999483 0.00219199 0.0023531 0.40453667] [-0.0021988 0.99999339 0.00289621 -0.26329031] [-0.00234674 -0.00290137 0.99999304 -0.06785537] [ 0. 0. 0. 1. ]] SLAMing on 1.046502481 meters 0.19974619256337198 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.07 [[ 0.99999827 0.00142357 0.00119612 0.40751912] [-0.00142667 0.99999561 0.00259667 -0.26279964] [-0.00119242 -0.00259837 0.99999591 -0.0680353 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0765024810000001 meters 0.1938881112988988 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.07 [[ 9.99999496e-01 7.24775078e-04 -6.94539560e-04 4.11163675e-01] [-7.22112647e-04 9.99992420e-01 3.82598981e-03 -2.64334945e-01] [ 6.97307278e-04 -3.82548635e-03 9.99992440e-01 -6.54707947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1065024810000001 meters 0.1909792419707202 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.07 [[ 9.99998599e-01 1.52452385e-04 -1.66720020e-03 4.13375532e-01] [-1.46569411e-04 9.99993765e-01 3.52820755e-03 -2.63438662e-01] [ 1.66772769e-03 -3.52795825e-03 9.99992386e-01 -6.53475096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.136502481 meters 0.18613150099340015 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.06 [[ 0.99999806 0.00102644 -0.00167847 0.41299953] [-0.00101744 0.99998516 0.00535279 -0.26015879] [ 0.00168394 -0.00535107 0.99998427 -0.06303347] [ 0. 0. 0. 1. ]] SLAMing on 1.166502481 meters 0.18324560965776895 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.26, Z:-0.06 [[ 9.99997122e-01 2.76712502e-04 -2.38319782e-03 4.14703663e-01] [-2.66769745e-04 9.99991264e-01 4.17133097e-03 -2.56998138e-01] [ 2.38433126e-03 -4.17068320e-03 9.99988460e-01 -6.35990256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.196502481 meters 0.1786249151996184 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.06 [[ 9.99995000e-01 3.98059288e-04 -3.13709319e-03 4.14275336e-01] [-3.84578881e-04 9.99990696e-01 4.29653356e-03 -2.54550303e-01] [ 3.13877428e-03 -4.29530561e-03 9.99985849e-01 -6.02107904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.226502481 meters 0.17657862175245972 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.06 [[ 9.99992882e-01 2.60635141e-04 -3.76410756e-03 4.14812116e-01] [-2.44467578e-04 9.99990747e-01 4.29501299e-03 -2.53678610e-01] [ 3.76519216e-03 -4.29406222e-03 9.99983692e-01 -5.87472732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.256502481 meters 0.17657862175245972 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.25, Z:-0.06 [[ 9.99992882e-01 2.60635141e-04 -3.76410756e-03 4.14812116e-01] [-2.44467578e-04 9.99990747e-01 4.29501299e-03 -2.53678610e-01] [ 3.76519216e-03 -4.29406222e-03 9.99983692e-01 -5.87472732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.286502481 meters 0.17337517217008475 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.25, Z:-0.06 [[ 9.99988968e-01 -3.16237530e-05 -4.69718147e-03 4.16135819e-01] [ 5.00912696e-05 9.99992270e-01 3.93155098e-03 -2.51629760e-01] [ 4.69702083e-03 -3.93174289e-03 9.99981240e-01 -5.78267552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3165024810000001 meters 0.17217024597350938 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.25, Z:-0.06 [[ 9.99984390e-01 -6.50571273e-04 -5.54938255e-03 4.18355811e-01] [ 6.68857535e-04 9.99994351e-01 3.29396943e-03 -2.50468163e-01] [ 5.54720824e-03 -3.29762976e-03 9.99979177e-01 -5.84677288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.346502481 meters 0.1709471231512448 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.25, Z:-0.06 [[ 9.99976985e-01 -7.90513256e-04 -6.73832612e-03 4.20363247e-01] [ 8.16305434e-04 9.99992348e-01 3.82579281e-03 -2.51723167e-01] [ 6.73525022e-03 -3.83120529e-03 9.99969979e-01 -5.73702049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.376502481 meters 0.16861879789478854 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.26, Z:-0.06 [[ 9.99965608e-01 -7.55202969e-04 -8.25909804e-03 4.22760421e-01] [ 7.97883739e-04 9.99986340e-01 5.16565432e-03 -2.55334681e-01] [ 8.25508410e-03 -5.17206646e-03 9.99952551e-01 -5.54416728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.406502481 meters 0.1684892480465101 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.26, Z:-0.05 [[ 9.99956218e-01 -6.25896922e-04 -9.33647670e-03 4.24397781e-01] [ 6.84052182e-04 9.99980379e-01 6.22693061e-03 -2.58309764e-01] [ 9.33239609e-03 -6.23304462e-03 9.99937026e-01 -5.38941031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.436502481 meters 0.16819790771289383 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.26, Z:-0.05 [[ 9.99997979e-01 -3.93965494e-04 -1.97149196e-03 4.36807218e-01] [ 3.93200924e-04 9.99999847e-01 -3.88185604e-04 -2.60136369e-01] [ 1.97164460e-03 3.87409627e-04 9.99997981e-01 -5.45538285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.466502481 meters 0.16831896394313234 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.27, Z:-0.05 [[ 0.99998528 -0.00418889 -0.00344928 0.43804506] [ 0.00418459 0.99999046 -0.00125146 -0.26637308] [ 0.00345449 0.001237 0.99999327 -0.04852253] [ 0. 0. 0. 1. ]] SLAMing on 1.496502481 meters 0.1693094484343867 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.27, Z:-0.04 [[ 0.99997879 -0.00370336 -0.00535734 0.43981908] [ 0.00371248 0.99999167 0.00169454 -0.27384303] [ 0.00535102 -0.0017144 0.99998421 -0.04327103] [ 0. 0. 0. 1. ]] SLAMing on 1.526502481 meters 0.16794246482988534 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.28, Z:-0.04 [[ 9.99996845e-01 2.86002320e-04 2.49581413e-03 4.50319530e-01] [-2.82998112e-04 9.99999235e-01 -1.20396870e-03 -2.77266296e-01] [-2.49615656e-03 1.20325859e-03 9.99996161e-01 -4.28840368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.556502481 meters 0.16604914103563137 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.28, Z:-0.04 [[ 9.99999129e-01 6.81755598e-04 1.12987342e-03 4.51120616e-01] [-6.82349153e-04 9.99999629e-01 5.25025739e-04 -2.80599767e-01] [-1.12951506e-03 -5.25796250e-04 9.99999224e-01 -3.86359847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5865024810000001 meters 0.16790868275458257 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.28, Z:-0.04 [[ 9.99999823e-01 4.76841147e-04 3.56651438e-04 4.52390804e-01] [-4.77046205e-04 9.99999721e-01 5.75090095e-04 -2.80577360e-01] [-3.56377112e-04 -5.75260132e-04 9.99999771e-01 -3.78349399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.616502481 meters 0.16739139741666897 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.28, Z:-0.04 [[ 9.99999907e-01 2.94727145e-05 -4.29132159e-04 4.53972313e-01] [-2.94032098e-05 9.99999986e-01 1.61971048e-04 -2.79399064e-01] [ 4.29136927e-04 -1.61958415e-04 9.99999895e-01 -3.75234487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.646502481 meters 0.16421774412934537 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.28, Z:-0.04 [[ 9.99999333e-01 -1.77962988e-04 -1.14106812e-03 4.54594905e-01] [ 1.77829917e-04 9.99999977e-01 -1.16720179e-04 -2.77686408e-01] [ 1.14108887e-03 1.16517185e-04 9.99999342e-01 -3.61186923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.676502481 meters 0.16472515128281048 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.28, Z:-0.04 [[ 0.99998894 0.00408185 -0.00233659 0.45678053] [-0.00406994 0.99997881 0.00508182 -0.28059663] [ 0.00235728 -0.00507226 0.99998436 -0.03509955] [ 0. 0. 0. 1. ]] SLAMing on 1.706502481 meters 0.16338427637791725 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.28, Z:-0.04 [[ 0.99998912 0.00347954 -0.00310552 0.45848676] [-0.00346625 0.99998485 0.00427562 -0.27830245] [ 0.00312035 -0.00426481 0.99998604 -0.03541813] [ 0. 0. 0. 1. ]] SLAMing on 1.736502481 meters 0.1636166486138263 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.28, Z:-0.04 [[ 0.99998837 0.00291435 -0.00384229 0.46035691] [-0.00289995 0.99998877 0.00374931 -0.27711467] [ 0.00385317 -0.00373812 0.99998559 -0.03571418] [ 0. 0. 0. 1. ]] SLAMing on 1.766502481 meters 0.16261043404331646 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.28, Z:-0.03 [[ 0.99998578 0.0025104 -0.00470523 0.46162153] [-0.00249503 0.99999154 0.00326985 -0.27531341] [ 0.0047134 -0.00325807 0.99998358 -0.03491017] [ 0. 0. 0. 1. ]] SLAMing on 1.796502481 meters 0.16166237477401163 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.27, Z:-0.03 [[ 0.99998339 0.00199641 -0.00540765 0.46316847] [-0.00198145 0.9999942 0.00277162 -0.27389991] [ 0.00541315 -0.00276086 0.99998154 -0.03483712] [ 0. 0. 0. 1. ]] SLAMing on 1.826502481 meters 0.1635158966840485 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.27, Z:-0.03 [[ 0.99997846 0.00154099 -0.00637942 0.46468842] [-0.00152541 0.99999584 0.00244677 -0.27248036] [ 0.00638316 -0.00243699 0.99997666 -0.03391978] [ 0. 0. 0. 1. ]] SLAMing on 1.856502481 meters 0.16000874120440128 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.27, Z:-0.03 [[ 0.99997439 0.00117857 -0.00705934 0.4659335 ] [-0.00116373 0.99999711 0.00210552 -0.27135998] [ 0.0070618 -0.00209725 0.99997287 -0.03349244] [ 0. 0. 0. 1. ]] SLAMing on 1.886502481 meters 0.15880662882573426 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.27, Z:-0.03 [[ 0.99996861 0.00120968 -0.00782992 0.46563774] [-0.00119353 0.99999715 0.00206773 -0.26926203] [ 0.0078324 -0.00205832 0.99996721 -0.0305523 ] [ 0. 0. 0. 1. ]] SLAMing on 1.916502481 meters 0.15637722368834975 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.27, Z:-0.03 [[ 0.99996289 0.00104744 -0.0085516 0.46635454] [-0.00102976 0.99999732 0.00207208 -0.26858324] [ 0.00855375 -0.0020632 0.99996129 -0.02917635] [ 0. 0. 0. 1. ]] SLAMing on 1.946502481 meters 0.15382999838264563 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.27, Z:-0.02 [[ 0.99994583 0.00143786 -0.01030908 0.46653861] [-0.001382 0.99998433 0.00542404 -0.27205748] [ 0.01031672 -0.0054095 0.99993215 -0.0205935 ] [ 0. 0. 0. 1. ]] SLAMing on 1.976502481 meters 0.15646997626034048 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.27, Z:-0.02 [[ 0.99993782 0.00158808 -0.01103821 0.46650612] [-0.00152318 0.99998152 0.00588542 -0.27199572] [ 0.01104736 -0.00586824 0.99992176 -0.01806806] [ 0. 0. 0. 1. ]] SLAMing on 2.006502481 meters 0.1531344926700842 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.27, Z:-0.01 [[ 0.99997757 0.00528024 -0.00411953 0.47459871] [-0.00527012 0.99998308 0.00246467 -0.27104821] [ 0.00413247 -0.0024429 0.99998848 -0.01226238] [ 0. 0. 0. 1. ]] SLAMing on 2.036502481 meters 0.1548564202830186 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.27, Z:-0.01 [[ 0.99997482 0.00534814 -0.0046634 0.47422938] [-0.00533633 0.99998254 0.00254026 -0.2695855 ] [ 0.0046769 -0.00251531 0.9999859 -0.0099104 ] [ 0. 0. 0. 1. ]] SLAMing on 2.066502481 meters 0.1548859339762112 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.27, Z:-0.01 [[ 0.99997066 0.00554375 -0.00528591 0.47297305] [-0.00552923 0.99998091 0.00275699 -0.26667566] [ 0.0053011 -0.00272768 0.99998223 -0.00589043] [ 0. 0. 0. 1. ]] SLAMing on 2.096502481 meters 0.14926574390537486 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.27, Z:-0.00 [[ 0.9999685 0.00539267 -0.00582438 0.47330375] [-0.00537754 0.99998214 0.00260937 -0.26532101] [ 0.00583835 -0.00257796 0.99997963 -0.00462025] [ 0. 0. 0. 1. ]] SLAMing on 2.126502481 meters 0.1544746824579941 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.26, Z:-0.00 [[ 0.99996296 0.0056158 -0.00652181 0.47252824] [-0.00559614 0.99997976 0.00302761 -0.26388174] [ 0.00653868 -0.002991 0.99997415 -0.00113599] [ 0. 0. 0. 1. ]] SLAMing on 2.156502481 meters 0.1483057495170028 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.26, Z:-0.00 [[ 9.99960630e-01 5.38100193e-03 -7.05570523e-03 4.73083940e-01] [-5.36197456e-03 9.99981945e-01 2.71288406e-03 -2.62395405e-01] [ 7.07017587e-03 -2.67494474e-03 9.99971428e-01 -2.81044771e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.186502481 meters 0.14807485995344255 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.26, Z:0.00 [[ 0.99995606 0.00547003 -0.00761263 0.47222324] [-0.00544998 0.99998163 0.00265212 -0.25968932] [ 0.007627 -0.00261052 0.99996751 0.00278784] [ 0. 0. 0. 1. ]] SLAMing on 2.216502481 meters 0.1470204812670141 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.26, Z:0.00 [[ 0.99995255 0.00536292 -0.00813263 0.47237772] [-0.00534272 0.99998259 0.00250407 -0.25836187] [ 0.00814592 -0.0024605 0.99996379 0.00420284] [ 0. 0. 0. 1. ]] SLAMing on 2.246502481 meters 0.14713903422009322 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.26, Z:0.01 [[ 0.99994327 0.00580938 -0.00892779 0.47100589] [-0.00577977 0.99997772 0.00333824 -0.25770293] [ 0.00894698 -0.00328645 0.99995457 0.00880505] [ 0. 0. 0. 1. ]] SLAMing on 2.276502481 meters 0.1471046766423278 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.26, Z:0.01 [[ 0.99993457 0.00626511 -0.0095709 0.46931494] [-0.0062258 0.99997208 0.00413173 -0.25654374] [ 0.00959652 -0.00407188 0.99994566 0.0133841 ] [ 0. 0. 0. 1. ]] SLAMing on 2.306502481 meters 0.1472370909550943 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.26, Z:0.01 [[ 0.9999298 0.00617573 -0.01011187 0.46973214] [-0.00613346 0.99997235 0.00420586 -0.25613778] [ 0.01013756 -0.00414354 0.99994003 0.01451287] [ 0. 0. 0. 1. ]] SLAMing on 2.336502481 meters 0.14642538501185942 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.25, Z:0.02 [[ 9.99947775e-01 2.98101407e-03 -9.77553283e-03 4.66238095e-01] [-2.97112110e-03 9.99995059e-01 1.02637931e-03 -2.53190866e-01] [ 9.77854419e-03 -9.97281415e-04 9.99951692e-01 1.91110598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.366502481 meters 0.14976294690976213 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.25, Z:0.02 [[ 0.99994301 0.00300019 -0.01024586 0.4662717 ] [-0.00298822 0.99999483 0.0011837 -0.2527337 ] [ 0.01024936 -0.00115302 0.99994681 0.02057744] [ 0. 0. 0. 1. ]] SLAMing on 2.396502481 meters 0.14771878298331004 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.25, Z:0.02 [[ 0.99994087 0.00330925 -0.01035865 0.4652113 ] [-0.00329372 0.99999343 0.00151556 -0.25186746] [ 0.0103636 -0.00148136 0.9999452 0.02252963] [ 0. 0. 0. 1. ]] SLAMing on 2.426502481 meters 0.14747246430017336 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.25, Z:0.03 [[ 0.99993818 0.00356016 -0.01053424 0.46348634] [-0.00354217 0.99999224 0.00172644 -0.24943648] [ 0.01054031 -0.00168902 0.99994302 0.02566751] [ 0. 0. 0. 1. ]] SLAMing on 2.456502481 meters 0.1472899743866774 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.25, Z:0.03 [[ 0.99993652 0.00347858 -0.01071668 0.46333851] [-0.00346252 0.99999286 0.00151644 -0.24813155] [ 0.01072188 -0.00147923 0.99994142 0.02645255] [ 0. 0. 0. 1. ]] SLAMing on 2.486502481 meters 0.1476306108007892 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.25, Z:0.03 [[ 0.99993743 0.00403775 -0.01043236 0.46079745] [-0.00401679 0.99998987 0.00202907 -0.24595701] [ 0.01044045 -0.00198704 0.99994352 0.02946751] [ 0. 0. 0. 1. ]] SLAMing on 2.516502481 meters 0.14761462954710478 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.24, Z:0.03 [[ 0.99994142 0.00417349 -0.0099867 0.45916718] [-0.00415497 0.99998961 0.0018747 -0.24357449] [ 0.00999442 -0.00183309 0.99994837 0.03054945] [ 0. 0. 0. 1. ]] SLAMing on 2.546502481 meters 0.14687403801763116 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.24, Z:0.03 [[ 0.99994002 0.00432181 -0.01006387 0.45868112] [-0.00430066 0.9999885 0.00212239 -0.24339981] [ 0.01007293 -0.00207899 0.99994711 0.03152173] [ 0. 0. 0. 1. ]] SLAMing on 2.576502481 meters 0.15117160323061135 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.24, Z:0.03 [[ 9.99952739e-01 6.64579163e-04 -9.69942416e-03 4.56449437e-01] [-6.77351428e-04 9.99998908e-01 -1.31358084e-03 -2.43524744e-01] [ 9.69854059e-03 1.32008867e-03 9.99952097e-01 3.39111637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.606502481 meters 0.15079913046304796 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.24, Z:0.03 [[ 0.9999508 -0.0033899 -0.0093225 0.45508791] [ 0.00333817 0.99997898 -0.00555897 -0.24235974] [ 0.00934115 0.00552757 0.99994109 0.03485425] [ 0. 0. 0. 1. ]] SLAMing on 2.636502481 meters 0.15411642798926348 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.25, Z:0.03 [[ 0.99999669 -0.00221352 0.00131106 0.46036957] [ 0.00221099 0.9999957 0.00192567 -0.24912929] [-0.00131532 -0.00192276 0.99999729 0.03108109] [ 0. 0. 0. 1. ]] SLAMing on 2.6665024809999998 meters 0.15591629843402272 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.25, Z:0.03 [[ 0.99999773 -0.00168306 0.00130675 0.45897883] [ 0.00167926 0.99999438 0.00290344 -0.24995093] [-0.00131162 -0.00290124 0.99999493 0.03337793] [ 0. 0. 0. 1. ]] SLAMing on 2.696502481 meters 0.15652024373675838 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.25, Z:0.03 [[ 0.9999974 -0.00139627 0.0018023 0.45752902] [ 0.00139078 0.9999944 0.00304367 -0.24869389] [-0.00180654 -0.00304115 0.99999374 0.03416118] [ 0. 0. 0. 1. ]] SLAMing on 2.726502481 meters 0.15647508147516542 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.25, Z:0.03 [[ 0.99999729 -0.00142973 0.00183923 0.45724842] [ 0.00142437 0.99999474 0.00291521 -0.24772926] [-0.00184338 -0.00291258 0.99999406 0.03448383] [ 0. 0. 0. 1. ]] SLAMing on 2.756502481 meters 0.15488004367055846 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.25, Z:0.04 [[ 0.99999734 -0.00104001 0.00205913 0.45591978] [ 0.00103308 0.99999381 0.00336471 -0.24729842] [-0.00206262 -0.00336257 0.99999222 0.0360418 ] [ 0. 0. 0. 1. ]] SLAMing on 2.786502481 meters 0.1540940884417277 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.25, Z:0.04 [[ 0.99999727 -0.00105409 0.00208696 0.45569046] [ 0.00104728 0.99999414 0.00325936 -0.24664882] [-0.00209038 -0.00325717 0.99999251 0.03633775] [ 0. 0. 0. 1. ]] SLAMing on 2.816502481 meters 0.15008222967295626 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.25, Z:0.04 [[ 9.99996545e-01 -4.89406366e-04 2.58278034e-03 4.53531422e-01] [ 4.80163006e-04 9.99993483e-01 3.57824818e-03 -2.45297996e-01] [-2.58451472e-03 -3.57699566e-03 9.99990263e-01 3.84190787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.846502481 meters 0.1489178961533963 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.24, Z:0.04 [[ 9.99995976e-01 -5.54816688e-04 2.78218578e-03 4.53003995e-01] [ 5.46078624e-04 9.99994920e-01 3.14049593e-03 -2.43414917e-01] [-2.78391405e-03 -3.13896400e-03 9.99991198e-01 3.86877332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.876502481 meters 0.14778846613540012 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.24, Z:0.04 [[ 9.99994945e-01 -3.84341131e-04 3.15645087e-03 4.51788431e-01] [ 3.74088765e-04 9.99994655e-01 3.24801602e-03 -2.42245420e-01] [-3.15768235e-03 -3.24681880e-03 9.99989744e-01 3.96037937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.906502481 meters 0.14370195362084673 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.24, Z:0.04 [[ 9.99995385e-01 -3.29297040e-04 3.02020412e-03 4.52111183e-01] [ 3.16968738e-04 9.99991620e-01 4.08151406e-03 -2.44831606e-01] [-3.02152285e-03 -4.08053792e-03 9.99987110e-01 3.98539057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9365024809999998 meters 0.14311710000396005 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.25, Z:0.04 [[ 9.99996863e-01 -2.59738746e-04 2.49146075e-03 4.52850089e-01] [ 2.47943404e-04 9.99988766e-01 4.73344853e-03 -2.47209769e-01] [-2.49266222e-03 -4.73281594e-03 9.99985693e-01 4.04025673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.966502481 meters 0.1439530624881632 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.25, Z:0.04 [[ 9.99998073e-01 -5.19072358e-05 1.96264692e-03 4.53400501e-01] [ 4.09385990e-05 9.99984384e-01 5.58832314e-03 -2.50015389e-01] [-1.96290635e-03 -5.58823202e-03 9.99982459e-01 4.12940026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.996502481 meters 0.14076933429871655 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.26, Z:0.04 [[ 9.99999703e-01 3.02307846e-05 7.70125973e-04 4.53978241e-01] [-3.49862903e-05 9.99980930e-01 6.17570637e-03 -2.55328284e-01] [-7.69924590e-04 -6.17573148e-03 9.99980634e-01 4.34774269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.026502481 meters 0.13753769800364235 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.26, Z:0.04 [[ 9.99999685e-01 4.33111312e-04 6.64834238e-04 4.53715025e-01] [-4.37727796e-04 9.99975687e-01 6.95944265e-03 -2.57489926e-01] [-6.61803861e-04 -6.95973148e-03 9.99975562e-01 4.44171493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.056502481 meters 0.13394461134246247 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.26, Z:0.04 [[ 9.99999591e-01 8.43446255e-04 3.25062330e-04 4.54326185e-01] [-8.45967644e-04 9.99968939e-01 7.83616363e-03 -2.63910650e-01] [-3.18442850e-04 -7.83643542e-03 9.99969244e-01 4.43795540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.086502481 meters 0.13515606228703453 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.28, Z:0.04 [[ 0.99997165 0.00349107 -0.00667218 0.47008989] [-0.00347313 0.99999033 0.00269739 -0.27930894] [ 0.00668153 -0.00267414 0.9999741 0.04457516] [ 0. 0. 0. 1. ]] SLAMing on 3.116502481 meters 0.1364613597684204 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.29, Z:0.04 [[ 0.99999634 -0.00243921 0.00116987 0.47894316] [ 0.00243497 0.99999053 0.00360668 -0.28800841] [-0.00117866 -0.00360382 0.99999281 0.04042137] [ 0. 0. 0. 1. ]] SLAMing on 3.146502481 meters 0.1364613597684204 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.29, Z:0.04 [[ 0.99999634 -0.00243921 0.00116987 0.47894316] [ 0.00243497 0.99999053 0.00360668 -0.28800841] [-0.00117866 -0.00360382 0.99999281 0.04042137] [ 0. 0. 0. 1. ]] SLAMing on 3.176502481 meters 0.1383742020322154 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.31, Z:0.04 [[ 9.99988874e-01 -6.28340058e-04 -4.67525822e-03 4.95291171e-01] [ 6.18916294e-04 9.99997775e-01 -2.01684099e-03 -3.07867825e-01] [ 4.67651508e-03 2.01392495e-03 9.99987037e-01 4.07602585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.206502481 meters 0.13875067375090835 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.32, Z:0.04 [[ 0.99999233 -0.00362912 0.0014707 0.50584755] [ 0.00362592 0.99999107 0.00217313 -0.31856701] [-0.00147858 -0.00216778 0.99999656 0.03801028] [ 0. 0. 0. 1. ]] SLAMing on 3.236502481 meters 0.13898596212346337 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.33, Z:0.04 [[ 9.99992724e-01 -3.80848551e-03 2.16415417e-04 5.08169368e-01] [ 3.80791512e-03 9.99989428e-01 2.57761580e-03 -3.25552974e-01] [-2.26229941e-04 -2.57677295e-03 9.99996655e-01 3.77096117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.266502481 meters 0.13626958637843908 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.33, Z:0.03 [[ 0.99997022 0.00534838 0.00556363 0.51259054] [-0.00533344 0.99998214 -0.00269617 -0.33428467] [-0.00557796 0.00266641 0.99998089 0.03413944] [ 0. 0. 0. 1. ]] SLAMing on 3.296502481 meters 0.1351963226734013 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.34, Z:0.03 [[ 0.99996924 0.00558308 0.00550857 0.51269739] [-0.00557107 0.99998208 -0.00219239 -0.33627641] [-0.00552071 0.00216163 0.99998242 0.03420862] [ 0. 0. 0. 1. ]] SLAMing on 3.326502481 meters 0.1333159970034985 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.34, Z:0.03 [[ 0.99997244 0.00570893 0.00474722 0.51393018] [-0.00570115 0.99998239 -0.00165089 -0.34203472] [-0.00475656 0.00162378 0.99998737 0.034132 ] [ 0. 0. 0. 1. ]] SLAMing on 3.356502481 meters 0.1333303197205449 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.35, Z:0.04 [[ 0.99997802 0.00570963 0.00337141 0.51543231] [-0.00570618 0.99998319 -0.00103103 -0.34829385] [-0.00337724 0.00101177 0.99999379 0.03519093] [ 0. 0. 0. 1. ]] SLAMing on 3.386502481 meters 0.13256202856592694 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.35, Z:0.04 [[ 9.99976567e-01 5.99118795e-03 3.31233112e-03 5.15049674e-01] [-5.98950998e-03 9.99981929e-01 -5.16269526e-04 -3.49236175e-01] [-3.31536433e-03 4.96418188e-04 9.99994381e-01 3.61348293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4165024809999998 meters 0.13692168631202947 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.36, Z:0.04 [[ 9.99983048e-01 5.58352312e-03 1.65156828e-03 5.17256834e-01] [-5.58438206e-03 9.99984274e-01 5.15924071e-04 -3.56370250e-01] [-1.64866163e-03 -5.25138314e-04 9.99998503e-01 3.70418424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.446502481 meters 0.14192479380618736 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.36, Z:0.04 [[ 9.99986279e-01 5.20740008e-03 5.69613467e-04 5.19525501e-01] [-5.20806814e-03 9.99985744e-01 1.17770128e-03 -3.61743200e-01] [-5.63472585e-04 -1.18065171e-03 9.99999144e-01 3.64998558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.476502481 meters 0.15837830023681668 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.37, Z:0.04 [[ 9.99997539e-01 2.08366196e-03 7.62362115e-04 5.19290136e-01] [-2.08426003e-03 9.99997520e-01 7.84548116e-04 -3.71819277e-01] [-7.60725491e-04 -7.86135146e-04 9.99999402e-01 3.74695351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.506502481 meters 0.16499071818977154 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.38, Z:0.04 [[ 9.99998240e-01 1.81422097e-03 -4.78843022e-04 5.21509564e-01] [-1.81336589e-03 9.99996771e-01 1.78015031e-03 -3.77912641e-01] [ 4.82071063e-04 -1.77927886e-03 9.99998301e-01 3.75784817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.536502481 meters 0.17171689143289134 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.39, Z:0.04 [[ 0.99999614 0.0015501 -0.00230392 0.52366919] [-0.00154212 0.99999282 0.00346177 -0.38712452] [ 0.00230927 -0.0034582 0.99999135 0.03916116] [ 0. 0. 0. 1. ]] SLAMing on 3.566502481 meters 0.1703396481787429 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.39, Z:0.04 [[ 0.99999546 0.0017588 -0.0024457 0.52375018] [-0.0017494 0.99999111 0.0038368 -0.38839894] [ 0.00245243 -0.0038325 0.99998965 0.03950595] [ 0. 0. 0. 1. ]] SLAMing on 3.596502481 meters 0.16276591486074246 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.39, Z:0.04 [[ 0.99999662 0.00183343 -0.00184552 0.52288138] [-0.00182816 0.99999425 0.00285492 -0.38571466] [ 0.00185075 -0.00285154 0.99999422 0.03882769] [ 0. 0. 0. 1. ]] SLAMing on 3.6265024809999997 meters 0.15903510427819276 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.38, Z:0.04 [[ 0.99999769 0.00165494 -0.00137383 0.52246344] [-0.0016523 0.99999679 0.00191963 -0.38297699] [ 0.001377 -0.00191736 0.99999721 0.03789546] [ 0. 0. 0. 1. ]] SLAMing on 3.656502481 meters 0.15669865055946436 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.38, Z:0.04 [[ 0.99999836 0.00134771 -0.00120951 0.52269068] [-0.00134635 0.99999846 0.00112583 -0.38126821] [ 0.00121102 -0.0011242 0.99999863 0.0368847 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6865024809999998 meters 0.15392325966478607 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.38, Z:0.04 [[ 9.99998904e-01 1.20404312e-03 -8.62131383e-04 5.22468660e-01] [-1.20358615e-03 9.99999135e-01 5.30367129e-04 -3.79564886e-01] [ 8.62769223e-04 -5.29328898e-04 9.99999488e-01 3.61138358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.716502481 meters 0.13871292690664114 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.38, Z:0.04 [[ 9.99999280e-01 1.11813498e-03 -4.35356487e-04 5.21916290e-01] [-1.11815564e-03 9.99999374e-01 -4.72284126e-05 -3.77336590e-01] [ 4.35303407e-04 4.77151749e-05 9.99999904e-01 3.56450630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.746502481 meters 0.13820397537276588 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.38, Z:0.04 [[ 9.99999509e-01 9.68872942e-04 -2.08358424e-04 5.21675005e-01] [-9.68985263e-04 9.99999385e-01 -5.39652841e-04 -3.75549165e-01] [ 2.07835441e-04 5.39854473e-04 9.99999833e-01 3.52840081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.776502481 meters 0.13816086585518605 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.37, Z:0.03 [[ 9.99999776e-01 6.69356661e-04 -1.07962341e-05 5.21949234e-01] [-6.69369393e-04 9.99999025e-01 -1.22585551e-03 -3.74105907e-01] [ 9.97568898e-06 1.22586246e-03 9.99999249e-01 3.41696460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.806502481 meters 0.13777291998760832 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.38, Z:0.03 [[ 9.99987303e-01 4.94359232e-03 -9.77479172e-04 5.23338533e-01] [-4.93984112e-03 9.99980565e-01 3.80349936e-03 -3.77053939e-01] [ 9.96263125e-04 -3.79862248e-03 9.99992289e-01 3.48855481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.836502481 meters 0.13890522689982712 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.38, Z:0.03 [[ 0.99998816 0.00473677 -0.00111858 0.52391693] [-0.00473279 0.99998255 0.00353566 -0.37667271] [ 0.0011353 -0.00353032 0.99999312 0.03439784] [ 0. 0. 0. 1. ]] SLAMing on 3.866502481 meters 0.1390924727324661 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.38, Z:0.03 [[ 0.99998837 0.00465171 -0.00127034 0.52433861] [-0.00464729 0.99998321 0.00346153 -0.37679434] [ 0.00128642 -0.00345559 0.9999932 0.03418731] [ 0. 0. 0. 1. ]] SLAMing on 3.8965024809999997 meters 0.13736528238101164 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.37, Z:0.03 [[ 0.99999068 0.00417409 -0.00110691 0.52492678] [-0.00417149 0.99998857 0.00233836 -0.37433331] [ 0.00111666 -0.00233372 0.99999665 0.03255243] [ 0. 0. 0. 1. ]] SLAMing on 3.926502481 meters 0.1359339291036799 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.37, Z:0.03 [[ 9.99993117e-01 3.57731496e-03 -9.84353625e-04 5.25774243e-01] [-3.57622950e-03 9.99992998e-01 1.10227104e-03 -3.71889583e-01] [ 9.88289903e-04 -1.09874318e-03 9.99998908e-01 3.06492501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.956502481 meters 0.13585355473094918 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.37, Z:0.03 [[ 9.99994240e-01 3.24333574e-03 -9.99878937e-04 5.26420396e-01] [-3.24285946e-03 9.99994628e-01 4.77593664e-04 -3.71008091e-01] [ 1.00142256e-03 -4.74348447e-04 9.99999386e-01 2.95581196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.986502481 meters 0.13577888103962277 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.37, Z:0.03 [[ 9.99994751e-01 3.00406160e-03 -1.21397973e-03 5.27166099e-01] [-3.00386371e-03 9.99995475e-01 1.64801851e-04 -3.70694972e-01] [ 1.21446931e-03 -1.61154356e-04 9.99999250e-01 2.90200410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.016502481 meters 0.13672621411880578 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.37, Z:0.03 [[ 9.99996289e-01 2.42163555e-03 -1.24807789e-03 5.28121374e-01] [-2.42260783e-03 9.99996763e-01 -7.78096562e-04 -3.68382658e-01] [ 1.24618958e-03 7.81117278e-04 9.99998918e-01 2.75877210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.046502480999999 meters 0.13740323584566658 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.37, Z:0.03 [[ 0.99999664 0.00208588 -0.00154142 0.5292707 ] [-0.00208758 0.99999721 -0.00110666 -0.36843199] [ 0.0015391 0.00110987 0.9999982 0.026687 ] [ 0. 0. 0. 1. ]] SLAMing on 4.0765024809999995 meters 0.1398567040709824 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.37, Z:0.03 [[ 0.99999702 0.00173943 -0.00171295 0.53041532] [-0.00174197 0.99999738 -0.00148255 -0.36826387] [ 0.00171037 0.00148553 0.99999743 0.02541482] [ 0. 0. 0. 1. ]] SLAMing on 4.106502481 meters 0.14012775928630267 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.37, Z:0.03 [[ 0.99997867 0.00600346 -0.0025735 0.53185858] [-0.00599431 0.99997575 0.00354565 -0.37111018] [ 0.00259472 -0.00353015 0.9999904 0.02586796] [ 0. 0. 0. 1. ]] SLAMing on 4.136502480999999 meters 0.13892259050226188 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.37, Z:0.02 [[ 0.99998159 0.00552908 -0.00250116 0.53240541] [-0.00552281 0.99998161 0.00250535 -0.36853912] [ 0.00251497 -0.00249149 0.99999373 0.0246263 ] [ 0. 0. 0. 1. ]] SLAMing on 4.166502480999999 meters 0.13781638753654626 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.37, Z:0.02 [[ 0.999984 0.00514478 -0.00235336 0.53287409] [-0.00514092 0.99998543 0.001646 -0.36669896] [ 0.00236179 -0.00163388 0.99999588 0.02330758] [ 0. 0. 0. 1. ]] SLAMing on 4.196502481 meters 0.13228856516560672 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.36, Z:0.02 [[ 9.99988344e-01 4.45751483e-03 -1.85560697e-03 5.33225415e-01] [-4.45911942e-03 9.99989687e-01 -8.61487475e-04 -3.60437858e-01] [ 1.85174774e-03 8.69751806e-04 9.99997907e-01 2.07063314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.226502481 meters 0.13013358926993088 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.36, Z:0.02 [[ 0.99999032 0.00403562 -0.00175486 0.53350832] [-0.00403892 0.99999007 -0.00188092 -0.35777836] [ 0.00174725 0.00188799 0.99999669 0.0198044 ] [ 0. 0. 0. 1. ]] SLAMing on 4.256502480999999 meters 0.12925975461468622 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.35, Z:0.02 [[ 0.99999201 0.00365659 -0.00161245 0.53364056] [-0.00366124 0.99998913 -0.00288701 -0.35466797] [ 0.00160187 0.00289289 0.99999453 0.01907938] [ 0. 0. 0. 1. ]] SLAMing on 4.286502480999999 meters 0.12828096483725276 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.35, Z:0.02 [[ 0.99999353 0.00320065 -0.00164295 0.5341228 ] [-0.00320686 0.99998768 -0.00379002 -0.3520812 ] [ 0.0016308 0.00379527 0.99999147 0.01835338] [ 0. 0. 0. 1. ]] SLAMing on 4.316502481 meters 0.12813218188494085 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.35, Z:0.02 [[ 0.99999394 0.00291457 -0.00190286 0.53474889] [-0.00292247 0.99998706 -0.00416345 -0.35108776] [ 0.0018907 0.00416899 0.99998952 0.01818293] [ 0. 0. 0. 1. ]] SLAMing on 4.346502481 meters 0.12827279766495875 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.35, Z:0.02 [[ 0.99999367 0.00281548 -0.00217511 0.53496853] [-0.00282451 0.99998734 -0.00416361 -0.35046003] [ 0.00216336 0.00416972 0.99998897 0.01876534] [ 0. 0. 0. 1. ]] SLAMing on 4.376502480999999 meters 0.12923550418409735 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.35, Z:0.02 [[ 0.99999386 0.00258413 -0.00236863 0.53525393] [-0.0025946 0.99998683 -0.00442777 -0.34916297] [ 0.00235715 0.00443389 0.99998739 0.01896929] [ 0. 0. 0. 1. ]] SLAMing on 4.4065024809999995 meters 0.1305518745774317 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.35, Z:0.02 [[ 0.99999372 0.00240576 -0.00260283 0.53569539] [-0.00241761 0.99998669 -0.00455881 -0.34843976] [ 0.00259182 0.00456507 0.99998622 0.01905778] [ 0. 0. 0. 1. ]] SLAMing on 4.436502481 meters 0.1320762612441408 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.35, Z:0.02 [[ 0.99999224 0.00213258 -0.00331361 0.53687763] [-0.00214742 0.99998766 -0.00448064 -0.34877535] [ 0.00330401 0.00448772 0.99998447 0.01950785] [ 0. 0. 0. 1. ]] SLAMing on 4.466502480999999 meters 0.13337094586677523 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.35, Z:0.02 [[ 0.99999101 0.00206371 -0.00370436 0.53749359] [-0.0020798 0.9999884 -0.00434351 -0.34911816] [ 0.00369535 0.00435117 0.99998371 0.01981113] [ 0. 0. 0. 1. ]] SLAMing on 4.496502480999999 meters 0.1347998867520481 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.35, Z:0.02 [[ 0.99999072 0.00185899 -0.00388767 0.53822658] [-0.00187639 0.99998823 -0.0044752 -0.34908808] [ 0.0038793 0.00448245 0.99998243 0.01926185] [ 0. 0. 0. 1. ]] SLAMing on 4.526502481 meters 0.13981931315537766 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.35, Z:0.02 [[ 0.99998844 0.00166745 -0.00451052 0.53981537] [-0.00168532 0.99999073 -0.00396134 -0.35134916] [ 0.00450387 0.00396889 0.99998198 0.01882456] [ 0. 0. 0. 1. ]] SLAMing on 4.556502481 meters 0.14216571595357472 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.35, Z:0.02 [[ 0.99998771 0.00169191 -0.00466101 0.54015672] [-0.00170921 0.99999166 -0.0037094 -0.35195415] [ 0.0046547 0.00371732 0.99998226 0.01882272] [ 0. 0. 0. 1. ]] SLAMing on 4.586502480999999 meters 0.14301043202289224 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.35, Z:0.02 [[ 0.99996661 0.00599207 -0.00555659 0.54147138] [-0.00598451 0.99998115 0.00137579 -0.35448029] [ 0.00556472 -0.00134249 0.99998362 0.01959091] [ 0. 0. 0. 1. ]] SLAMing on 4.6165024809999995 meters 0.14310705970072116 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.35, Z:0.02 [[ 9.99970888e-01 5.39464903e-03 -5.39643524e-03 5.42182948e-01] [-5.39339501e-03 9.99985425e-01 2.46904900e-04 -3.51848973e-01] [ 5.39768855e-03 -2.17792605e-04 9.99985409e-01 1.79312976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.646502481 meters 0.14250046979925907 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.35, Z:0.02 [[ 9.99972413e-01 5.01500886e-03 -5.47923244e-03 5.42892324e-01] [-5.01678592e-03 9.99987368e-01 -3.10630770e-04 -3.50748664e-01] [ 5.47760541e-03 3.38110337e-04 9.99984941e-01 1.71222614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.676502480999999 meters 0.14154867999255827 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.35, Z:0.02 [[ 0.99997487 0.00478666 -0.00522915 0.54273259] [-0.00479198 0.99998801 -0.00100501 -0.34864662] [ 0.00522427 0.00103005 0.99998582 0.01656686] [ 0. 0. 0. 1. ]] SLAMing on 4.706502480999999 meters 0.13964418684228652 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.35, Z:0.02 [[ 0.99997636 0.00457431 -0.00513359 0.54252475] [-0.00458281 0.99998815 -0.00164419 -0.34651132] [ 0.00512601 0.00166767 0.99998547 0.01655866] [ 0. 0. 0. 1. ]] SLAMing on 4.736502481 meters 0.1396498840656323 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.35, Z:0.02 [[ 0.99997627 0.00446421 -0.00524759 0.54283748] [-0.00447351 0.99998844 -0.00176167 -0.34626305] [ 0.00523966 0.0017851 0.99998468 0.01647241] [ 0. 0. 0. 1. ]] SLAMing on 4.766502481 meters 0.1415128949758383 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.35, Z:0.02 [[ 0.99997592 0.00415995 -0.00555481 0.5436561 ] [-0.00417132 0.99998923 -0.00203607 -0.34576596] [ 0.00554628 0.00205919 0.9999825 0.01620389] [ 0. 0. 0. 1. ]] SLAMing on 4.796502480999999 meters 0.1436969865755106 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.35, Z:0.02 [[ 0.9999743 0.00415476 -0.00584209 0.54395851] [-0.00416545 0.99998967 -0.00181865 -0.34620135] [ 0.00583447 0.00184294 0.99998128 0.01669539] [ 0. 0. 0. 1. ]] SLAMing on 4.8265024809999995 meters 0.14721666811917328 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.35, Z:0.02 [[ 0.99996989 0.00422054 -0.00651138 0.54473149] [-0.00422783 0.99999045 -0.00110496 -0.34850039] [ 0.00650666 0.00113246 0.99997819 0.01760884] [ 0. 0. 0. 1. ]] SLAMing on 4.856502481 meters 0.1496163702344604 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.35, Z:0.02 [[ 0.99996816 0.00396602 -0.00692456 0.54598095] [-0.00397409 0.99999144 -0.0011531 -0.34923405] [ 0.00691993 0.00118058 0.99997536 0.01696953] [ 0. 0. 0. 1. ]] SLAMing on 4.886502480999999 meters 0.1550215484141045 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.35, Z:0.02 [[ 9.99964571e-01 3.75704189e-03 -7.53274213e-03 5.47384561e-01] [-3.76327258e-03 9.99992588e-01 -8.13143334e-04 -3.50788583e-01] [ 7.52963129e-03 8.41462287e-04 9.99971298e-01 1.67536441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.916502480999999 meters 0.157829058625202 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.35, Z:0.02 [[ 9.99961179e-01 3.78885526e-03 -7.95524542e-03 5.48088862e-01] [-3.79188004e-03 9.99992744e-01 -3.65175544e-04 -3.52351520e-01] [ 7.95380410e-03 3.95326704e-04 9.99968290e-01 1.70484625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.946502481 meters 0.15961494291636386 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.35, Z:0.02 [[ 9.99959695e-01 3.46273970e-03 -8.28357782e-03 5.49222942e-01] [-3.46805183e-03 9.99993790e-01 -6.27006377e-04 -3.52259814e-01] [ 8.28135521e-03 6.55708982e-04 9.99965494e-01 1.63633448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.976502481 meters 0.1603025366769683 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.35, Z:0.02 [[ 0.99995917 0.00308333 -0.00849472 0.55033788] [-0.00309269 0.99999462 -0.00108939 -0.35180208] [ 0.00849131 0.00111562 0.99996333 0.01529914] [ 0. 0. 0. 1. ]] SLAMing on 5.006502480999999 meters 0.16299282237386953 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.35, Z:0.01 [[ 0.99995668 0.00266649 -0.00891759 0.5519576 ] [-0.00267884 0.99999547 -0.00137331 -0.35229338] [ 0.00891389 0.00139714 0.99995929 0.01417139] [ 0. 0. 0. 1. ]] SLAMing on 5.036502480999999 meters 0.13510702104644223 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.35, Z:0.01 [[ 0.99995412 0.00254102 -0.00923554 0.5526979 ] [-0.00255376 0.9999958 -0.00136793 -0.35265528] [ 0.00923202 0.00139146 0.99995642 0.01405659] [ 0. 0. 0. 1. ]] SLAMing on 5.066502481 meters 0.13510702104644223 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.35, Z:0.01 [[ 0.99995412 0.00254102 -0.00923554 0.5526979 ] [-0.00255376 0.9999958 -0.00136793 -0.35265528] [ 0.00923202 0.00139146 0.99995642 0.01405659] [ 0. 0. 0. 1. ]] SLAMing on 5.096502480999999 meters 0.13635575911082498 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.35, Z:0.01 [[ 0.9999552 0.00212071 -0.00922481 0.55304605] [-0.00214046 0.99999544 -0.0021326 -0.35018336] [ 0.00922024 0.00215225 0.99995518 0.01346997] [ 0. 0. 0. 1. ]] SLAMing on 5.126502480999999 meters 0.13249907537486655 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.35, Z:0.01 [[ 0.99993256 0.00583314 -0.0100424 0.55559355] [-0.00581706 0.99998175 0.00162921 -0.35075857] [ 0.01005172 -0.00157068 0.99994825 0.0120087 ] [ 0. 0. 0. 1. ]] SLAMing on 5.1565024809999995 meters 0.13152831596319536 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.35, Z:0.01 [[ 9.99934700e-01 5.16387695e-03 -1.01946546e-02 5.56841900e-01] [-5.15877954e-03 9.99986555e-01 5.26241668e-04 -3.48661418e-01] [ 1.01972350e-02 -4.73615329e-04 9.99947895e-01 1.05106014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.186502481 meters 0.13061330584115788 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.35, Z:0.01 [[ 9.99938587e-01 4.82575058e-03 -9.97671605e-03 5.56650921e-01] [-4.83029470e-03 9.99988241e-01 -4.31426044e-04 -3.45585132e-01] [ 9.97451678e-03 4.79590027e-04 9.99950138e-01 1.00684397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.216502480999999 meters 0.1288637792458816 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.34, Z:0.01 [[ 0.99994545 0.00463091 -0.00936234 0.55538794] [-0.00464574 0.99998799 -0.0015635 -0.34048538] [ 0.00935499 0.00160691 0.99995495 0.01018954] [ 0. 0. 0. 1. ]] SLAMing on 5.246502480999999 meters 0.1262567649514905 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.34, Z:0.01 [[ 0.99994685 0.00410905 -0.00945592 0.55630239] [-0.00413255 0.99998842 -0.00246668 -0.33860164] [ 0.00944567 0.00250563 0.99995225 0.00902417] [ 0. 0. 0. 1. ]] SLAMing on 5.276502481 meters 0.12375430127000518 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.33, Z:0.01 [[ 0.99995232 0.0032702 -0.00920114 0.55692768] [-0.00331047 0.999985 -0.0043643 -0.3334752 ] [ 0.00918673 0.00439456 0.99994814 0.00719171] [ 0. 0. 0. 1. ]] SLAMing on 5.306502480999999 meters 0.12266673782903004 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.33, Z:0.01 [[ 0.99995708 0.00299588 -0.00876741 0.55623278] [-0.00304314 0.99998088 -0.00538252 -0.32961585] [ 0.00875112 0.00540897 0.99994708 0.00692149] [ 0. 0. 0. 1. ]] SLAMing on 5.336502480999999 meters 0.12681221476948273 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.33, Z:0.01 [[ 0.99995822 0.00278719 -0.00870601 0.55620289] [-0.00283815 0.99997888 -0.00584739 -0.32791863] [ 0.00868952 0.00587185 0.99994501 0.00676406] [ 0. 0. 0. 1. ]] SLAMing on 5.3665024809999995 meters 0.12336386731232507 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.33, Z:0.01 [[ 0.99995873 0.0025769 -0.00871218 0.55653822] [-0.00263005 0.99997797 -0.00609467 -0.32713033] [ 0.00869629 0.00611733 0.99994347 0.0063027 ] [ 0. 0. 0. 1. ]] SLAMing on 5.396502481 meters 0.12380052349570532 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.33, Z:0.01 [[ 0.99995835 0.00246452 -0.00878792 0.5570188 ] [-0.00251876 0.99997782 -0.00616616 -0.32722392] [ 0.00877253 0.00618803 0.99994237 0.00580713] [ 0. 0. 0. 1. ]] SLAMing on 5.426502480999999 meters 0.12445637942983694 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.33, Z:0.01 [[ 0.99993264 0.00645671 -0.0096455 0.55910728] [-0.00647196 0.99997785 -0.00155048 -0.32953954] [ 0.00963527 0.0016128 0.99995228 0.00522454] [ 0. 0. 0. 1. ]] SLAMing on 5.456502480999999 meters 0.1247994513588349 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.33, Z:0.00 [[ 0.99993842 0.00586698 -0.00941978 0.55982299] [-0.00589197 0.99997919 -0.00262764 -0.32713961] [ 0.00940417 0.00268298 0.99995218 0.00343151] [ 0. 0. 0. 1. ]] SLAMing on 5.486502481 meters 0.12404313305470163 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.33, Z:0.00 [[ 0.99993943 0.00549682 -0.0095356 0.56063833] [-0.00552821 0.99997938 -0.00326875 -0.32603525] [ 0.00951743 0.00332127 0.99994919 0.00249134] [ 0. 0. 0. 1. ]] SLAMing on 5.516502481 meters 0.12411609683625935 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.32, Z:0.00 [[ 0.99994078 0.00522133 -0.00954812 0.56098064] [-0.00525773 0.99997899 -0.00379092 -0.32464093] [ 0.00952813 0.0038409 0.99994723 0.00198553] [ 0. 0. 0. 1. ]] SLAMing on 5.546502480999999 meters 0.12380704609198392 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.32, Z:0.00 [[ 0.99994251 0.00476709 -0.00960503 0.56169435] [-0.00481096 0.99997808 -0.00454922 -0.32293875] [ 0.00958313 0.00459516 0.99994352 0.0010455 ] [ 0. 0. 0. 1. ]] SLAMing on 5.5765024809999995 meters 0.12371921219443888 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.32, Z:-0.00 [[ 9.99944743e-01 4.45175592e-03 -9.52329485e-03 5.62206257e-01] [-4.50079560e-03 9.99976691e-01 -5.13422563e-03 -3.21697609e-01] [ 9.50021655e-03 5.17680433e-03 9.99941472e-01 -1.38473649e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.606502481 meters 0.12418049371804885 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.32, Z:-0.00 [[ 9.99943222e-01 4.41902671e-03 -9.69663100e-03 5.62657871e-01] [-4.46838831e-03 9.99977139e-01 -5.07484708e-03 -3.22312649e-01] [ 9.67398344e-03 5.11788726e-03 9.99940109e-01 -1.51806029e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.636502480999999 meters 0.12556639115276041 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.32, Z:-0.00 [[ 9.99936786e-01 4.31288641e-03 -1.03837760e-02 5.64048120e-01] [-4.36132318e-03 9.99979694e-01 -4.64654255e-03 -3.24353752e-01] [ 1.03635251e-02 4.69153582e-03 9.99935291e-01 -1.98693797e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.666502480999999 meters 0.12642472334124918 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.33, Z:0.00 [[ 9.99931708e-01 4.37834858e-03 -1.08355341e-02 5.64719516e-01] [-4.42362011e-03 9.99981573e-01 -4.15762726e-03 -3.25837662e-01] [ 1.08171309e-02 4.20527562e-03 9.99932650e-01 1.87456157e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.696502481 meters 0.1279658381121536 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.33, Z:0.00 [[ 9.99927710e-01 4.50003174e-03 -1.11500891e-02 5.65195227e-01] [-4.54111096e-03 9.99982985e-01 -3.66163079e-03 -3.27518992e-01] [ 1.11334219e-02 3.71199988e-03 9.99931132e-01 4.14862112e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.726502481 meters 0.13046212487864078 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.33, Z:0.00 [[ 9.99956941e-01 -9.71697997e-04 -9.22882417e-03 5.78079800e-01] [ 9.75351769e-04 9.99999448e-01 3.91416230e-04 -3.29887502e-01] [ 9.22843874e-03 -4.00400726e-04 9.99957337e-01 1.57232994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.756502480999999 meters 0.13197592508488623 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.33, Z:0.00 [[ 0.99998001 -0.00492869 -0.00396031 0.58888901] [ 0.00494965 0.9999737 0.00530146 -0.33316899] [ 0.00393408 -0.00532096 0.9999781 0.00147305] [ 0. 0. 0. 1. ]] SLAMing on 5.786502480999999 meters 0.12564864191669087 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.34, Z:0.00 [[ 9.99992656e-01 3.71712255e-03 -9.33604928e-04 5.92625126e-01] [-3.71832176e-03 9.99992260e-01 -1.28605845e-03 -3.37623821e-01] [ 9.28817265e-04 1.28952044e-03 9.99998737e-01 1.53007649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.816502481 meters 0.1321055522351737 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.34, Z:0.00 [[ 0.999992 0.00384931 -0.00108553 0.5926279 ] [-0.00385042 0.99999206 -0.00102575 -0.33818641] [ 0.00108157 0.00102992 0.99999888 0.00202366] [ 0. 0. 0. 1. ]] SLAMing on 5.846502480999999 meters 0.12513738333260238 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.34, Z:0.00 [[ 9.99991092e-01 4.02526487e-03 -1.26975428e-03 5.92581139e-01] [-4.02612976e-03 9.99991664e-01 -6.79331865e-04 -3.39175186e-01] [ 1.26700920e-03 6.84438009e-04 9.99998963e-01 2.65207902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.876502480999999 meters 0.12406791417615722 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.34, Z:0.00 [[ 9.99990975e-01 3.99182086e-03 -1.45416376e-03 5.92966929e-01] [-3.99268369e-03 9.99991855e-01 -5.90931266e-04 -3.39445061e-01] [ 1.45179302e-03 5.96731949e-04 9.99998768e-01 2.64254363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9065024809999995 meters 0.12454585933762456 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.34, Z:0.00 [[ 9.99993439e-01 3.44860101e-03 -1.10850078e-03 5.93599947e-01] [-3.45041824e-03 9.99992700e-01 -1.64164945e-03 -3.36790054e-01] [ 1.10283130e-03 1.64546347e-03 9.99998038e-01 6.40504334e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.936502481 meters 0.12372205854582081 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.33, Z:-0.00 [[ 9.99994851e-01 3.06593954e-03 -9.47862218e-04 5.93951346e-01] [-3.06815898e-03 9.99992534e-01 -2.34900041e-03 -3.34917266e-01] [ 9.40653249e-04 2.35189651e-03 9.99996792e-01 -4.00540944e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.966502480999999 meters 0.12430212955047451 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.34, Z:0.00 [[ 9.99994275e-01 3.11133049e-03 -1.33017140e-03 5.94415303e-01] [-3.11398049e-03 9.99993162e-01 -1.99481191e-03 -3.36072933e-01] [ 1.32395578e-03 1.99894262e-03 9.99997126e-01 9.86862735e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.996502480999999 meters 0.12621013147817303 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.34, Z:0.00 [[ 9.99991564e-01 3.59970200e-03 -1.97856418e-03 5.94331612e-01] [-3.60097147e-03 9.99993313e-01 -6.38426524e-04 -3.39274468e-01] [ 1.97625280e-03 6.45545891e-04 9.99997839e-01 2.23522990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.026502481 meters 0.1262016001025836 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.34, Z:0.00 [[ 9.99990929e-01 3.63286340e-03 -2.22361710e-03 5.94664039e-01] [-3.63370092e-03 9.99993329e-01 -3.72725769e-04 -3.39964685e-01] [ 2.22224820e-03 3.80802347e-04 9.99997458e-01 2.51234107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.056502480999999 meters 0.12754449155092193 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.34, Z:0.00 [[ 9.99991213e-01 3.40781015e-03 -2.44159655e-03 5.95466145e-01] [-3.40927147e-03 9.99994012e-01 -5.94598331e-04 -3.40058860e-01] [ 2.43955566e-03 6.02917172e-04 9.99996843e-01 1.91078816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.086502480999999 meters 0.12749674696569094 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.34, Z:0.00 [[ 9.99991847e-01 3.18026434e-03 -2.48847029e-03 5.95977811e-01] [-3.18262342e-03 9.99994489e-01 -9.44621187e-04 -3.39461430e-01] [ 2.48545243e-03 9.52533349e-04 9.99996458e-01 1.25588796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1165024809999995 meters 0.12713216379537487 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.34, Z:0.00 [[ 9.99992068e-01 2.92908646e-03 -2.69913171e-03 5.96674860e-01] [-2.93250505e-03 9.99994902e-01 -1.26346687e-03 -3.38927703e-01] [ 2.69541715e-03 1.27137206e-03 9.99995559e-01 8.15532135e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.146502481 meters 0.12689229087151851 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.34, Z:0.00 [[ 9.99992565e-01 2.65923260e-03 -2.79239162e-03 5.97384125e-01] [-2.66376095e-03 9.99995141e-01 -1.61920916e-03 -3.38579248e-01] [ 2.78807220e-03 1.62663538e-03 9.99994790e-01 1.04862137e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.176502480999999 meters 0.12761122667849464 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.34, Z:-0.00 [[ 0.99999357 0.00224745 -0.00279604 0.598161 ] [-0.00225372 0.99999494 -0.0022436 -0.33722897] [ 0.00279098 0.00224989 0.99999357 -0.00118856] [ 0. 0. 0. 1. ]] SLAMing on 6.206502480999999 meters 0.12814469994286312 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.34, Z:-0.00 [[ 0.99999341 0.00216971 -0.00290928 0.59856623] [-0.00217629 0.99999508 -0.00225925 -0.33754151] [ 0.00290436 0.00226556 0.99999322 -0.00144138] [ 0. 0. 0. 1. ]] SLAMing on 6.236502481 meters 0.12290738555454844 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.34, Z:-0.00 [[ 9.99992942e-01 2.30108303e-03 -2.96998052e-03 5.98238828e-01] [-2.30738014e-03 9.99995094e-01 -2.11857100e-03 -3.37181386e-01] [ 2.96509094e-03 2.12540892e-03 9.99993345e-01 -6.96257642e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.266502481 meters 0.12216452559950275 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.34, Z:-0.00 [[ 0.9999938 0.00209612 -0.00283034 0.59839508] [-0.00210337 0.9999945 -0.00256284 -0.33607763] [ 0.00282496 0.00256878 0.99999271 -0.00138181] [ 0. 0. 0. 1. ]] SLAMing on 6.296502480999999 meters 0.12395900586797103 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.34, Z:-0.00 [[ 0.99999409 0.00207893 -0.00273734 0.59848159] [-0.00208625 0.99999425 -0.00267309 -0.33610205] [ 0.00273176 0.00267878 0.99999268 -0.0017805 ] [ 0. 0. 0. 1. ]] SLAMing on 6.3265024809999995 meters 0.12129990787215664 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.34, Z:-0.00 [[ 9.99991507e-01 2.67646447e-03 -3.13396105e-03 5.98143401e-01] [-2.68132600e-03 9.99995207e-01 -1.54806916e-03 -3.39249446e-01] [ 3.12980268e-03 1.55645919e-03 9.99993891e-01 -1.12703410e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.356502481 meters 0.12131036203533585 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.34, Z:-0.00 [[ 9.99991042e-01 2.64014708e-03 -3.30844121e-03 5.98514796e-01] [-2.64536282e-03 9.99995264e-01 -1.57311090e-03 -3.39323236e-01] [ 3.30427229e-03 1.58184884e-03 9.99993290e-01 -1.65693030e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.386502480999999 meters 0.1209578887196479 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.34, Z:-0.00 [[ 0.99997121 0.00651421 -0.00389085 0.60024602] [-0.00650441 0.99997566 0.00252462 -0.33986751] [ 0.0039072 -0.00249924 0.99998924 -0.00107503] [ 0. 0. 0. 1. ]] SLAMing on 6.416502480999999 meters 0.11984021610248737 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.34, Z:-0.00 [[ 0.99997557 0.00586836 -0.0037983 0.60107643] [-0.00586338 0.99998194 0.00132089 -0.33695182] [ 0.00380599 -0.00129859 0.99999191 -0.00272577] [ 0. 0. 0. 1. ]] SLAMing on 6.446502481 meters 0.11901030895900905 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.34, Z:-0.00 [[ 9.99977288e-01 5.40688141e-03 -4.02362128e-03 6.02134272e-01] [-5.40413714e-03 9.99985158e-01 6.92599428e-04 -3.36009577e-01] [ 4.02730636e-03 -6.70839496e-04 9.99991665e-01 -3.68690519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.476502481 meters 0.12082731367518693 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.34, Z:-0.00 [[ 9.99976524e-01 5.25561574e-03 -4.39655337e-03 6.02917853e-01] [-5.25278705e-03 9.99985990e-01 6.54687615e-04 -3.36372025e-01] [ 4.39993256e-03 -6.31578087e-04 9.99990121e-01 -3.75452378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.506502480999999 meters 0.119089807503909 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.34, Z:-0.00 [[ 9.99977228e-01 5.09902662e-03 -4.42076134e-03 6.03073333e-01] [-5.09764425e-03 9.99986954e-01 3.23910118e-04 -3.35274084e-01] [ 4.42235529e-03 -3.01367273e-04 9.99990176e-01 -3.94134167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.536502480999999 meters 0.11800387628220729 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.33, Z:-0.01 [[ 0.99998122 0.00450467 -0.00415462 0.60334596] [-0.00450974 0.9999891 -0.00121241 -0.33089433] [ 0.00414912 0.00123112 0.99999063 -0.00523301] [ 0. 0. 0. 1. ]] SLAMing on 6.566502481 meters 0.11650034106320027 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.33, Z:-0.01 [[ 0.9999843 0.004132 -0.00378599 0.60289577] [-0.00414137 0.99998837 -0.00246969 -0.32647313] [ 0.00377574 0.00248533 0.99998978 -0.00565651] [ 0. 0. 0. 1. ]] SLAMing on 6.596502480999999 meters 0.11629939937487878 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.33, Z:-0.01 [[ 0.99998475 0.0037915 -0.00401641 0.60365487] [-0.00380326 0.99998849 -0.00292338 -0.3255793 ] [ 0.00400528 0.00293861 0.99998766 -0.00610817] [ 0. 0. 0. 1. ]] SLAMing on 6.626502480999999 meters 0.11730086154686788 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.33, Z:-0.01 [[ 0.99998384 0.00358524 -0.00441219 0.60448018] [-0.00359791 0.99998942 -0.00286783 -0.32591561] [ 0.00440187 0.00288366 0.99998615 -0.00612429] [ 0. 0. 0. 1. ]] SLAMing on 6.6565024809999995 meters 0.11851202024527858 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.33, Z:-0.01 [[ 0.99998197 0.00357455 -0.00482441 0.60514267] [-0.00358692 0.9999903 -0.00255782 -0.32696345] [ 0.00481522 0.00257507 0.99998509 -0.00587809] [ 0. 0. 0. 1. ]] SLAMing on 6.686502481 meters 0.12031420219675829 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.33, Z:-0.01 [[ 0.99997961 0.00349274 -0.00534529 0.60610321] [-0.00350443 0.99999149 -0.0021791 -0.32845219] [ 0.00533763 0.00219779 0.99998334 -0.00577894] [ 0. 0. 0. 1. ]] SLAMing on 6.716502480999999 meters 0.12107334670046496 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.33, Z:-0.01 [[ 0.99997948 0.00292423 -0.00569945 0.60760138] [-0.00294021 0.99999176 -0.00279861 -0.32750348] [ 0.00569122 0.00281531 0.99997984 -0.00702383] [ 0. 0. 0. 1. ]] SLAMing on 6.746502480999999 meters 0.12072244992735241 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.33, Z:-0.01 [[ 0.99995743 0.00661755 -0.00642949 0.60989165] [-0.00660822 0.99997708 0.00147112 -0.32878139] [ 0.00643908 -0.00142857 0.99997825 -0.00832432] [ 0. 0. 0. 1. ]] SLAMing on 6.776502481 meters 0.12426759013138432 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.33, Z:-0.01 [[ 0.99995679 0.00633436 -0.00680354 0.61104677] [-0.00632581 0.99997918 0.00127763 -0.32910303] [ 0.00681149 -0.00123454 0.99997604 -0.00898812] [ 0. 0. 0. 1. ]] SLAMing on 6.806502480999999 meters 0.12520840039146713 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.33, Z:-0.01 [[ 9.99957188e-01 5.95816985e-03 -7.07965581e-03 6.12244878e-01] [-5.95134725e-03 9.99981806e-01 9.84367063e-04 -3.29086690e-01] [ 7.08539203e-03 -9.42191431e-04 9.99974454e-01 -9.98887127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.836502480999999 meters 0.1234714050807009 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.33, Z:-0.01 [[ 9.99959965e-01 5.47201419e-03 -7.07993961e-03 6.13013994e-01] [-5.47072584e-03 9.99985015e-01 2.01325208e-04 -3.27354635e-01] [ 7.08093517e-03 -1.62584739e-04 9.99974917e-01 -1.11661351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8665024809999995 meters 0.12461263845379182 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.33, Z:-0.01 [[ 9.99961701e-01 4.95835708e-03 -7.21192099e-03 6.14161942e-01] [-4.96324851e-03 9.99987465e-01 -6.60503564e-04 -3.26064255e-01] [ 7.20855557e-03 6.96272824e-04 9.99973776e-01 -1.25704069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.896502481 meters 0.1224289947093592 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.33, Z:-0.01 [[ 9.99960680e-01 4.81996064e-03 -7.44357887e-03 6.14600869e-01] [-4.82635638e-03 9.99987999e-01 -8.41506009e-04 -3.25735578e-01] [ 7.43943352e-03 8.77398285e-04 9.99971942e-01 -1.25122933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.926502480999999 meters 0.12208422644575702 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.33, Z:-0.01 [[ 9.99959457e-01 4.88296243e-03 -7.56571659e-03 6.14454803e-01] [-4.88954306e-03 9.99987684e-01 -8.51543913e-04 -3.25456886e-01] [ 7.56146535e-03 8.88502286e-04 9.99971017e-01 -1.19100372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.956502480999999 meters 0.12208422644575702 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.33, Z:-0.01 [[ 9.99959457e-01 4.88296243e-03 -7.56571659e-03 6.14454803e-01] [-4.88954306e-03 9.99987684e-01 -8.51543913e-04 -3.25456886e-01] [ 7.56146535e-03 8.88502286e-04 9.99971017e-01 -1.19100372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.986502481 meters 0.12162336027509243 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.32, Z:-0.01 [[ 0.99995906 0.00468736 -0.00773972 0.61495433] [-0.00469609 0.99998836 -0.00110968 -0.32497994] [ 0.00773443 0.00114598 0.99996943 -0.01210966] [ 0. 0. 0. 1. ]] SLAMing on 7.016502480999999 meters 0.1188128105959853 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.33, Z:-0.01 [[ 9.99955530e-01 4.85201772e-03 -8.08674181e-03 6.15013425e-01] [-4.85791398e-03 9.99987948e-01 -7.09643948e-04 -3.25928332e-01] [ 8.08320115e-03 7.48897086e-04 9.99967050e-01 -1.11357110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.046502480999999 meters 0.11804894571581902 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.33, Z:-0.01 [[ 9.99954804e-01 4.74724643e-03 -8.23729132e-03 6.15378204e-01] [-4.75413004e-03 9.99988366e-01 -8.16284117e-04 -3.25702927e-01] [ 8.23332039e-03 8.55408378e-04 9.99965740e-01 -1.12157450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0765024809999995 meters 0.1193894870103913 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.32, Z:-0.01 [[ 0.99995925 0.00418353 -0.00799929 0.61608792] [-0.00419913 0.99998931 -0.00193386 -0.32332327] [ 0.00799111 0.00196737 0.99996614 -0.01308086] [ 0. 0. 0. 1. ]] SLAMing on 7.106502481 meters 0.117117196280563 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.32, Z:-0.01 [[ 0.99996001 0.00387209 -0.00806144 0.61662621] [-0.00389166 0.99998952 -0.00241347 -0.32219495] [ 0.00805201 0.00244475 0.99996459 -0.0136944 ] [ 0. 0. 0. 1. ]] SLAMing on 7.136502480999999 meters 0.11770113624403392 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.32, Z:-0.01 [[ 0.99995885 0.003681 -0.00829127 0.61718573] [-0.00370276 0.99998974 -0.00261079 -0.32181362] [ 0.00828157 0.00264138 0.99996222 -0.01380995] [ 0. 0. 0. 1. ]] SLAMing on 7.166502480999999 meters 0.11755960031784282 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.32, Z:-0.01 [[ 0.99995774 0.00338079 -0.00854928 0.61796855] [-0.003406 0.99998989 -0.0029362 -0.32121149] [ 0.00853926 0.00296519 0.99995914 -0.0142115 ] [ 0. 0. 0. 1. ]] SLAMing on 7.196502481 meters 0.11862352004235473 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.32, Z:-0.01 [[ 0.99995651 0.0033344 -0.00870928 0.61824672] [-0.00335936 0.99999029 -0.00285359 -0.32129082] [ 0.00869968 0.00288272 0.999958 -0.01413331] [ 0. 0. 0. 1. ]] SLAMing on 7.226502480999999 meters 0.11960874291040038 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.32, Z:-0.01 [[ 0.99995622 0.00306297 -0.00884137 0.61867637] [-0.00309155 0.99999003 -0.00322129 -0.32031157] [ 0.00883141 0.00324848 0.99995573 -0.01437695] [ 0. 0. 0. 1. ]] SLAMing on 7.256502480999999 meters 0.120320589307933 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.32, Z:-0.01 [[ 0.9999483 0.00324708 -0.00963649 0.61912385] [-0.00327027 0.99999179 -0.00239147 -0.32234666] [ 0.00962865 0.00242286 0.99995071 -0.01266703] [ 0. 0. 0. 1. ]] SLAMing on 7.286502480999999 meters 0.12057521464721155 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.32, Z:-0.01 [[ 0.99994179 0.00341133 -0.0102361 0.61962377] [-0.00342877 0.9999927 -0.00168669 -0.32412716] [ 0.01023027 0.00172169 0.99994619 -0.01160695] [ 0. 0. 0. 1. ]] SLAMing on 7.316502481 meters 0.12463204295789182 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.33, Z:-0.01 [[ 9.99932102e-01 3.42974619e-03 -1.11367884e-02 6.20626962e-01] [-3.43746439e-03 9.99993865e-01 -6.73968790e-04 -3.27085257e-01] [ 1.11344085e-02 7.12205343e-04 9.99937757e-01 -1.03886377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.346502480999999 meters 0.12429280296756898 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.33, Z:-0.01 [[ 9.99926874e-01 3.34925891e-03 -1.16202448e-02 6.21538870e-01] [-3.35387274e-03 9.99994304e-01 -3.77586863e-04 -3.28263990e-01] [ 1.16189139e-02 4.16532074e-04 9.99932411e-01 -1.02937389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.376502480999999 meters 0.1271070681972024 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.33, Z:-0.01 [[ 9.99923097e-01 3.28566035e-03 -1.19584148e-02 6.22385993e-01] [-3.28718834e-03 9.99994591e-01 -1.08122055e-04 -3.29641060e-01] [ 1.19579948e-02 1.47423302e-04 9.99928490e-01 -1.06061475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4065024809999995 meters 0.12730577909887653 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.33, Z:-0.01 [[ 9.99918284e-01 3.18860770e-03 -1.23797637e-02 6.23452933e-01] [-3.18727458e-03 9.99994913e-01 1.27413457e-04 -3.31070041e-01] [ 1.23801070e-02 -8.79453392e-05 9.99923360e-01 -1.09722356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.436502481 meters 0.12775058970919478 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.33, Z:-0.01 [[ 0.99995602 -0.00194822 -0.00917393 0.63360859] [ 0.00198481 0.9999901 0.00398133 -0.32964464] [ 0.00916609 -0.00399936 0.99994999 -0.00968827] [ 0. 0. 0. 1. ]] SLAMing on 7.466502480999999 meters 0.12601630530775368 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.33, Z:-0.01 [[ 0.99995687 -0.00188577 -0.00909395 0.63341397] [ 0.00192242 0.99999006 0.00402262 -0.3294849 ] [ 0.00908627 -0.00403993 0.99995056 -0.00960403] [ 0. 0. 0. 1. ]] SLAMing on 7.496502480999999 meters 0.12784427655695565 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.33, Z:-0.01 [[ 0.99995618 -0.00203559 -0.00913748 0.63383071] [ 0.00207029 0.99999068 0.00378984 -0.32917683] [ 0.00912968 -0.00380859 0.99995107 -0.01013324] [ 0. 0. 0. 1. ]] SLAMing on 7.526502481 meters 0.12549095406239164 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.33, Z:-0.01 [[ 0.99995804 -0.00204243 -0.00892982 0.63341362] [ 0.00207457 0.9999914 0.0035918 -0.32817539] [ 0.00892241 -0.00361018 0.99995368 -0.01009241] [ 0. 0. 0. 1. ]] SLAMing on 7.556502480999999 meters 0.12548835110698972 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.33, Z:-0.01 [[ 0.99995891 -0.00217288 -0.00880084 0.63320994] [ 0.00220116 0.99999244 0.00320397 -0.32661913] [ 0.00879381 -0.00322321 0.99995614 -0.01020668] [ 0. 0. 0. 1. ]] SLAMing on 7.586502480999999 meters 0.12508627658289154 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.33, Z:-0.01 [[ 0.99995639 -0.002525 -0.00899171 0.63409241] [ 0.00254954 0.99999305 0.00271859 -0.32600145] [ 0.00898479 -0.00274139 0.99995588 -0.01098226] [ 0. 0. 0. 1. ]] SLAMing on 7.6165024809999995 meters 0.12449082683806145 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.32, Z:-0.01 [[ 0.99995676 -0.00266495 -0.0089097 0.6338061 ] [ 0.00268393 0.99999415 0.00211969 -0.32373787] [ 0.008904 -0.00214351 0.99995806 -0.01089349] [ 0. 0. 0. 1. ]] SLAMing on 7.646502481 meters 0.12422320814093817 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.32, Z:-0.01 [[ 0.9999568 -0.00261465 -0.00891941 0.63313064] [ 0.00263155 0.99999476 0.00188333 -0.32203438] [ 0.00891444 -0.00190673 0.99995845 -0.0098841 ] [ 0. 0. 0. 1. ]] SLAMing on 7.676502480999999 meters 0.12361426391691374 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.32, Z:-0.01 [[ 0.9999561 -0.00260147 -0.00900193 0.63312333] [ 0.0026187 0.99999476 0.00190205 -0.32201285] [ 0.00899694 -0.00192554 0.99995767 -0.00957689] [ 0. 0. 0. 1. ]] SLAMing on 7.706502480999999 meters 0.12563625329587993 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.32, Z:-0.01 [[ 0.99995083 -0.00257948 -0.0095747 0.63383346] [ 0.00260084 0.99999416 0.00221911 -0.32321079] [ 0.00956892 -0.0022439 0.9999517 -0.00898624] [ 0. 0. 0. 1. ]] SLAMing on 7.736502481 meters 0.12609174547013163 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.32, Z:-0.01 [[ 0.99995014 -0.00270446 -0.0096131 0.6341429 ] [ 0.00272444 0.99999415 0.00206615 -0.32294817] [ 0.00960745 -0.00209223 0.99995166 -0.00933511] [ 0. 0. 0. 1. ]] SLAMing on 7.766502480999999 meters 0.12563017297070767 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.32, Z:-0.01 [[ 0.99994657 0.00152542 -0.01022447 0.63520676] [-0.00145771 0.99997699 0.00662583 -0.32406272] [ 0.01023434 -0.00661057 0.99992578 -0.00913564] [ 0. 0. 0. 1. ]] SLAMing on 7.796502480999999 meters 0.12123895468152064 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.32, Z:-0.01 [[ 0.99994511 0.00116018 -0.01041335 0.63634318] [-0.00109559 0.99998014 0.00620579 -0.32396942] [ 0.01042034 -0.00619404 0.99992652 -0.01027725] [ 0. 0. 0. 1. ]] SLAMing on 7.8265024809999995 meters 0.12193726408098868 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.32, Z:-0.01 [[ 9.99946688e-01 5.05948313e-04 -1.03133731e-02 6.37290632e-01] [-4.52538589e-04 9.99986479e-01 5.18036236e-03 -3.21348360e-01] [ 1.03158547e-02 -5.17541899e-03 9.99933397e-01 -1.19557646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.856502481 meters 0.12071709493843015 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.32, Z:-0.01 [[ 9.99943075e-01 2.33140598e-04 -1.06673344e-02 6.38448319e-01] [-1.79626138e-04 9.99987397e-01 5.01734968e-03 -3.21749646e-01] [ 1.06683697e-02 -5.01514793e-03 9.99930515e-01 -1.26182640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.886502480999999 meters 0.1247904150526151 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.32, Z:-0.01 [[ 9.99937766e-01 8.96853746e-05 -1.11560093e-02 6.39174986e-01] [-3.30599990e-05 9.99987117e-01 5.07585427e-03 -3.22015539e-01] [ 1.11563208e-02 -5.07516956e-03 9.99924887e-01 -1.22415843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.916502480999999 meters 0.12392701084432109 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.32, Z:-0.01 [[ 9.99930963e-01 -6.34989460e-05 -1.17501085e-02 6.40438938e-01] [ 1.25880248e-04 9.99985903e-01 5.30833455e-03 -3.23570972e-01] [ 1.17496058e-02 -5.30944718e-03 9.99916875e-01 -1.23155854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.946502481 meters 0.12667202273829822 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.32, Z:-0.01 [[ 9.99922972e-01 -2.58305360e-04 -1.24090087e-02 6.41489956e-01] [ 3.27049882e-04 9.99984611e-01 5.53817856e-03 -3.24408120e-01] [ 1.24073872e-02 -5.54181033e-03 9.99907668e-01 -1.19130176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.976502480999999 meters 0.12562700150348957 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.32, Z:-0.01 [[ 9.99917796e-01 -4.59995925e-04 -1.28136703e-02 6.42483565e-01] [ 5.30549738e-04 9.99984716e-01 5.50328114e-03 -3.24840325e-01] [ 1.28109430e-02 -5.50962703e-03 9.99902757e-01 -1.21778115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.006502481 meters 0.12613061187737112 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.32, Z:-0.01 [[ 9.99917681e-01 -5.44085125e-04 -1.28193039e-02 6.42096586e-01] [ 6.11877772e-04 9.99985847e-01 5.28499669e-03 -3.23292013e-01] [ 1.28162469e-02 -5.29240548e-03 9.99903863e-01 -1.15473708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.036502481 meters 0.12693086007326868 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.32, Z:-0.01 [[ 9.99912925e-01 -5.19282584e-04 -1.31860765e-02 6.42639686e-01] [ 5.92634838e-04 9.99984370e-01 5.55955872e-03 -3.24482609e-01] [ 1.31829834e-02 -5.56688915e-03 9.99897604e-01 -1.12275209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.066502480999999 meters 0.12570877902386415 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.33, Z:-0.01 [[ 9.99966622e-01 2.40769386e-03 -7.80755203e-03 6.54795784e-01] [-2.41134487e-03 9.99996988e-01 -4.58245726e-04 -3.25768718e-01] [ 7.80642520e-03 4.77057131e-04 9.99969416e-01 -1.22759470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.096502481 meters 0.12729770875769794 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.01 [[ 9.99964196e-01 2.36745115e-03 -8.12414631e-03 6.55462623e-01] [-2.37012225e-03 9.99997140e-01 -3.19172445e-04 -3.26671984e-01] [ 8.12336745e-03 3.38416238e-04 9.99966948e-01 -1.23203830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.126502481 meters 0.12742033299873934 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.01 [[ 9.99962547e-01 2.30884443e-03 -8.34109387e-03 6.56122207e-01] [-2.31084909e-03 9.99997303e-01 -2.30706002e-04 -3.27561495e-01] [ 8.34053871e-03 2.49972371e-04 9.99965186e-01 -1.26489921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.156502480999999 meters 0.12543378112284237 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.01 [[ 9.99965394e-01 2.04449279e-03 -8.06416387e-03 6.56503371e-01] [-2.05051556e-03 9.99997625e-01 -7.38658408e-04 -3.26598451e-01] [ 8.06263453e-03 7.55168539e-04 9.99967211e-01 -1.40425339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.186502481 meters 0.12541850914961314 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.01 [[ 9.99968858e-01 2.11842932e-03 -7.60235063e-03 6.55877945e-01] [-2.12380898e-03 9.99997500e-01 -6.99627465e-04 -3.25993359e-01] [ 7.60084952e-03 7.15751617e-04 9.99970857e-01 -1.43216389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.216502481 meters 0.12648368274659644 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.01 [[ 9.99963920e-01 2.41118072e-03 -8.14521307e-03 6.56181096e-01] [-2.40940332e-03 9.99997071e-01 2.28019686e-04 -3.28537050e-01] [ 8.14573901e-03 -2.08386356e-04 9.99966801e-01 -1.30545490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.246502480999998 meters 0.12751265027083633 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.01 [[ 9.99950756e-01 2.26413356e-03 -9.66228513e-03 6.57658390e-01] [-2.25618617e-03 9.99997108e-01 8.33338322e-04 -3.34093564e-01] [ 9.66414397e-03 -8.11497371e-04 9.99952972e-01 -1.13850046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.276502481 meters 0.12828557176364053 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.01 [[ 9.99950896e-01 2.20898884e-03 -9.66052035e-03 6.57755940e-01] [-2.20181130e-03 9.99997292e-01 7.53548608e-04 -3.33764584e-01] [ 9.66215877e-03 -7.32240963e-04 9.99953052e-01 -1.15383054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.306502480999999 meters 0.1283812201273027 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.01 [[ 9.99953139e-01 1.88513041e-03 -9.49561668e-03 6.57920333e-01] [-1.88440213e-03 9.99998221e-01 8.56428897e-05 -3.31900291e-01] [ 9.49576123e-03 -6.77453161e-05 9.99954912e-01 -1.22890050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.336502481 meters 0.12696510277303275 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.01 [[ 9.99955255e-01 1.59970327e-03 -9.32357853e-03 6.58221973e-01] [-1.60517629e-03 9.99998544e-01 -5.79554617e-04 -3.30346647e-01] [ 9.32263784e-03 5.94494672e-04 9.99956367e-01 -1.32830845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.366502481 meters 0.12262485118897602 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.01 [[ 0.99993565 0.00582087 -0.00973771 0.65892787] [-0.00578447 0.9999762 0.00376154 -0.33072645] [ 0.00975937 -0.00370497 0.99994551 -0.01303012] [ 0. 0. 0. 1. ]] SLAMing on 8.396502480999999 meters 0.1243597056865929 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.01 [[ 0.9999376 0.0054477 -0.0097533 0.65969903] [-0.00541854 0.99998078 0.00301353 -0.32954431] [ 0.00976953 -0.00296049 0.99994789 -0.01422639] [ 0. 0. 0. 1. ]] SLAMing on 8.426502481 meters 0.1211412650748174 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.02 [[ 0.99994081 0.0051066 -0.00960712 0.65995133] [-0.0050882 0.99998518 0.00193901 -0.32709975] [ 0.00961688 -0.00189001 0.99995197 -0.01508232] [ 0. 0. 0. 1. ]] SLAMing on 8.456502481 meters 0.11776079725533295 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.02 [[ 0.99994369 0.00486178 -0.00943313 0.66008208] [-0.00484989 0.99998742 0.00128281 -0.32557644] [ 0.00943925 -0.00123699 0.99995468 -0.01585462] [ 0. 0. 0. 1. ]] SLAMing on 8.486502480999999 meters 0.11600938837197816 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.32, Z:-0.02 [[ 9.99948489e-01 4.67403780e-03 -9.00955108e-03 6.59859107e-01] [-4.66978502e-03 9.99988975e-01 4.93009095e-04 -3.23581891e-01] [ 9.01175609e-03 -4.50911033e-04 9.99959292e-01 -1.68138232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.516502481 meters 0.11616822971293239 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.02 [[ 9.99946047e-01 4.70691756e-03 -9.25998661e-03 6.60490122e-01] [-4.69985399e-03 9.99988648e-01 7.84418492e-04 -3.25196974e-01] [ 9.26357369e-03 -7.40855585e-04 9.99956818e-01 -1.69845881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.546502481 meters 0.11705943903273659 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.02 [[ 9.99945198e-01 4.74588643e-03 -9.33157518e-03 6.60828988e-01] [-4.73699143e-03 9.99988305e-01 9.75086828e-04 -3.26181029e-01] [ 9.33609370e-03 -9.30829799e-04 9.99955984e-01 -1.73111286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.576502480999999 meters 0.11641427298411279 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.02 [[ 0.99994345 0.0047464 -0.00951709 0.66128874] [-0.00473547 0.9999881 0.00117061 -0.3271444 ] [ 0.00952254 -0.00112547 0.99995403 -0.0174225 ] [ 0. 0. 0. 1. ]] SLAMing on 8.606502481 meters 0.116334610707105 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.02 [[ 0.99994195 0.00470277 -0.00969393 0.66159617] [-0.00469118 0.99998825 0.00121817 -0.32747387] [ 0.00969955 -0.00117263 0.99995227 -0.01731918] [ 0. 0. 0. 1. ]] SLAMing on 8.636502480999999 meters 0.11642654053996838 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.02 [[ 9.99942855e-01 4.67415351e-03 -9.61448886e-03 6.61454832e-01] [-4.66456990e-03 9.99988602e-01 1.01897046e-03 -3.26823408e-01] [ 9.61914209e-03 -9.74064780e-04 9.99953261e-01 -1.73552447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.666502481 meters 0.1158175611668733 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.02 [[ 9.99944847e-01 4.37102480e-03 -9.54973222e-03 6.61714125e-01] [-4.36699526e-03 9.99990367e-01 4.42764862e-04 -3.25449808e-01] [ 9.55157556e-03 -4.01036807e-04 9.99954302e-01 -1.79791668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.696502481 meters 0.11756533276034103 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.32, Z:-0.02 [[ 9.99944758e-01 4.15400789e-03 -9.65527957e-03 6.62190550e-01] [-4.15296463e-03 9.99991368e-01 1.28098399e-04 -3.24954383e-01] [ 9.65572835e-03 -8.79932886e-05 9.99953378e-01 -1.84170373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.726502480999999 meters 0.11629568137067442 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.33, Z:-0.02 [[ 9.99943759e-01 4.05432995e-03 -9.80009696e-03 6.62696260e-01] [-4.05379683e-03 9.99991781e-01 7.42632737e-05 -3.25290728e-01] [ 9.80031750e-03 -3.45314950e-05 9.99951975e-01 -1.87477235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.756502481 meters 0.11653898161714871 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.32, Z:-0.02 [[ 9.99942068e-01 3.82658064e-03 -1.00607250e-02 6.63243443e-01] [-3.82854843e-03 9.99992656e-01 -1.76339167e-04 -3.24876943e-01] [ 1.00599763e-02 2.14846924e-04 9.99949374e-01 -1.87941045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.786502481 meters 0.11735083592031167 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.32, Z:-0.02 [[ 9.99941762e-01 3.47799136e-03 -1.02164743e-02 6.63972342e-01] [-3.48519864e-03 9.99993690e-01 -6.87737637e-04 -3.23827444e-01] [ 1.02140179e-02 7.23304027e-04 9.99947574e-01 -1.94555126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.816502480999999 meters 0.11593041415100544 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.32, Z:-0.02 [[ 0.99994051 0.00284845 -0.01052935 0.66579398] [-0.00286344 0.99999491 -0.0014097 -0.32354367] [ 0.01052528 0.00143977 0.99994357 -0.02137034] [ 0. 0. 0. 1. ]] SLAMing on 8.846502481 meters 0.11787529024115186 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.32, Z:-0.02 [[ 0.99994224 0.00250433 -0.01045169 0.66640108] [-0.00252552 0.99999478 -0.00201481 -0.32230357] [ 0.01044659 0.00204109 0.99994335 -0.02257526] [ 0. 0. 0. 1. ]] SLAMing on 8.876502481 meters 0.11787529024115186 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.32, Z:-0.02 [[ 0.99994224 0.00250433 -0.01045169 0.66640108] [-0.00252552 0.99999478 -0.00201481 -0.32230357] [ 0.01044659 0.00204109 0.99994335 -0.02257526] [ 0. 0. 0. 1. ]] SLAMing on 8.906502480999999 meters 0.11730363492049752 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.32, Z:-0.02 [[ 0.9999429 0.00201818 -0.01049354 0.66724196] [-0.00204666 0.99999425 -0.00270409 -0.32106584] [ 0.01048802 0.00272541 0.99994129 -0.02374728] [ 0. 0. 0. 1. ]] SLAMing on 8.936502481 meters 0.11708982618114185 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.32, Z:-0.02 [[ 0.99993785 0.00214096 -0.01094092 0.66766143] [-0.00216551 0.99999516 -0.00223301 -0.32221906] [ 0.01093608 0.00225656 0.99993765 -0.02301086] [ 0. 0. 0. 1. ]] SLAMing on 8.966502481 meters 0.11858606393828877 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.32, Z:-0.02 [[ 0.99993294 0.00217715 -0.01137472 0.66814492] [-0.00219892 0.99999578 -0.00190108 -0.32324084] [ 0.01137054 0.00192596 0.9999335 -0.02244074] [ 0. 0. 0. 1. ]] SLAMing on 8.996502480999998 meters 0.11757611176057275 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.32, Z:-0.02 [[ 0.99992801 0.00229638 -0.01177692 0.66832326] [-0.0023148 0.99999612 -0.001551 -0.32386515] [ 0.01177332 0.00157815 0.99992945 -0.02147551] [ 0. 0. 0. 1. ]] SLAMing on 9.026502481 meters 0.11727876473818419 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.32, Z:-0.02 [[ 0.99992777 0.00229013 -0.01179844 0.66818422] [-0.00230973 0.99999597 -0.00164805 -0.32316545] [ 0.01179462 0.00167518 0.99992904 -0.02119909] [ 0. 0. 0. 1. ]] SLAMing on 9.056502480999999 meters 0.11729383184946834 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.32, Z:-0.02 [[ 0.99992647 0.00191189 -0.01197498 0.66909249] [-0.00193829 0.99999572 -0.00219301 -0.32232285] [ 0.01197073 0.00221605 0.99992589 -0.02206704] [ 0. 0. 0. 1. ]] SLAMing on 9.086502481 meters 0.11683247350308679 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.32, Z:-0.02 [[ 0.99992948 0.0015953 -0.01176853 0.66916089] [-0.00163086 0.99999413 -0.00301208 -0.32001302] [ 0.01176366 0.00303106 0.99992621 -0.02282822] [ 0. 0. 0. 1. ]] SLAMing on 9.116502481 meters 0.11451175707460015 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.32, Z:-0.02 [[ 0.99996462 -0.00284655 -0.00791604 0.67919115] [ 0.00286101 0.99999426 0.00181554 -0.31966204] [ 0.00791083 -0.00183812 0.99996702 -0.02096643] [ 0. 0. 0. 1. ]] SLAMing on 9.146502480999999 meters 0.11519281895609262 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.32, Z:-0.02 [[ 0.99996381 -0.00285464 -0.0080142 0.67932359] [ 0.00286957 0.99999417 0.0018524 -0.31982892] [ 0.00800886 -0.00187533 0.99996617 -0.02087481] [ 0. 0. 0. 1. ]] SLAMing on 9.176502481 meters 0.11573998887331524 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.32, Z:-0.02 [[ 0.99996244 -0.00285208 -0.00818492 0.67971484] [ 0.00286859 0.99999387 0.0020064 -0.32053672] [ 0.00817915 -0.00202981 0.99996449 -0.02091863] [ 0. 0. 0. 1. ]] SLAMing on 9.206502481 meters 0.11703780205587914 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.32, Z:-0.02 [[ 0.99995778 -0.00256222 -0.00882478 0.68017726] [ 0.00258915 0.99999202 0.00304143 -0.32374539] [ 0.00881692 -0.00306415 0.99995644 -0.01965251] [ 0. 0. 0. 1. ]] SLAMing on 9.236502480999999 meters 0.11896831115494323 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.33, Z:-0.02 [[ 0.99995341 -0.00227962 -0.00938008 0.68056558] [ 0.00231819 0.99998889 0.00410376 -0.32676957] [ 0.00937062 -0.00412531 0.99994759 -0.01850533] [ 0. 0. 0. 1. ]] SLAMing on 9.266502481 meters 0.1201829120440098 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.33, Z:-0.02 [[ 0.99995068 -0.00218548 -0.00968774 0.68113837] [ 0.00222992 0.99998703 0.00457825 -0.32841677] [ 0.00967761 -0.00459963 0.99994259 -0.01839999] [ 0. 0. 0. 1. ]] SLAMing on 9.296502481 meters 0.12100106117176429 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.33, Z:-0.02 [[ 0.99995049 -0.00227659 -0.00968695 0.68134882] [ 0.00232049 0.99998708 0.00452329 -0.32836489] [ 0.00967652 -0.00454555 0.99994285 -0.01868941] [ 0. 0. 0. 1. ]] SLAMing on 9.326502480999999 meters 0.12194361310931963 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.33, Z:-0.02 [[ 0.9999467 -0.00205777 -0.01011791 0.68203423] [ 0.00211118 0.99998388 0.00527081 -0.33097405] [ 0.0101069 -0.00529189 0.99993492 -0.01840348] [ 0. 0. 0. 1. ]] SLAMing on 9.356502481 meters 0.12155421470275729 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.33, Z:-0.02 [[ 0.99994001 0.0023767 -0.01069201 0.68259219] [-0.00226821 0.99994594 0.01014748 -0.33248444] [ 0.01071555 -0.01012262 0.99989135 -0.01745344] [ 0. 0. 0. 1. ]] SLAMing on 9.386502480999999 meters 0.12056943320387015 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.33, Z:-0.02 [[ 0.99994001 0.00187867 -0.01079133 0.68393695] [-0.00177733 0.9999543 0.00939314 -0.33199738] [ 0.01080848 -0.00937339 0.99989765 -0.01928931] [ 0. 0. 0. 1. ]] SLAMing on 9.416502480999998 meters 0.11941348774689298 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.33, Z:-0.02 [[ 0.99993927 0.00164008 -0.01089774 0.68436785] [-0.00154222 0.99995847 0.0089824 -0.33122239] [ 0.01091202 -0.00896505 0.99990027 -0.01962991] [ 0. 0. 0. 1. ]] SLAMing on 9.446502481 meters 0.11863364402631493 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.33, Z:-0.02 [[ 0.99993852 0.00154624 -0.01098054 0.68437949] [-0.00144955 0.99996016 0.00880761 -0.33046118] [ 0.01099372 -0.00879115 0.99990092 -0.01938538] [ 0. 0. 0. 1. ]] SLAMing on 9.476502480999999 meters 0.11788687887615996 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.33, Z:-0.02 [[ 0.99993332 0.00159497 -0.01143728 0.68470179] [-0.00149095 0.99995751 0.00909739 -0.33124638] [ 0.01145131 -0.00907973 0.99989321 -0.01847808] [ 0. 0. 0. 1. ]] SLAMing on 9.506502481 meters 0.11930209902820696 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.33, Z:-0.02 [[ 0.99992808 0.00151657 -0.01189681 0.6857331 ] [-0.00140538 0.99995531 0.00934939 -0.33276934] [ 0.01191046 -0.009332 0.99988552 -0.01862253] [ 0. 0. 0. 1. ]] SLAMing on 9.536502481 meters 0.11998938404908283 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.33, Z:-0.02 [[ 0.99992951 0.00133513 -0.01179799 0.68629074] [-0.00122748 0.9999576 0.00912646 -0.33260962] [ 0.01180967 -0.00911133 0.99988875 -0.0197603 ] [ 0. 0. 0. 1. ]] SLAMing on 9.566502480999999 meters 0.11965740095952929 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.33, Z:-0.02 [[ 0.99992872 0.00126722 -0.01187179 0.68652697] [-0.00115923 0.99995794 0.00909846 -0.33267542] [ 0.01188282 -0.00908405 0.99988813 -0.01989836] [ 0. 0. 0. 1. ]] SLAMing on 9.596502481 meters 0.11999929952566953 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.33, Z:-0.02 [[ 0.9999275 0.00125005 -0.01197631 0.6868931 ] [-0.0011407 0.99995764 0.00913349 -0.33320497] [ 0.01198722 -0.00911917 0.99988657 -0.02013157] [ 0. 0. 0. 1. ]] SLAMing on 9.626502481 meters 0.12026587602967642 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.33, Z:-0.02 [[ 9.99928192e-01 1.01824396e-03 -1.19404732e-02 6.87645827e-01] [-9.13137535e-04 9.99960821e-01 8.80468453e-03 -3.33253149e-01] [ 1.19489707e-02 -8.79314899e-03 9.99889945e-01 -2.14107579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.656502480999999 meters 0.1195061974939386 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.33, Z:-0.02 [[ 9.99934154e-01 4.61082724e-04 -1.14662277e-02 6.88361969e-01] [-3.74812889e-04 9.99971618e-01 7.52483120e-03 -3.30946771e-01] [ 1.14693719e-02 -7.52003803e-03 9.99905947e-01 -2.41526476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.686502481 meters 0.11953212158856225 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.33, Z:-0.02 [[ 0.99995128 -0.00356616 -0.00920417 0.70162738] [ 0.00368252 0.99991313 0.01265606 -0.3313326 ] [ 0.00915823 -0.01268934 0.99987755 -0.02339336] [ 0. 0. 0. 1. ]] SLAMing on 9.716502481 meters 0.11847934851203329 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.33, Z:-0.02 [[ 0.9999554 -0.00352113 -0.00876321 0.70083614] [ 0.00362807 0.99991879 0.01221697 -0.32986835] [ 0.00871948 -0.01224822 0.99988697 -0.02360104] [ 0. 0. 0. 1. ]] SLAMing on 9.746502480999998 meters 0.11769409520001042 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.33, Z:-0.03 [[ 9.99998269e-01 4.97014517e-04 -1.79315174e-03 7.11076979e-01] [-4.87129924e-04 9.99984709e-01 5.50864462e-03 -3.26401564e-01] [ 1.79586219e-03 -5.50776158e-03 9.99983220e-01 -2.75036109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.776502481 meters 0.11759641440817094 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.33, Z:-0.03 [[ 9.99998576e-01 4.39912364e-04 -1.62942849e-03 7.10962343e-01] [-4.31300103e-04 9.99985957e-01 5.28203476e-03 -3.25805630e-01] [ 1.63172924e-03 -5.28132446e-03 9.99984722e-01 -2.78130941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.806502480999999 meters 0.11562567924278441 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.33, Z:-0.03 [[ 9.99998809e-01 2.42040326e-04 -1.52420467e-03 7.11191663e-01] [-2.34615289e-04 9.99988115e-01 4.86971301e-03 -3.25009728e-01] [ 1.52536522e-03 -4.86934961e-03 9.99986981e-01 -2.85315914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.836502481 meters 0.11649001535298846 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.33, Z:-0.03 [[ 9.99998545e-01 1.00179832e-05 -1.70575137e-03 7.12117492e-01] [-2.18104484e-06 9.99989446e-01 4.59435995e-03 -3.25267434e-01] [ 1.70577939e-03 -4.59434954e-03 9.99987991e-01 -2.94428315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.866502481 meters 0.11773994674088502 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.32, Z:-0.03 [[ 9.99998638e-01 -1.90621452e-04 -1.63915528e-03 7.12451135e-01] [ 1.97477234e-04 9.99991230e-01 4.18336481e-03 -3.24563146e-01] [ 1.63834346e-03 -4.18368281e-03 9.99989906e-01 -3.02065340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.896502480999999 meters 0.11660904123163039 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.33, Z:-0.03 [[ 9.99998377e-01 -3.53542996e-04 -1.76636071e-03 7.13272531e-01] [ 3.60715011e-04 9.99991686e-01 4.06166697e-03 -3.25201923e-01] [ 1.76491005e-03 -4.06229753e-03 9.99990191e-01 -3.10770304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.926502481 meters 0.1163973907253701 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.33, Z:-0.03 [[ 9.99998147e-01 -3.27563800e-04 -1.89727838e-03 7.13725676e-01] [ 3.35628623e-04 9.99990904e-01 4.25197499e-03 -3.26311411e-01] [ 1.89586833e-03 -4.25260389e-03 9.99989160e-01 -3.13250260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.956502481 meters 0.11506170848275706 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.33, Z:-0.03 [[ 9.99997913e-01 -3.23997850e-04 -2.01701888e-03 7.14098987e-01] [ 3.32703164e-04 9.99990626e-01 4.31709214e-03 -3.27011183e-01] [ 2.01560124e-03 -4.31775420e-03 9.99988647e-01 -3.15565529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.986502480999999 meters 0.11532960225833158 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.33, Z:-0.03 [[ 9.99998158e-01 -5.19340301e-04 -1.84757329e-03 7.14231654e-01] [ 5.26414510e-04 9.99992525e-01 3.83049563e-03 -3.25952997e-01] [ 1.84557014e-03 -3.83146117e-03 9.99990957e-01 -3.23631072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.016502481 meters 0.11515538106990678 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.33, Z:-0.03 [[ 9.99998708e-01 -5.97529933e-04 -1.49220857e-03 7.14097671e-01] [ 6.02740120e-04 9.99993716e-01 3.49358919e-03 -3.25269887e-01] [ 1.49011167e-03 -3.49448409e-03 9.99992784e-01 -3.32415790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.046502481 meters 0.11503960498825724 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.33, Z:-0.03 [[ 9.99998658e-01 -5.38851856e-04 -1.54701615e-03 7.14319319e-01] [ 5.44458228e-04 9.99993278e-01 3.62585979e-03 -3.26056376e-01] [ 1.54505195e-03 -3.62669721e-03 9.99992230e-01 -3.33962892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.076502480999999 meters 0.11349053987935462 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.33, Z:-0.03 [[ 9.99999045e-01 -4.61420323e-04 -1.30279026e-03 7.13957782e-01] [ 4.65943531e-04 9.99993858e-01 3.47377280e-03 -3.25682047e-01] [ 1.30117939e-03 -3.47437651e-03 9.99993118e-01 -3.36348759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.106502481 meters 0.11420603878294791 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.33, Z:-0.03 [[ 9.99998699e-01 -6.64463339e-04 -1.46967115e-03 7.14705709e-01] [ 6.69183941e-04 9.99994612e-01 3.21385619e-03 -3.25582060e-01] [ 1.46752774e-03 -3.21483549e-03 9.99993756e-01 -3.42906197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.136502480999999 meters 0.11301488337165266 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.32, Z:-0.04 [[ 9.99998537e-01 -9.21312299e-04 -1.44096310e-03 7.15267090e-01] [ 9.25265246e-04 9.99995804e-01 2.74501088e-03 -3.24940829e-01] [ 1.43842804e-03 -2.74634014e-03 9.99995194e-01 -3.52660072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.166502480999998 meters 0.11318481622447435 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.32, Z:-0.04 [[ 0.99999834 -0.00101421 -0.00151307 0.71539722] [ 0.00101802 0.99999632 0.00251615 -0.32406708] [ 0.00151051 -0.00251769 0.99999569 -0.03525301] [ 0. 0. 0. 1. ]] SLAMing on 10.196502481 meters 0.11314361997465702 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.32, Z:-0.04 [[ 0.99999821 -0.00108639 -0.00154892 0.71549759] [ 0.00109015 0.99999646 0.00242763 -0.32360002] [ 0.00154628 -0.00242932 0.99999585 -0.03525932] [ 0. 0. 0. 1. ]] SLAMing on 10.226502480999999 meters 0.11366211537391935 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.32, Z:-0.04 [[ 0.9999977 -0.00102669 -0.0018823 0.71607365] [ 0.00103192 0.9999956 0.00278058 -0.32490435] [ 0.00187944 -0.00278251 0.99999436 -0.03507625] [ 0. 0. 0. 1. ]] SLAMing on 10.256502481 meters 0.11336034508600419 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.33, Z:-0.03 [[ 9.99997240e-01 -7.31577176e-04 -2.23285175e-03 7.16026116e-01] [ 7.39519762e-04 9.99993395e-01 3.55839881e-03 -3.26552257e-01] [ 2.23023376e-03 -3.56004023e-03 9.99991176e-01 -3.38179619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.286502481 meters 0.11384489940273568 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.33, Z:-0.03 [[ 9.99996519e-01 -7.98396633e-04 -2.51493286e-03 7.16662225e-01] [ 8.07528235e-04 9.99993078e-01 3.63203245e-03 -3.27107081e-01] [ 2.51201565e-03 -3.63405069e-03 9.99990242e-01 -3.39404492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.316502480999999 meters 0.11460662713471798 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.33, Z:-0.03 [[ 0.99999495 -0.00104971 -0.00299843 0.71789103] [ 0.00106059 0.99999286 0.00362836 -0.32782905] [ 0.0029946 -0.00363152 0.99998892 -0.03435749] [ 0. 0. 0. 1. ]] SLAMing on 10.346502481 meters 0.11513536569013934 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.33, Z:-0.03 [[ 0.99999415 -0.00124856 -0.00318409 0.71853955] [ 0.00125961 0.99999318 0.00347238 -0.32767795] [ 0.00317973 -0.00347637 0.9999889 -0.03475731] [ 0. 0. 0. 1. ]] SLAMing on 10.376502481 meters 0.1157477981816163 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.33, Z:-0.04 [[ 0.99999246 -0.00150956 -0.00357768 0.71979051] [ 0.00152169 0.9999931 0.00338797 -0.32817026] [ 0.00357254 -0.00339339 0.99998786 -0.03546119] [ 0. 0. 0. 1. ]] SLAMing on 10.406502480999999 meters 0.11572946326377777 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.33, Z:-0.04 [[ 0.99998721 0.002525 -0.0043814 0.72131639] [-0.00249118 0.99996719 0.0077081 -0.32881893] [ 0.00440072 -0.00769708 0.99996069 -0.03538951] [ 0. 0. 0. 1. ]] SLAMing on 10.436502481 meters 0.11349191140196023 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.33, Z:-0.04 [[ 0.99998786 0.00197709 -0.00451267 0.7224041 ] [-0.00194624 0.99997477 0.00683177 -0.32720664] [ 0.00452606 -0.0068229 0.99996648 -0.0367172 ] [ 0. 0. 0. 1. ]] SLAMing on 10.466502481 meters 0.11303805677411333 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.32, Z:-0.04 [[ 0.99998857 0.00136485 -0.00458164 0.72337505] [-0.00133899 0.99998318 0.00564249 -0.32467008] [ 0.00458926 -0.00563629 0.99997359 -0.03814941] [ 0. 0. 0. 1. ]] SLAMing on 10.496502480999998 meters 0.11374018708045969 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.32, Z:-0.04 [[ 0.99998831 0.00106789 -0.00471488 0.72370623] [-0.00104371 0.99998631 0.00512834 -0.32318494] [ 0.0047203 -0.00512336 0.99997573 -0.03826056] [ 0. 0. 0. 1. ]] SLAMing on 10.526502481 meters 0.11288785507407025 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.32, Z:-0.04 [[ 9.99986866e-01 9.55816569e-04 -5.03539042e-03 7.24228653e-01] [-9.30186365e-04 9.99986614e-01 5.08989848e-03 -3.23296088e-01] [ 5.04018803e-03 -5.08514777e-03 9.99974369e-01 -3.80592463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.556502480999999 meters 0.11403435745549646 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.32, Z:-0.04 [[ 0.99998521 0.00103347 -0.00534047 0.72428936] [-0.0010048 0.99998508 0.00536897 -0.323796 ] [ 0.00534594 -0.00536352 0.99997133 -0.03720386] [ 0. 0. 0. 1. ]] SLAMing on 10.586502480999998 meters 0.1144490261463213 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.33, Z:-0.04 [[ 0.99998159 0.00129362 -0.00592891 0.72477845] [-0.00125628 0.99997938 0.00629712 -0.32639682] [ 0.00593694 -0.00628955 0.9999626 -0.03607009] [ 0. 0. 0. 1. ]] SLAMing on 10.616502481 meters 0.1152415936402311 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.33, Z:-0.04 [[ 0.99997854 0.00135856 -0.00640905 0.72551474] [-0.00131508 0.99997613 0.00678326 -0.32819138] [ 0.00641811 -0.00677469 0.99995645 -0.03566881] [ 0. 0. 0. 1. ]] SLAMing on 10.646502480999999 meters 0.1146165914150312 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.33, Z:-0.04 [[ 0.99997724 0.00128521 -0.00662365 0.72603558] [-0.00123974 0.99997567 0.00686401 -0.3286607 ] [ 0.00663231 -0.00685565 0.99995451 -0.0357859 ] [ 0. 0. 0. 1. ]] SLAMing on 10.676502481 meters 0.1157983799242375 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.33, Z:-0.04 [[ 9.99977623e-01 7.72648167e-04 -6.64507516e-03 7.26936746e-01] [-7.32732476e-04 9.99981688e-01 6.00714638e-03 -3.26896822e-01] [ 6.64959489e-03 -6.00214289e-03 9.99959878e-01 -3.71545510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.706502481 meters 0.11536051794042573 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.33, Z:-0.04 [[ 9.99979516e-01 3.90810032e-04 -6.38865758e-03 7.27345588e-01] [-3.57094343e-04 9.99986009e-01 5.27771833e-03 -3.25314756e-01] [ 6.39063078e-03 -5.27532887e-03 9.99965665e-01 -3.85816813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.736502480999999 meters 0.11485842601805958 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.32, Z:-0.04 [[ 9.99979525e-01 9.56096577e-05 -6.39845591e-03 7.27818093e-01] [-6.46649323e-05 9.99988303e-01 4.83631230e-03 -3.24366758e-01] [ 6.39884346e-03 -4.83579953e-03 9.99967834e-01 -3.92753745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.766502481 meters 0.11485842601805958 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.32, Z:-0.04 [[ 9.99979525e-01 9.56096577e-05 -6.39845591e-03 7.27818093e-01] [-6.46649323e-05 9.99988303e-01 4.83631230e-03 -3.24366758e-01] [ 6.39884346e-03 -4.83579953e-03 9.99967834e-01 -3.92753745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.796502481 meters 0.1144131732374599 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.32, Z:-0.04 [[ 9.99978066e-01 -1.14473087e-04 -6.62219176e-03 7.28400044e-01] [ 1.44897308e-04 9.99989437e-01 4.59398533e-03 -3.23981720e-01] [ 6.62159592e-03 -4.59484410e-03 9.99967520e-01 -3.94649747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.826502480999999 meters 0.11577199527217959 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.32, Z:-0.04 [[ 9.99977573e-01 -1.78202341e-04 -6.69489743e-03 7.28315454e-01] [ 2.07879355e-04 9.99990155e-01 4.43234674e-03 -3.23160077e-01] [ 6.69404167e-03 -4.43363907e-03 9.99967766e-01 -3.91000359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.856502481 meters 0.1146161709847801 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.32, Z:-0.04 [[ 9.99975428e-01 -4.55613438e-05 -7.01010151e-03 7.28377174e-01] [ 7.87973881e-05 9.99988758e-01 4.74096133e-03 -3.24049847e-01] [ 7.00980670e-03 -4.74139722e-03 9.99964190e-01 -3.82528350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.886502480999999 meters 0.11463959244693045 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.32, Z:-0.04 [[ 9.99976377e-01 -3.15511030e-04 -6.86634134e-03 7.28708351e-01] [ 3.44339626e-04 9.99991130e-01 4.19776095e-03 -3.22767748e-01] [ 6.86495600e-03 -4.20002614e-03 9.99967616e-01 -3.92236501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.916502480999998 meters 0.11420222111403036 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.32, Z:-0.04 [[ 9.99975744e-01 -6.86103835e-04 -6.93109885e-03 7.29382549e-01] [ 7.11259094e-04 9.99993168e-01 3.62751932e-03 -3.21617496e-01] [ 6.92856263e-03 -3.63236114e-03 9.99969400e-01 -4.00940305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.946502481 meters 0.11491096895521383 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.32, Z:-0.04 [[ 9.99974233e-01 -8.15554667e-04 -7.13213077e-03 7.29951022e-01] [ 8.41099958e-04 9.99993240e-01 3.57945363e-03 -3.21744630e-01] [ 7.12916332e-03 -3.58536023e-03 9.99968160e-01 -4.03591807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.976502480999999 meters 0.11530712789945241 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.32, Z:-0.04 [[ 9.99973152e-01 -9.88109560e-04 -7.26084012e-03 7.30607229e-01] [ 1.01292633e-03 9.99993656e-01 3.41501054e-03 -3.21793143e-01] [ 7.25741965e-03 -3.42227355e-03 9.99967808e-01 -4.09666567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.006502481 meters 0.11471091789782449 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.32, Z:-0.04 [[ 0.99996381 0.00315945 -0.0078993 0.7320626 ] [-0.00309551 0.99996246 0.00809257 -0.32386707] [ 0.00792457 -0.00806783 0.99993605 -0.04127128] [ 0. 0. 0. 1. ]] SLAMing on 11.036502481 meters 0.11464473964941614 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.32, Z:-0.04 [[ 0.99996514 0.0027687 -0.00787705 0.73275627] [-0.00271037 0.99996891 0.00740527 -0.32265582] [ 0.00789731 -0.00738367 0.99994156 -0.04248887] [ 0. 0. 0. 1. ]] SLAMing on 11.066502480999999 meters 0.11414100917865734 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.32, Z:-0.05 [[ 0.9999685 0.00197281 -0.00768814 0.73396288] [-0.00192816 0.99998126 0.00581018 -0.31940555] [ 0.00769946 -0.00579517 0.99995357 -0.04513788] [ 0. 0. 0. 1. ]] SLAMing on 11.096502481 meters 0.11363240046527091 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.32, Z:-0.05 [[ 0.99996877 0.00152692 -0.0077543 0.73458726] [-0.00148793 0.99998624 0.00503117 -0.31767209] [ 0.00776188 -0.00501947 0.99995728 -0.04597284] [ 0. 0. 0. 1. ]] SLAMing on 11.126502481 meters 0.11371772860386829 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.32, Z:-0.05 [[ 0.99996443 0.00123519 -0.00834403 0.73591967] [-0.00119397 0.99998707 0.00494362 -0.31851755] [ 0.00835003 -0.00493348 0.99995297 -0.04622008] [ 0. 0. 0. 1. ]] SLAMing on 11.156502480999999 meters 0.11360909703102727 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.32, Z:-0.05 [[ 0.99996262 0.00123948 -0.00855753 0.73631228] [-0.0011961 0.99998642 0.00507211 -0.31910256] [ 0.0085637 -0.00506168 0.99995052 -0.04613869] [ 0. 0. 0. 1. ]] SLAMing on 11.186502481 meters 0.11493378165743368 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.32, Z:-0.05 [[ 0.99997709 -0.00450777 -0.00504893 0.74879634] [ 0.00455031 0.99995399 0.00844495 -0.32056177] [ 0.00501063 -0.00846773 0.99995159 -0.0457172 ] [ 0. 0. 0. 1. ]] SLAMing on 11.216502481 meters 0.11481664541753542 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.32, Z:-0.05 [[ 0.99997743 -0.00444244 -0.00504027 0.74861606] [ 0.00448521 0.99995376 0.00850628 -0.32049413] [ 0.00500225 -0.00852869 0.99995112 -0.04546769] [ 0. 0. 0. 1. ]] SLAMing on 11.246502480999998 meters 0.11471497094483496 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.32, Z:-0.04 [[ 0.99993913 0.00586987 -0.00934249 0.75646445] [-0.00581782 0.99996746 0.00558893 -0.32193728] [ 0.00937499 -0.00553423 0.99994074 -0.04309801] [ 0. 0. 0. 1. ]] SLAMing on 11.276502481 meters 0.11484597749983017 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.32, Z:-0.05 [[ 0.99994483 0.00505307 -0.00920899 0.75778788] [-0.00501388 0.9999783 0.00427361 -0.31914049] [ 0.00923038 -0.0042272 0.99994846 -0.04552505] [ 0. 0. 0. 1. ]] SLAMing on 11.306502480999999 meters 0.11448742797902846 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.32, Z:-0.05 [[ 0.99994655 0.00463655 -0.00924113 0.75846213] [-0.0046038 0.99998306 0.00356165 -0.3177566 ] [ 0.00925749 -0.00351892 0.99995096 -0.04648832] [ 0. 0. 0. 1. ]] SLAMing on 11.336502480999998 meters 0.1139617689244275 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.32, Z:-0.05 [[ 0.99994754 0.00430677 -0.00929379 0.75912545] [-0.0042788 0.99998626 0.00302686 -0.31686198] [ 0.0093067 -0.00298694 0.99995223 -0.04737311] [ 0. 0. 0. 1. ]] SLAMing on 11.366502481 meters 0.11392206607104308 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.32, Z:-0.05 [[ 0.99994978 0.0039757 -0.00919903 0.75959836] [-0.00395393 0.99998934 0.00238338 -0.31560681] [ 0.00920841 -0.00234689 0.99995485 -0.04840982] [ 0. 0. 0. 1. ]] SLAMing on 11.396502480999999 meters 0.11438701077085468 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.31, Z:-0.05 [[ 0.99998287 -0.00137821 -0.00568774 0.77137609] [ 0.00141202 0.99998133 0.00594463 -0.31469127] [ 0.00567945 -0.00595256 0.99996615 -0.04820799] [ 0. 0. 0. 1. ]] SLAMing on 11.426502481 meters 0.11425600566779655 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.31, Z:-0.05 [[ 0.99998245 -0.0012375 -0.00579439 0.77109554] [ 0.0012726 0.99998085 0.00605717 -0.31444518] [ 0.00578679 -0.00606444 0.99996487 -0.04741131] [ 0. 0. 0. 1. ]] SLAMing on 11.456502481 meters 0.11329552377695572 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.31, Z:-0.05 [[ 0.9999816 -0.00147454 -0.00588483 0.77140691] [ 0.0015075 0.99998318 0.00559985 -0.31326252] [ 0.00587648 -0.00560862 0.999967 -0.04763269] [ 0. 0. 0. 1. ]] SLAMing on 11.486502480999999 meters 0.11284034164604015 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.31, Z:-0.05 [[ 0.9999826 -0.00178331 -0.00562298 0.77149613] [ 0.00181045 0.99998672 0.00482445 -0.31093991] [ 0.0056143 -0.00483455 0.99997255 -0.04856108] [ 0. 0. 0. 1. ]] SLAMing on 11.516502481 meters 0.11162061939629632 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.31, Z:-0.05 [[ 0.99998238 -0.00210422 -0.00555114 0.77180251] [ 0.00212775 0.99998876 0.00423679 -0.3094529 ] [ 0.00554216 -0.00424853 0.99997562 -0.04927599] [ 0. 0. 0. 1. ]] SLAMing on 11.546502481 meters 0.11281835093683336 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.31, Z:-0.05 [[ 0.99998076 -0.00241721 -0.0057136 0.77269594] [ 0.00243949 0.99998944 0.0038957 -0.30931162] [ 0.00570412 -0.00390956 0.99997609 -0.05018405] [ 0. 0. 0. 1. ]] SLAMing on 11.576502480999999 meters 0.11198723224184153 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.31, Z:-0.05 [[ 0.99998039 -0.00249044 -0.00574686 0.77274608] [ 0.00251205 0.9999898 0.00375478 -0.30867598] [ 0.00573745 -0.00376914 0.99997644 -0.05017296] [ 0. 0. 0. 1. ]] SLAMing on 11.606502481 meters 0.1124520884065058 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.31, Z:-0.05 [[ 0.99997928 -0.00286702 -0.00576415 0.77282226] [ 0.002884 0.99999152 0.0029396 -0.30591301] [ 0.00575567 -0.00295617 0.99997907 -0.05033218] [ 0. 0. 0. 1. ]] SLAMing on 11.636502480999999 meters 0.11268374949041415 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.30, Z:-0.05 [[ 0.99997689 -0.00314136 -0.00602976 0.77335121] [ 0.00315714 0.99999161 0.00260966 -0.30490407] [ 0.00602151 -0.00262864 0.99997842 -0.05034039] [ 0. 0. 0. 1. ]] SLAMing on 11.666502480999998 meters 0.1133090025376192 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.31, Z:-0.05 [[ 9.99974053e-01 9.84209258e-04 -7.13610475e-03 7.74924238e-01] [-9.31504315e-04 9.99972295e-01 7.38523987e-03 -3.06865218e-01] [ 7.14317567e-03 -7.37840094e-03 9.99947266e-01 -4.95019069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.696502481 meters 0.11371240578563652 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.31, Z:-0.05 [[ 9.99971680e-01 3.83653671e-04 -7.51615240e-03 7.76228063e-01] [-3.34083156e-04 9.99978195e-01 6.59534397e-03 -3.05370020e-01] [ 7.51851884e-03 -6.59264617e-03 9.99950003e-01 -5.03760787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.726502480999999 meters 0.1139675666901771 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.30, Z:-0.05 [[ 9.99970704e-01 3.84506464e-05 -7.65444948e-03 7.77022394e-01] [ 7.98540573e-06 9.99981599e-01 6.06642068e-03 -3.04508386e-01] [ 7.65454189e-03 -6.06630408e-03 9.99952303e-01 -5.12311301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.756502481 meters 0.11384554648678535 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.30, Z:-0.05 [[ 9.99968763e-01 -7.75554796e-04 -7.86585499e-03 7.78502593e-01] [ 8.13713422e-04 9.99987912e-01 4.84913376e-03 -3.02050785e-01] [ 7.86199914e-03 -4.85538284e-03 9.99957306e-01 -5.29531156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.786502481 meters 0.11413079014696728 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.30, Z:-0.05 [[ 0.99996462 -0.00112974 -0.00833617 0.77996434] [ 0.00116828 0.99998865 0.00461895 -0.30256164] [ 0.00833086 -0.00462853 0.99995459 -0.05373715] [ 0. 0. 0. 1. ]] SLAMing on 11.816502480999999 meters 0.11495008805164608 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.30, Z:-0.05 [[ 0.99996288 -0.00125853 -0.00852372 0.7804347 ] [ 0.00129697 0.99998901 0.00450583 -0.30211892] [ 0.00851795 -0.00451671 0.99995352 -0.05390901] [ 0. 0. 0. 1. ]] SLAMing on 11.846502481 meters 0.11530856621373639 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.30, Z:-0.05 [[ 0.99996058 -0.00138013 -0.00877104 0.78079135] [ 0.00141921 0.99998909 0.00445138 -0.30185118] [ 0.0087648 -0.00446365 0.99995163 -0.05366966] [ 0. 0. 0. 1. ]] SLAMing on 11.876502481 meters 0.11586690778133381 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.30, Z:-0.05 [[ 0.99995794 -0.0014895 -0.0090498 0.78114862] [ 0.00152931 0.99998918 0.00439348 -0.30157781] [ 0.00904316 -0.00440713 0.9999494 -0.05337764] [ 0. 0. 0. 1. ]] SLAMing on 11.906502480999999 meters 0.11653339895234177 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.30, Z:-0.05 [[ 0.99995691 -0.00144817 -0.00916949 0.78098902] [ 0.0014896 0.99998871 0.00451282 -0.30129818] [ 0.00916286 -0.00452628 0.99994778 -0.05274916] [ 0. 0. 0. 1. ]] SLAMing on 11.936502481 meters 0.1150465881318555 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.30, Z:-0.05 [[ 0.99995454 -0.00178778 -0.00936639 0.78186333] [ 0.00182634 0.99998989 0.00411022 -0.30081756] [ 0.00935895 -0.00412714 0.99994769 -0.05348482] [ 0. 0. 0. 1. ]] SLAMing on 11.966502481 meters 0.1186950212785907 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.30, Z:-0.05 [[ 0.99994839 -0.00210956 -0.0099386 0.7834217 ] [ 0.00215065 0.99998918 0.00412553 -0.30206823] [ 0.00992979 -0.00414669 0.9999421 -0.05412515] [ 0. 0. 0. 1. ]] SLAMing on 11.996502480999998 meters 0.1165288746635009 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.30, Z:-0.05 [[ 0.99994473 -0.00215005 -0.01029188 0.78429003] [ 0.00219449 0.99998831 0.00430886 -0.30322573] [ 0.01028249 -0.0043312 0.99993775 -0.05433386] [ 0. 0. 0. 1. ]] SLAMing on 12.026502481 meters 0.11673931272848607 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.30, Z:-0.05 [[ 0.99994695 -0.00228405 -0.01004345 0.78389216] [ 0.00232268 0.99998994 0.0038361 -0.30136613] [ 0.01003459 -0.00385922 0.99994221 -0.05449288] [ 0. 0. 0. 1. ]] SLAMing on 12.056502480999999 meters 0.11697272802835565 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.30, Z:-0.05 [[ 0.99995788 -0.0064237 -0.00655551 0.79585942] [ 0.00648173 0.99993966 0.00886897 -0.30153225] [ 0.00649815 -0.00891108 0.99993918 -0.05404476] [ 0. 0. 0. 1. ]] SLAMing on 12.086502480999998 meters 0.1162432395296131 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.30, Z:-0.05 [[ 0.999979 0.00315462 -0.00566107 0.80061958] [-0.00313954 0.99999151 0.0026699 -0.30289982] [ 0.00566945 -0.00265207 0.99998041 -0.05456732] [ 0. 0. 0. 1. ]] SLAMing on 12.116502481 meters 0.11571456362580736 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.30, Z:-0.06 [[ 0.99997979 0.00274702 -0.00573382 0.80127472] [-0.00273583 0.99999434 0.00195843 -0.30131599] [ 0.00573916 -0.0019427 0.99998164 -0.05537819] [ 0. 0. 0. 1. ]] SLAMing on 12.146502480999999 meters 0.11536218731346361 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.30, Z:-0.06 [[ 0.99997965 0.00263677 -0.00580839 0.80142619] [-0.00262713 0.99999516 0.00166678 -0.30058241] [ 0.00581275 -0.00165148 0.99998174 -0.05540324] [ 0. 0. 0. 1. ]] SLAMing on 12.176502481 meters 0.11523384784876245 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.30, Z:-0.05 [[ 0.99997869 0.00277283 -0.00591068 0.80128731] [-0.00276134 0.99999428 0.00195269 -0.30122707] [ 0.00591606 -0.00193633 0.99998063 -0.05480614] [ 0. 0. 0. 1. ]] SLAMing on 12.206502481 meters 0.11563875356621084 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.30, Z:-0.05 [[ 0.99997564 0.00287924 -0.0063578 0.80161034] [-0.00286439 0.99999315 0.00234283 -0.30225254] [ 0.00636451 -0.00232456 0.99997704 -0.05398074] [ 0. 0. 0. 1. ]] SLAMing on 12.236502480999999 meters 0.11626034032800801 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.30, Z:-0.05 [[ 0.99997453 0.0028012 -0.00656433 0.80213908] [-0.00278564 0.99999329 0.00237806 -0.30272061] [ 0.00657094 -0.00235971 0.99997563 -0.05416329] [ 0. 0. 0. 1. ]] SLAMing on 12.266502481 meters 0.11677977001107129 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.30, Z:-0.05 [[ 0.99997375 0.00253025 -0.00678915 0.8029379 ] [-0.00251621 0.99999468 0.00207682 -0.30231809] [ 0.00679437 -0.00205968 0.9999748 -0.05473139] [ 0. 0. 0. 1. ]] SLAMing on 12.296502481 meters 0.11534560261506464 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.30, Z:-0.06 [[ 0.99997655 0.00229788 -0.00645206 0.80298202] [-0.0022879 0.99999618 0.00155389 -0.30081843] [ 0.00645561 -0.00153909 0.99997798 -0.0557953 ] [ 0. 0. 0. 1. ]] SLAMing on 12.326502480999999 meters 0.11755827746098292 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.30, Z:-0.06 [[ 0.99997719 0.00202718 -0.00644337 0.80338851] [-0.00201993 0.99999732 0.00113102 -0.29988014] [ 0.00644565 -0.00111798 0.9999786 -0.05644469] [ 0. 0. 0. 1. ]] SLAMing on 12.356502481 meters 0.11549025399112192 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.30, Z:-0.06 [[ 0.99997605 0.00189163 -0.00665804 0.80400697] [-0.00188455 0.99999765 0.0010705 -0.30011162] [ 0.00666005 -0.00105792 0.99997726 -0.05674125] [ 0. 0. 0. 1. ]] SLAMing on 12.386502480999999 meters 0.11537822885322414 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.30, Z:-0.06 [[ 9.99974713e-01 1.76231136e-03 -6.88970976e-03 8.04476235e-01] [-1.75548280e-03 9.99997962e-01 9.97046480e-04 -3.00114321e-01] [ 6.89145282e-03 -9.84926501e-04 9.99975769e-01 -5.67381039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.416502480999998 meters 0.11506077795228084 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.30, Z:-0.06 [[ 0.99997222 0.00165678 -0.00726726 0.80497291] [-0.00164925 0.9999981 0.00104285 -0.3001753 ] [ 0.00726898 -0.00103083 0.99997305 -0.05633627] [ 0. 0. 0. 1. ]] SLAMing on 12.446502481 meters 0.11502679140549597 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.30, Z:-0.06 [[ 0.99997059 0.00157559 -0.0075056 0.80554035] [-0.00156737 0.99999817 0.00110115 -0.30061733] [ 0.00750733 -0.00108935 0.99997123 -0.05648482] [ 0. 0. 0. 1. ]] SLAMing on 12.476502480999999 meters 0.11519090770504618 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.30, Z:-0.06 [[ 0.99996944 0.00151635 -0.00766925 0.8060349 ] [-0.00150739 0.99999817 0.00117421 -0.30118302] [ 0.00767101 -0.00116262 0.9999699 -0.0567288 ] [ 0. 0. 0. 1. ]] SLAMing on 12.506502481 meters 0.11581577042408793 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.30, Z:-0.06 [[ 0.99996545 0.0014865 -0.0081791 0.80681605] [-0.00147367 0.99999767 0.00157463 -0.30256768] [ 0.00818142 -0.00156252 0.99996531 -0.05634714] [ 0. 0. 0. 1. ]] SLAMing on 12.536502481 meters 0.11509824576733532 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.30, Z:-0.06 [[ 9.99967186e-01 1.15249397e-03 -8.01859699e-03 8.07079064e-01] [-1.14595197e-03 9.99999007e-01 8.20400030e-04 -3.00535090e-01] [ 8.01953453e-03 -8.11184183e-04 9.99967514e-01 -5.72373417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.566502480999999 meters 0.11475563299992828 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.30, Z:-0.06 [[ 9.99967435e-01 8.15065172e-04 -8.02894831e-03 8.07571390e-01] [-8.13594196e-04 9.99999652e-01 1.86473543e-04 -2.99066456e-01] [ 8.02909750e-03 -1.79935165e-04 9.99967750e-01 -5.79947014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.596502481 meters 0.1136902917319312 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.30, Z:-0.06 [[ 0.9999533 0.00479769 -0.00838973 0.80872646] [-0.00476317 0.99998013 0.00412998 -0.29884479] [ 0.00840938 -0.00408983 0.99995628 -0.05865732] [ 0. 0. 0. 1. ]] SLAMing on 12.626502481 meters 0.11284669662834468 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.30, Z:-0.06 [[ 0.99995482 0.00444194 -0.00840451 0.80926883] [-0.004413 0.99998428 0.00345837 -0.2974101 ] [ 0.00841974 -0.00342113 0.9999587 -0.05949962] [ 0. 0. 0. 1. ]] SLAMing on 12.656502480999999 meters 0.11349066287764961 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.30, Z:-0.06 [[ 0.99995516 0.00398909 -0.0085887 0.81004408] [-0.0039663 0.99998857 0.00266929 -0.2955584 ] [ 0.00859925 -0.00263511 0.99995955 -0.06018587] [ 0. 0. 0. 1. ]] SLAMing on 12.686502481 meters 0.11349066287764961 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.30, Z:-0.06 [[ 0.99995516 0.00398909 -0.0085887 0.81004408] [-0.0039663 0.99998857 0.00266929 -0.2955584 ] [ 0.00859925 -0.00263511 0.99995955 -0.06018587] [ 0. 0. 0. 1. ]] SLAMing on 12.716502481 meters 0.11208340527635509 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.29, Z:-0.06 [[ 0.99995539 0.00350592 -0.00877093 0.81106333] [-0.00348896 0.99999202 0.00194807 -0.29424575] [ 0.00877769 -0.00191738 0.99995964 -0.06125947] [ 0. 0. 0. 1. ]] SLAMing on 12.746502480999998 meters 0.11234480295520376 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.29, Z:-0.06 [[ 0.99995689 0.00308593 -0.00875763 0.81171892] [-0.00307502 0.99999448 0.00125905 -0.29269172] [ 0.00876146 -0.00123207 0.99996086 -0.06233429] [ 0. 0. 0. 1. ]] SLAMing on 12.776502481 meters 0.11346118045924193 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.29, Z:-0.06 [[ 9.99955707e-01 2.80291719e-03 -8.98486131e-03 8.12446949e-01] [-2.79471685e-03 9.99995667e-01 9.25109237e-04 -2.92068391e-01] [ 8.98741538e-03 -8.99958118e-04 9.99959207e-01 -6.27804107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.806502480999999 meters 0.11212883533011166 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.29, Z:-0.06 [[ 9.99954996e-01 2.52686998e-03 -9.14444843e-03 8.12646086e-01] [-2.52333081e-03 9.99996737e-01 3.98546184e-04 -2.90307149e-01] [ 9.14542567e-03 -3.75453779e-04 9.99958109e-01 -6.26259484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.836502480999998 meters 0.11200813875220918 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.29, Z:-0.06 [[ 9.99953601e-01 2.29593966e-03 -9.35550544e-03 8.13086854e-01] [-2.29586507e-03 9.99997364e-01 1.87131792e-05 -2.89387694e-01] [ 9.35552375e-03 2.76666720e-06 9.99956236e-01 -6.26818359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.866502481 meters 0.11232511124648178 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.29, Z:-0.06 [[ 9.99955343e-01 2.27979554e-03 -9.17136138e-03 8.12567332e-01] [-2.28387053e-03 9.99997298e-01 -4.33867805e-04 -2.87593644e-01] [ 9.17034747e-03 4.54794632e-04 9.99957848e-01 -6.24621930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.896502480999999 meters 0.1111828595268751 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.29, Z:-0.06 [[ 9.99954558e-01 2.13944311e-03 -9.29005438e-03 8.12785892e-01] [-2.14583560e-03 9.99997468e-01 -6.78187486e-04 -2.86901096e-01] [ 9.28857991e-03 6.98091597e-04 9.99956617e-01 -6.24592264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.926502481 meters 0.11019471430471428 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.29, Z:-0.06 [[ 0.99995584 0.00206707 -0.00916783 0.81247812] [-0.002077 0.99999727 -0.00107436 -0.28547288] [ 0.00916559 0.00109335 0.9999574 -0.06239593] [ 0. 0. 0. 1. ]] SLAMing on 12.956502481 meters 0.10969295147196846 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.28, Z:-0.06 [[ 0.99995812 0.00182854 -0.00896766 0.81247907] [-0.00184429 0.99999677 -0.00174745 -0.28344543] [ 0.00896443 0.00176391 0.99995826 -0.06304311] [ 0. 0. 0. 1. ]] SLAMing on 12.986502480999999 meters 0.11097701911090617 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.28, Z:-0.06 [[ 0.999958 0.00169508 -0.00900705 0.81264253] [-0.0017131 0.99999655 -0.00199245 -0.2827106 ] [ 0.00900364 0.0020078 0.99995745 -0.06319103] [ 0. 0. 0. 1. ]] SLAMing on 13.016502481 meters 0.1098588739370074 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.28, Z:-0.06 [[ 0.99993559 0.00582586 -0.00974043 0.81390623] [-0.00580012 0.99997962 0.00266864 -0.28418315] [ 0.00975578 -0.00261197 0.999949 -0.06294822] [ 0. 0. 0. 1. ]] SLAMing on 13.046502481 meters 0.1100834742606283 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.28, Z:-0.06 [[ 0.99993647 0.00539636 -0.00989619 0.81486364] [-0.00537634 0.99998345 0.00204851 -0.28321643] [ 0.00990708 -0.00199517 0.99994893 -0.06401233] [ 0. 0. 0. 1. ]] SLAMing on 13.076502480999999 meters 0.11037272459415758 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.28, Z:-0.07 [[ 0.99993678 0.0048896 -0.01012593 0.81613626] [-0.00487476 0.99998701 0.0014902 -0.28254445] [ 0.01013309 -0.00144074 0.99994762 -0.06529143] [ 0. 0. 0. 1. ]] SLAMing on 13.106502481 meters 0.11056965995774579 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.28, Z:-0.07 [[ 0.99993466 0.00480808 -0.01037068 0.81667097] [-0.00479257 0.99998736 0.00151994 -0.28287794] [ 0.01037786 -0.00147014 0.99994507 -0.06534033] [ 0. 0. 0. 1. ]] SLAMing on 13.136502480999999 meters 0.11035942788683466 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.28, Z:-0.06 [[ 0.99992821 0.00494855 -0.01091281 0.81706035] [-0.00492696 0.99998585 0.00200379 -0.28423416] [ 0.01092257 -0.00194988 0.99993845 -0.06428224] [ 0. 0. 0. 1. ]] SLAMing on 13.166502480999998 meters 0.11043148652148385 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.28, Z:-0.06 [[ 0.99992549 0.00494752 -0.01115999 0.81752032] [-0.00492399 0.9999856 0.00213446 -0.28491283] [ 0.01117039 -0.00207935 0.99993545 -0.06422725] [ 0. 0. 0. 1. ]] SLAMing on 13.196502481 meters 0.11043228953072938 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.28, Z:-0.06 [[ 0.99992585 0.00472639 -0.01122275 0.81797342] [-0.00470691 0.99998737 0.00176184 -0.28421208] [ 0.01123094 -0.00170889 0.99993547 -0.06476427] [ 0. 0. 0. 1. ]] SLAMing on 13.226502480999999 meters 0.11000995613273887 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.28, Z:-0.07 [[ 0.99992929 0.00464893 -0.01094527 0.81784852] [-0.00463354 0.99998824 0.00143122 -0.28343326] [ 0.01095179 -0.0013804 0.99993907 -0.06542166] [ 0. 0. 0. 1. ]] SLAMing on 13.256502480999998 meters 0.10968367349580403 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.28, Z:-0.07 [[ 0.99992902 0.00444688 -0.01105327 0.81839974] [-0.00443474 0.99998954 0.0011225 -0.28300718] [ 0.01105815 -0.0010734 0.99993828 -0.06595224] [ 0. 0. 0. 1. ]] SLAMing on 13.286502481 meters 0.10921989212880477 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.28, Z:-0.07 [[ 0.9999257 0.0044916 -0.01133223 0.81860278] [-0.00447774 0.9999892 0.00124848 -0.28337291] [ 0.01133771 -0.00119764 0.99993501 -0.06541337] [ 0. 0. 0. 1. ]] SLAMing on 13.316502480999999 meters 0.10928510937834073 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.28, Z:-0.07 [[ 0.99992219 0.00456979 -0.0116077 0.81888832] [-0.00455277 0.99998852 0.00149202 -0.28411793] [ 0.01161438 -0.00143906 0.99993152 -0.06501021] [ 0. 0. 0. 1. ]] SLAMing on 13.346502481 meters 0.1091388990518295 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.28, Z:-0.06 [[ 0.99992151 0.0045535 -0.01167238 0.81900795] [-0.00453629 0.99998859 0.00150049 -0.28417774] [ 0.01167908 -0.00144742 0.99993075 -0.06498416] [ 0. 0. 0. 1. ]] SLAMing on 13.376502481 meters 0.10969465692309699 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.28, Z:-0.07 [[ 9.99925443e-01 3.91192204e-03 -1.15674518e-02 8.20026492e-01] [-3.90597138e-03 9.99992227e-01 5.36978526e-04 -2.81888537e-01] [ 1.15694625e-02 -4.91756355e-04 9.99932951e-01 -6.67929965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.406502480999999 meters 0.10958647766273787 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.28, Z:-0.07 [[ 9.99926318e-01 3.46919814e-03 -1.16328407e-02 8.20977502e-01] [-3.47061756e-03 9.99993972e-01 -1.01833541e-04 -2.80906614e-01] [ 1.16324173e-02 1.42199179e-04 9.99932331e-01 -6.80905711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.436502481 meters 0.10950988313695226 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.28, Z:-0.07 [[ 9.99925031e-01 3.34771914e-03 -1.17781344e-02 8.21273595e-01] [-3.34853561e-03 9.99994392e-01 -4.96008943e-05 -2.81011703e-01] [ 1.17779023e-02 8.90366782e-05 9.99930634e-01 -6.80890448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.466502481 meters 0.11118208082043242 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.28, Z:-0.07 [[ 9.99918050e-01 3.47755200e-03 -1.23207440e-02 8.21401552e-01] [-3.47179118e-03 9.99993854e-01 4.88928527e-04 -2.82298419e-01] [ 1.23223685e-02 -4.46113409e-04 9.99923977e-01 -6.66981299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.496502480999998 meters 0.11211124583261425 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.28, Z:-0.07 [[ 9.99980380e-01 -5.54105834e-04 -6.23964984e-03 8.31423624e-01] [ 5.81485082e-04 9.99990208e-01 4.38698740e-03 -2.84083188e-01] [ 6.23715789e-03 -4.39052959e-03 9.99970910e-01 -6.77986112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.526502481 meters 0.11261425642700383 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.28, Z:-0.07 [[ 9.99979608e-01 -5.94252710e-04 -6.35845326e-03 8.31285905e-01] [ 6.21323655e-04 9.99990749e-01 4.25634524e-03 -2.83094895e-01] [ 6.35586509e-03 -4.26020910e-03 9.99970726e-01 -6.72358737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.556502480999999 meters 0.11267713665860951 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.28, Z:-0.07 [[ 9.99979708e-01 -7.87293134e-04 -6.32163673e-03 8.31444672e-01] [ 8.11742089e-04 9.99992198e-01 3.86586993e-03 -2.82072873e-01] [ 6.31854384e-03 -3.87092303e-03 9.99972546e-01 -6.76264685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.586502480999998 meters 0.11234169823375216 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.28, Z:-0.07 [[ 9.99980313e-01 -9.96929945e-04 -6.19508014e-03 8.31480092e-01] [ 1.01777918e-03 9.99993826e-01 3.36320975e-03 -2.80515780e-01] [ 6.19168901e-03 -3.36944876e-03 9.99975155e-01 -6.80715484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.616502481 meters 0.10977842202285301 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.28, Z:-0.07 [[ 0.9999759 -0.00155141 -0.00676717 0.83345151] [ 0.00157064 0.99999474 0.00283629 -0.28061234] [ 0.00676274 -0.00284685 0.99997308 -0.06946024] [ 0. 0. 0. 1. ]] SLAMing on 13.646502480999999 meters 0.10951483272378365 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.28, Z:-0.07 [[ 0.99997598 -0.00166708 -0.0067272 0.83364458] [ 0.00168432 0.99999531 0.00255803 -0.27997479] [ 0.00672291 -0.00256929 0.9999741 -0.06993572] [ 0. 0. 0. 1. ]] SLAMing on 13.676502481 meters 0.10973422302482047 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.28, Z:-0.07 [[ 0.99997782 -0.00157394 -0.00647096 0.83280196] [ 0.0015898 0.99999574 0.00244642 -0.27893346] [ 0.00646708 -0.00245665 0.99997607 -0.06939106] [ 0. 0. 0. 1. ]] SLAMing on 13.706502481 meters 0.11119601744438647 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.28, Z:-0.07 [[ 0.99997346 -0.00166659 -0.00709167 0.83393501] [ 0.00168646 0.99999467 0.00279653 -0.28056975] [ 0.00708698 -0.00280841 0.99997094 -0.06921154] [ 0. 0. 0. 1. ]] SLAMing on 13.736502480999999 meters 0.1102847990718082 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.28, Z:-0.07 [[ 0.99997323 -0.00161453 -0.00713619 0.83373074] [ 0.00163492 0.99999459 0.00285305 -0.28020431] [ 0.00713154 -0.00286464 0.99997047 -0.06879043] [ 0. 0. 0. 1. ]] SLAMing on 13.766502481 meters 0.11007563096853268 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.28, Z:-0.07 [[ 0.99997205 -0.00181036 -0.00725437 0.83409442] [ 0.00182893 0.99999507 0.0025542 -0.2794519 ] [ 0.00724971 -0.0025674 0.99997042 -0.06900038] [ 0. 0. 0. 1. ]] SLAMing on 13.796502481 meters 0.11007749666078852 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.28, Z:-0.07 [[ 0.99997115 -0.0018852 -0.00735774 0.83427123] [ 0.0019029 0.99999531 0.00239941 -0.27898426] [ 0.00735318 -0.00241334 0.99997005 -0.06898689] [ 0. 0. 0. 1. ]] SLAMing on 13.826502480999999 meters 0.10976309699632178 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.28, Z:-0.07 [[ 0.99996938 -0.0022936 -0.00748214 0.83522999] [ 0.00230749 0.99999563 0.00184767 -0.27822797] [ 0.00747787 -0.00186488 0.9999703 -0.07011544] [ 0. 0. 0. 1. ]] SLAMing on 13.856502481 meters 0.10907046776149026 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.28, Z:-0.07 [[ 0.99996787 0.00147879 -0.00787799 0.83679614] [-0.0014355 0.99998385 0.0054986 -0.27734057] [ 0.00788599 -0.00548712 0.99995385 -0.07143875] [ 0. 0. 0. 1. ]] SLAMing on 13.886502480999999 meters 0.10965100188022833 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.27, Z:-0.07 [[ 9.99969511e-01 9.70544400e-04 -7.74824325e-03 8.37211850e-01] [-9.35951429e-04 9.99989585e-01 4.46699950e-03 -2.74793559e-01] [ 7.75249797e-03 -4.45961133e-03 9.99960005e-01 -7.25534872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.916502480999998 meters 0.10856721673542254 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.27, Z:-0.07 [[ 9.99969608e-01 1.91500023e-04 -7.79394199e-03 8.38307277e-01] [-1.67540789e-04 9.99995259e-01 3.07462096e-03 -2.71625871e-01] [ 7.79449383e-03 -3.07322172e-03 9.99964900e-01 -7.42196294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.946502481 meters 0.10939009840183206 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.27, Z:-0.07 [[ 9.99968375e-01 -9.79690169e-06 -7.95288838e-03 8.38748612e-01] [ 3.22791924e-05 9.99996004e-01 2.82681058e-03 -2.71110000e-01] [ 7.95282891e-03 -2.82697789e-03 9.99964380e-01 -7.44498581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.976502480999999 meters 0.10947852891845494 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.27, Z:-0.07 [[ 9.99964224e-01 2.20844627e-04 -8.45583742e-03 8.38774526e-01] [-1.91117051e-04 9.99993800e-01 3.51627426e-03 -2.72669035e-01] [ 8.45656154e-03 -3.51453241e-03 9.99958066e-01 -7.29860534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.006502480999998 meters 0.10986835863175667 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.27, Z:-0.07 [[ 9.99960311e-01 3.59682273e-04 -8.90210725e-03 8.39045744e-01] [-3.24730576e-04 9.99992235e-01 3.92736139e-03 -2.73682086e-01] [ 8.90345073e-03 -3.92431473e-03 9.99952663e-01 -7.20795490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.036502481 meters 0.10960147275011659 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.28, Z:-0.07 [[ 9.99953860e-01 5.35984326e-04 -9.59114050e-03 8.39493341e-01] [-4.93388223e-04 9.99990008e-01 4.44300773e-03 -2.75541122e-01] [ 9.59342605e-03 -4.43807057e-03 9.99944133e-01 -7.08371129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.066502480999999 meters 0.10985802983412626 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.28, Z:-0.07 [[ 9.99952203e-01 4.57991070e-04 -9.76638031e-03 8.39836487e-01] [-4.15391111e-04 9.99990394e-01 4.36348085e-03 -2.75474768e-01] [ 9.76828492e-03 -4.35921543e-03 9.99942787e-01 -7.08285852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.096502481 meters 0.10925772999673651 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.27, Z:-0.07 [[ 9.99949184e-01 7.11509230e-05 -1.00809070e-02 8.40889870e-01] [-3.13729914e-05 9.99992214e-01 3.94597151e-03 -2.74943657e-01] [ 1.00811093e-02 -3.94545472e-03 9.99941401e-01 -7.15268511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.126502481 meters 0.10940632355181658 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.27, Z:-0.07 [[ 9.99946383e-01 -2.80129444e-04 -1.03514834e-02 8.41958612e-01] [ 3.17299497e-04 9.99993508e-01 3.58932703e-03 -2.74640997e-01] [ 1.03504107e-02 -3.59241910e-03 9.99939980e-01 -7.23458671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.156502480999999 meters 0.11041099674222482 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.28, Z:-0.07 [[ 9.99942957e-01 -6.68408307e-04 -1.06599941e-02 8.43393800e-01] [ 7.05058693e-04 9.99993853e-01 3.43473704e-03 -2.75340597e-01] [ 1.06576328e-02 -3.44205703e-03 9.99937282e-01 -7.36311951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.186502481 meters 0.11017890497446345 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.28, Z:-0.07 [[ 0.99993349 0.00375204 -0.01090551 0.84343483] [-0.0036648 0.99996121 0.00800863 -0.27558439] [ 0.01093514 -0.00796813 0.99990846 -0.07292538] [ 0. 0. 0. 1. ]] SLAMing on 14.216502481 meters 0.10961311058062186 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.27, Z:-0.07 [[ 0.99993436 0.0036438 -0.01086238 0.84341993] [-0.00356003 0.99996385 0.00772146 -0.27475118] [ 0.01089013 -0.00768228 0.99991119 -0.07300397] [ 0. 0. 0. 1. ]] SLAMing on 14.246502480999998 meters 0.1096447670225096 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.27, Z:-0.07 [[ 0.9999322 0.00357308 -0.01108257 0.84382456] [-0.0034879 0.99996431 0.00769542 -0.27484999] [ 0.01110967 -0.00765625 0.99990897 -0.07295668] [ 0. 0. 0. 1. ]] SLAMing on 14.276502481 meters 0.10964220782324825 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.27, Z:-0.07 [[ 0.99993186 0.00327166 -0.01120621 0.84458318] [-0.00318952 0.99996797 0.00734004 -0.27441238] [ 0.01122986 -0.0073038 0.99991027 -0.0737111 ] [ 0. 0. 0. 1. ]] SLAMing on 14.306502480999999 meters 0.10987662883670009 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.27, Z:-0.07 [[ 0.9999315 0.00332958 -0.01122048 0.84452081] [-0.00324597 0.9999669 0.00746107 -0.27465489] [ 0.01124495 -0.00742414 0.99990921 -0.0735703 ] [ 0. 0. 0. 1. ]] SLAMing on 14.336502480999998 meters 0.11049033244999375 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.28, Z:-0.07 [[ 0.99992758 0.00322994 -0.0115935 0.84550521] [-0.00314127 0.99996575 0.00765762 -0.27603876] [ 0.01161783 -0.00762065 0.99990347 -0.07391355] [ 0. 0. 0. 1. ]] SLAMing on 14.366502481 meters 0.11238546536774807 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.28, Z:-0.08 [[ 0.99993116 -0.00137612 -0.01165211 0.84649257] [ 0.00141376 0.99999381 0.00322274 -0.2767255 ] [ 0.01164761 -0.00323899 0.99992692 -0.07522785] [ 0. 0. 0. 1. ]] SLAMing on 14.396502480999999 meters 0.11345417058378258 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.28, Z:-0.08 [[ 0.99992739 -0.00142669 -0.01196611 0.84727225] [ 0.00146937 0.99999259 0.0035582 -0.27825696] [ 0.01196094 -0.00357553 0.99992207 -0.07543333] [ 0. 0. 0. 1. ]] SLAMing on 14.426502480999998 meters 0.11551790217077802 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.28, Z:-0.08 [[ 0.99992192 -0.0013967 -0.01241767 0.84797313] [ 0.0014481 0.99999042 0.00413058 -0.28038298] [ 0.01241179 -0.00414824 0.99991437 -0.07521147] [ 0. 0. 0. 1. ]] SLAMing on 14.456502481 meters 0.11610189650545291 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.28, Z:-0.07 [[ 0.99992497 -0.00124666 -0.01218637 0.84690929] [ 0.00129747 0.9999905 0.00416245 -0.27907742] [ 0.01218107 -0.00417795 0.99991708 -0.07428523] [ 0. 0. 0. 1. ]] SLAMing on 14.486502480999999 meters 0.11623197846133076 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.28, Z:-0.08 [[ 0.99998666 0.00167555 0.00488524 0.84446347] [-0.00168778 0.99999545 0.00250067 -0.27900542] [-0.00488103 -0.00250889 0.99998494 -0.08233317] [ 0. 0. 0. 1. ]] SLAMing on 14.516502481 meters 0.11676567599424666 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.28, Z:-0.08 [[ 0.99998587 0.00157043 0.00507885 0.84400242] [-0.00158091 0.99999663 0.00205897 -0.27714053] [-0.00507559 -0.00206697 0.99998498 -0.08223755] [ 0. 0. 0. 1. ]] SLAMing on 14.546502481 meters 0.11412826096278408 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.28, Z:-0.08 [[ 0.9999875 0.00116894 0.0048605 0.8447439 ] [-0.00117623 0.99999819 0.00149849 -0.27584041] [-0.00485874 -0.00150418 0.99998706 -0.08275223] [ 0. 0. 0. 1. ]] SLAMing on 14.576502480999999 meters 0.11412826096278408 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.28, Z:-0.08 [[ 0.9999875 0.00116894 0.0048605 0.8447439 ] [-0.00117623 0.99999819 0.00149849 -0.27584041] [-0.00485874 -0.00150418 0.99998706 -0.08275223] [ 0. 0. 0. 1. ]] SLAMing on 14.606502481 meters 0.11440990859336857 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.27, Z:-0.08 [[ 9.99987882e-01 7.38542461e-04 4.86736200e-03 8.45405908e-01] [-7.42462797e-04 9.99999401e-01 8.03675575e-04 -2.74398048e-01] [-4.86676554e-03 -8.07279671e-04 9.99987831e-01 -8.38249154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.636502480999999 meters 0.11491691117457246 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.27, Z:-0.08 [[ 9.99988629e-01 5.01722796e-04 4.74243696e-03 8.45827206e-01] [-5.03979442e-04 9.99999760e-01 4.74657908e-04 -2.73579218e-01] [-4.74219768e-03 -4.77042601e-04 9.99988642e-01 -8.41047802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.666502480999998 meters 0.1149072197702681 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.27, Z:-0.08 [[ 9.99988619e-01 3.23904874e-04 4.75997388e-03 8.45959640e-01] [-3.24474419e-04 9.99999940e-01 1.18881207e-04 -2.72633200e-01] [-4.75993509e-03 -1.20424344e-04 9.99988664e-01 -8.43902533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.696502481 meters 0.11519332679936015 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.27, Z:-0.08 [[ 9.99988755e-01 1.27525892e-04 4.74057645e-03 8.46298062e-01] [-1.26451019e-04 9.99999966e-01 -2.27038011e-04 -2.71921435e-01] [-4.74060525e-03 2.26436008e-04 9.99988738e-01 -8.48704520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.726502480999999 meters 0.11532039456996988 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.27, Z:-0.09 [[ 9.99988094e-01 -1.44420333e-04 4.87760825e-03 8.46350804e-01] [ 1.48661605e-04 9.99999611e-01 -8.69188045e-04 -2.69974226e-01] [-4.87748082e-03 8.69902810e-04 9.99987727e-01 -8.54115564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.756502480999998 meters 0.11599105336606653 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.27, Z:-0.09 [[ 9.99987896e-01 -3.75902223e-04 4.90572043e-03 8.46522927e-01] [ 3.82670946e-04 9.99998976e-01 -1.37889567e-03 -2.68506625e-01] [-4.90519708e-03 1.38075626e-03 9.99987016e-01 -8.58240299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.786502481 meters 0.11579345559288685 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.27, Z:-0.09 [[ 9.99988932e-01 -5.31120856e-04 4.67488870e-03 8.46866346e-01] [ 5.38382371e-04 9.99998650e-01 -1.55218076e-03 -2.67803585e-01] [-4.67405800e-03 1.55468046e-03 9.99987868e-01 -8.56614552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.816502480999999 meters 0.11637869681297472 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.27, Z:-0.08 [[ 0.99998676 0.00353944 0.00373491 0.84805445] [-0.00355076 0.9999891 0.00303034 -0.26935538] [-0.00372415 -0.00304356 0.99998843 -0.08490382] [ 0. 0. 0. 1. ]] SLAMing on 14.846502481 meters 0.11652550428731005 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.27, Z:-0.09 [[ 0.99998835 0.00322095 0.00359445 0.84858503] [-0.00323009 0.99999156 0.00253886 -0.26818343] [-0.00358624 -0.00255044 0.99999032 -0.08532731] [ 0. 0. 0. 1. ]] SLAMing on 14.876502481 meters 0.11648878084529958 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.27, Z:-0.09 [[ 0.99998998 0.00264934 0.00360964 0.84931628] [-0.00265458 0.99999543 0.00144944 -0.26551567] [-0.00360578 -0.00145901 0.99999243 -0.0865386 ] [ 0. 0. 0. 1. ]] SLAMing on 14.906502480999999 meters 0.11648058425614531 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.26, Z:-0.09 [[ 9.99991509e-01 2.29927231e-03 3.41997390e-03 8.50104864e-01] [-2.30248531e-03 9.99996911e-01 9.35841243e-04 -2.64539007e-01] [-3.41781158e-03 -9.43707736e-04 9.99993714e-01 -8.72063862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.936502481 meters 0.11588425092557254 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.26, Z:-0.09 [[ 9.99992789e-01 1.90723382e-03 3.28383698e-03 8.50954025e-01] [-1.90820479e-03 9.99998137e-01 2.92576028e-04 -2.63277758e-01] [-3.28327285e-03 -2.98840151e-04 9.99994565e-01 -8.81102917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.966502481 meters 0.11336646850176824 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.26, Z:-0.09 [[ 9.99993871e-01 1.56915100e-03 3.12965726e-03 8.51626896e-01] [-1.56859474e-03 9.99998754e-01 -1.80183622e-04 -2.62237429e-01] [-3.12993609e-03 1.75273353e-04 9.99995086e-01 -8.86984152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.996502480999998 meters 0.11365605598451639 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.26, Z:-0.09 [[ 9.99994663e-01 1.27984884e-03 3.00586874e-03 8.52168857e-01] [-1.27801084e-03 9.99998995e-01 -6.13310822e-04 -2.61216446e-01] [-3.00665067e-03 6.09466016e-04 9.99995294e-01 -8.91817401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.026502481 meters 0.11341842435355579 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.26, Z:-0.09 [[ 9.99995633e-01 1.15666095e-03 2.71946096e-03 8.52795370e-01] [-1.15479818e-03 9.99999098e-01 -6.86448200e-04 -2.61235267e-01] [-2.72025249e-03 6.83304774e-04 9.99996067e-01 -8.92697903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.056502480999999 meters 0.1140581013080097 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.26, Z:-0.09 [[ 0.99998385 0.00530636 0.00203761 0.85385234] [-0.00531429 0.99997825 0.00390593 -0.26261156] [-0.00201684 -0.00391669 0.9999903 -0.08896528] [ 0. 0. 0. 1. ]] SLAMing on 15.086502480999998 meters 0.11348320215640076 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.26, Z:-0.09 [[ 0.99998597 0.0049652 0.00184485 0.85455883] [-0.00497143 0.99998189 0.00339126 -0.26146302] [-0.00182798 -0.00340038 0.99999255 -0.08953012] [ 0. 0. 0. 1. ]] SLAMing on 15.116502481 meters 0.11207996477718567 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.09 [[ 0.99998814 0.00452004 0.00181453 0.85518219] [-0.00452471 0.99998644 0.00257672 -0.25966523] [-0.00180286 -0.0025849 0.99999503 -0.09045079] [ 0. 0. 0. 1. ]] SLAMing on 15.146502480999999 meters 0.11418843537012137 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.09 [[ 0.99998979 0.00424668 0.00154284 0.8558744 ] [-0.00425005 0.99998857 0.00219239 -0.258893 ] [-0.00153351 -0.00219892 0.99999641 -0.09072567] [ 0. 0. 0. 1. ]] SLAMing on 15.176502480999998 meters 0.11202876417027526 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.09 [[ 0.99999078 0.00406926 0.00136883 0.85598038] [-0.00407168 0.99999015 0.00176791 -0.25744928] [-0.00136162 -0.00177347 0.9999975 -0.09043778] [ 0. 0. 0. 1. ]] SLAMing on 15.206502481 meters 0.11228876071921137 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.09 [[ 0.99999167 0.00390389 0.00119313 0.85637949] [-0.00390574 0.99999118 0.00154729 -0.25698897] [-0.00118708 -0.00155194 0.99999809 -0.09055793] [ 0. 0. 0. 1. ]] SLAMing on 15.236502480999999 meters 0.11329293065725676 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.09 [[ 9.99993055e-01 3.59928170e-03 9.66867400e-04 8.56941392e-01] [-3.60042609e-03 9.99992817e-01 1.18448307e-03 -2.55989274e-01] [-9.62597167e-04 -1.18795598e-03 9.99998831e-01 -9.08211354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.266502481 meters 0.11376581175926119 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.09 [[ 9.99994305e-01 3.29895659e-03 7.12092444e-04 8.57726583e-01] [-3.29954893e-03 9.99994210e-01 8.32256563e-04 -2.55417665e-01] [-7.09342743e-04 -8.34601407e-04 9.99999400e-01 -9.13312882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.296502481 meters 0.11812061003244849 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.25, Z:-0.09 [[ 9.99995130e-01 3.08605184e-03 4.64443866e-04 8.58310442e-01] [-3.08633432e-03 9.99995052e-01 6.08726155e-04 -2.54973556e-01] [-4.62563007e-04 -6.10156620e-04 9.99999707e-01 -9.15603890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.326502480999999 meters 0.11511674160836628 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.25, Z:-0.09 [[ 9.99995931e-01 2.84902201e-03 1.44901775e-04 8.58998492e-01] [-2.84907538e-03 9.99995873e-01 3.69446920e-04 -2.54459439e-01] [-1.43848614e-04 -3.69858252e-04 9.99999921e-01 -9.17078741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.356502481 meters 0.11642917026563773 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.25, Z:-0.09 [[ 9.99996652e-01 2.57574598e-03 -2.48743132e-04 8.59935414e-01] [-2.57569796e-03 9.99996664e-01 1.93170022e-04 -2.54465643e-01] [ 2.49239859e-04 -1.92528688e-04 9.99999950e-01 -9.20509927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.386502480999999 meters 0.11779176005103646 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.09 [[ 9.99996227e-01 2.61125230e-03 -8.52343069e-04 8.60759740e-01] [-2.61055365e-03 9.99996256e-01 8.19768848e-04 -2.56453092e-01] [ 8.54480501e-04 -8.17540668e-04 9.99999301e-01 -9.16054191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.416502480999998 meters 0.11916602666131541 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.09 [[ 9.99996384e-01 2.45205637e-03 -1.10426209e-03 8.61453202e-01] [-2.45119365e-03 9.99996690e-01 7.81942756e-04 -2.56721833e-01] [ 1.10617580e-03 -7.79233168e-04 9.99999085e-01 -9.19651150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.446502481 meters 0.11974295937405127 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.09 [[ 9.99997090e-01 2.15691337e-03 -1.08067021e-03 8.62071678e-01] [-2.15645364e-03 9.99997584e-01 4.26397117e-04 -2.56150907e-01] [ 1.08158730e-03 -4.24065461e-04 9.99999325e-01 -9.29720602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.476502480999999 meters 0.11624272944419681 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.09 [[ 9.99996819e-01 2.12451207e-03 -1.35960020e-03 8.62641490e-01] [-2.12375598e-03 9.99997590e-01 5.57307097e-04 -2.56776920e-01] [ 1.36078093e-03 -5.54417865e-04 9.99998920e-01 -9.30182800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.506502480999998 meters 0.11703672948453067 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.09 [[ 0.9999954 0.00234631 -0.0019228 0.86328506] [-0.00234375 0.99999636 0.00133535 -0.25925628] [ 0.00192592 -0.00133083 0.99999726 -0.09231716] [ 0. 0. 0. 1. ]] SLAMing on 15.536502481 meters 0.1169573591965772 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.09 [[ 0.99999524 0.00231468 -0.00203926 0.86354651] [-0.00231195 0.99999643 0.00134104 -0.25939196] [ 0.00204236 -0.00133632 0.99999702 -0.09237265] [ 0. 0. 0. 1. ]] SLAMing on 15.566502480999999 meters 0.11679457364515797 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.09 [[ 0.99999497 0.00233636 -0.00214387 0.8636638 ] [-0.00233344 0.99999634 0.00136575 -0.25945348] [ 0.00214706 -0.00136074 0.99999677 -0.09220207] [ 0. 0. 0. 1. ]] SLAMing on 15.596502481 meters 0.11543892805461352 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.09 [[ 0.99999482 0.00225529 -0.00229685 0.86406378] [-0.00225266 0.9999968 0.00114993 -0.25907276] [ 0.00229944 -0.00114475 0.9999967 -0.09235814] [ 0. 0. 0. 1. ]] SLAMing on 15.626502481 meters 0.11477182831169384 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.26, Z:-0.09 [[ 9.99994866e-01 2.03017211e-03 -2.47938159e-03 8.64658614e-01] [-2.02826312e-03 9.99997645e-01 7.72215860e-04 -2.58382172e-01] [ 2.48094348e-03 -7.67183057e-04 9.99996628e-01 -9.27596272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.656502480999999 meters 0.11504269630074072 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.09 [[ 9.99994558e-01 1.83850833e-03 -2.73926261e-03 8.65291005e-01] [-1.83702590e-03 9.99998165e-01 5.43593812e-04 -2.58088889e-01] [ 2.74025698e-03 -5.38558757e-04 9.99996100e-01 -9.29690900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.686502481 meters 0.11485018477307975 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.09 [[ 9.99993979e-01 1.80479770e-03 -2.96395577e-03 8.65679861e-01] [-1.80304663e-03 9.99998198e-01 5.93352763e-04 -2.58351395e-01] [ 2.96502131e-03 -5.88005040e-04 9.99995431e-01 -9.28985694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.716502481 meters 0.11538341673149113 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.09 [[ 9.99993262e-01 1.62676769e-03 -3.29091317e-03 8.66387953e-01] [-1.62536335e-03 9.99998587e-01 4.29363461e-04 -2.58268482e-01] [ 3.29160700e-03 -4.24011639e-04 9.99994493e-01 -9.30479379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.746502480999998 meters 0.11550134273537872 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.09 [[ 9.99993019e-01 1.44690242e-03 -3.44520174e-03 8.66905661e-01] [-1.44626725e-03 9.99998937e-01 1.86849013e-04 -2.57913297e-01] [ 3.44546843e-03 -1.81865026e-04 9.99994048e-01 -9.33996684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.776502481 meters 0.11599027472772187 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.09 [[ 9.99992954e-01 1.32201025e-03 -3.51332385e-03 8.67120961e-01] [-1.32226382e-03 9.99999123e-01 -6.98522876e-05 -2.57143562e-01] [ 3.51322843e-03 7.44973365e-05 9.99993826e-01 -9.35473445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.806502480999999 meters 0.11412466474515023 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.09 [[ 9.99992936e-01 1.30575777e-03 -3.52459926e-03 8.67031915e-01] [-1.30649757e-03 9.99999125e-01 -2.07601025e-04 -2.56489678e-01] [ 3.52432510e-03 2.12204439e-04 9.99993767e-01 -9.34153083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.836502480999998 meters 0.1162826753790336 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.09 [[ 9.99992887e-01 1.03916500e-03 -3.62579669e-03 8.67598923e-01] [-1.04154132e-03 9.99999244e-01 -6.53565054e-04 -2.55542567e-01] [ 3.62511479e-03 6.57336822e-04 9.99993213e-01 -9.40298538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.866502481 meters 0.11365576193809271 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.09 [[ 9.99992541e-01 8.19120647e-04 -3.77450184e-03 8.68218505e-01] [-8.22742030e-04 9.99999203e-01 -9.57980651e-04 -2.55040216e-01] [ 3.77371413e-03 9.61078946e-04 9.99992418e-01 -9.45644920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.896502480999999 meters 0.11363536347505944 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.10 [[ 9.99991396e-01 5.40148331e-04 -4.11304615e-03 8.69332692e-01] [-5.45161258e-04 9.99999110e-01 -1.21776335e-03 -2.55140212e-01] [ 4.11238471e-03 1.21999515e-03 9.99990800e-01 -9.53592418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.926502480999998 meters 0.11648292221227059 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.10 [[ 9.99990145e-01 3.34555326e-04 -4.42697252e-03 8.70278023e-01] [-3.40537770e-04 9.99999030e-01 -1.35067770e-03 -2.55456648e-01] [ 4.42651635e-03 1.35217194e-03 9.99989289e-01 -9.58836297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.956502481 meters 0.1147119858120113 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.10 [[ 0.99997513 0.00458307 -0.00536049 0.87169648] [-0.00456369 0.99998303 0.00362129 -0.25827831] [ 0.005377 -0.00359674 0.99997908 -0.09549016] [ 0. 0. 0. 1. ]] SLAMing on 15.986502480999999 meters 0.11453674937225541 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.10 [[ 0.99997519 0.00432088 -0.00556352 0.87232393] [-0.00430268 0.99998537 0.00327864 -0.25760524] [ 0.00557761 -0.00325462 0.99997915 -0.0958828 ] [ 0. 0. 0. 1. ]] SLAMing on 16.016502481 meters 0.11464714296805538 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.10 [[ 0.9999754 0.00406661 -0.0057158 0.87294426] [-0.00405027 0.99998769 0.00286732 -0.256871 ] [ 0.00572739 -0.0028441 0.99997955 -0.09642349] [ 0. 0. 0. 1. ]] SLAMing on 16.046502481 meters 0.11513939351241721 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.10 [[ 0.99997467 0.00388575 -0.00596275 0.87355054] [-0.00387008 0.99998904 0.00263572 -0.25648686] [ 0.00597293 -0.00261258 0.99997875 -0.09664705] [ 0. 0. 0. 1. ]] SLAMing on 16.076502481000002 meters 0.11502633686371587 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.10 [[ 0.99997266 0.00378312 -0.00635336 0.87427005] [-0.00376646 0.99998944 0.00263238 -0.25674963] [ 0.00636325 -0.00260838 0.99997635 -0.09658289] [ 0. 0. 0. 1. ]] SLAMing on 16.106502481 meters 0.11510212321156187 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.26, Z:-0.10 [[ 0.99997038 0.00377455 -0.00670719 0.87483317] [-0.00375561 0.99998893 0.00283448 -0.25752389] [ 0.00671781 -0.00280921 0.99997349 -0.09635167] [ 0. 0. 0. 1. ]] SLAMing on 16.136502481 meters 0.1155400642477858 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.10 [[ 0.9999684 0.00368106 -0.00704556 0.87563371] [-0.00366075 0.99998911 0.002893 -0.25811939] [ 0.00705613 -0.00286712 0.99997099 -0.09658358] [ 0. 0. 0. 1. ]] SLAMing on 16.166502481000002 meters 0.11305448112473267 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.10 [[ 0.99996871 0.00342564 -0.00713095 0.87622309] [-0.00340766 0.99999099 0.00253203 -0.25752616] [ 0.00713956 -0.00250765 0.99997137 -0.09726179] [ 0. 0. 0. 1. ]] SLAMing on 16.196502481 meters 0.11247266333743168 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.10 [[ 0.99996757 0.00318426 -0.0073972 0.87709228] [-0.00316715 0.99999229 0.00232348 -0.25757194] [ 0.00740454 -0.00229998 0.99996994 -0.09779715] [ 0. 0. 0. 1. ]] SLAMing on 16.226502481 meters 0.11634842593834127 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.10 [[ 0.99996517 0.00325843 -0.00768337 0.87742983] [-0.00323859 0.99999139 0.00259328 -0.25832707] [ 0.00769176 -0.00256831 0.99996712 -0.09742226] [ 0. 0. 0. 1. ]] SLAMing on 16.256502481000002 meters 0.1112831430423496 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.10 [[ 0.99996187 0.00339384 -0.00804565 0.87767537] [-0.00337025 0.99998999 0.002944 -0.25921526] [ 0.00805556 -0.00291677 0.9999633 -0.09671083] [ 0. 0. 0. 1. ]] SLAMing on 16.286502481 meters 0.11164988711206124 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.10 [[ 0.99996032 0.00324107 -0.00829805 0.87830017] [-0.00321804 0.99999094 0.00278722 -0.2590865 ] [ 0.00830701 -0.00276041 0.99996169 -0.09691863] [ 0. 0. 0. 1. ]] SLAMing on 16.316502481 meters 0.11171329714474101 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.10 [[ 0.99996016 0.00301109 -0.00840294 0.87887872] [-0.00299076 0.99999257 0.00243106 -0.25852223] [ 0.0084102 -0.00240583 0.99996174 -0.0975142 ] [ 0. 0. 0. 1. ]] SLAMing on 16.346502481 meters 0.11087809506473716 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.10 [[ 0.99996065 0.00274473 -0.0084361 0.87924651] [-0.00272839 0.99999438 0.00194809 -0.25727738] [ 0.0084414 -0.00192499 0.99996252 -0.09800172] [ 0. 0. 0. 1. ]] SLAMing on 16.376502481 meters 0.11199924231515268 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.10 [[ 0.99995805 0.00257304 -0.00879087 0.87996518] [-0.00255686 0.99999502 0.00185224 -0.25726114] [ 0.00879559 -0.00182969 0.99995964 -0.09805413] [ 0. 0. 0. 1. ]] SLAMing on 16.406502481 meters 0.11260874248087697 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.10 [[ 0.99995318 0.00275387 -0.00927625 0.88038097] [-0.00273078 0.99999314 0.00250089 -0.25908945] [ 0.00928307 -0.00247544 0.99995385 -0.09725217] [ 0. 0. 0. 1. ]] SLAMing on 16.436502481 meters 0.11305367707112142 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.10 [[ 0.99994982 0.00277116 -0.00962696 0.88079914] [-0.00274485 0.99999247 0.00274437 -0.25971113] [ 0.00963449 -0.0027178 0.99994989 -0.09682228] [ 0. 0. 0. 1. ]] SLAMing on 16.466502481 meters 0.11379583660475218 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.10 [[ 0.99994639 0.00266653 -0.01000487 0.88136645] [-0.00263865 0.9999926 0.00279877 -0.25988739] [ 0.01001226 -0.00277222 0.99994603 -0.09660293] [ 0. 0. 0. 1. ]] SLAMing on 16.496502481 meters 0.11379583660475218 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.10 [[ 0.99994639 0.00266653 -0.01000487 0.88136645] [-0.00263865 0.9999926 0.00279877 -0.25988739] [ 0.01001226 -0.00277222 0.99994603 -0.09660293] [ 0. 0. 0. 1. ]] SLAMing on 16.526502481 meters 0.11368016291416029 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.10 [[ 0.99994474 0.00246595 -0.01021966 0.88195441] [-0.00243992 0.99999375 0.00255828 -0.25949735] [ 0.0102259 -0.0025332 0.99994451 -0.0968956 ] [ 0. 0. 0. 1. ]] SLAMing on 16.556502481000003 meters 0.11360105274055944 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.10 [[ 0.99994515 0.00216491 -0.01024729 0.88247117] [-0.00214476 0.99999575 0.00197713 -0.25806661] [ 0.01025152 -0.00195504 0.99994554 -0.09764329] [ 0. 0. 0. 1. ]] SLAMing on 16.586502481 meters 0.11367758729299045 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.10 [[ 0.99994508 0.00175884 -0.01033147 0.8832966 ] [-0.00174536 0.99999761 0.00131432 -0.25688676] [ 0.01033376 -0.00129622 0.99994577 -0.0987013 ] [ 0. 0. 0. 1. ]] SLAMing on 16.616502481 meters 0.11344050493239763 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.10 [[ 0.99992032 0.00589899 -0.01116066 0.88490553] [-0.00583303 0.99996539 0.00593267 -0.2585873 ] [ 0.01119528 -0.00586709 0.99992012 -0.0987043 ] [ 0. 0. 0. 1. ]] SLAMing on 16.646502481000002 meters 0.11354788619098763 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.26, Z:-0.10 [[ 0.99991912 0.00576416 -0.01133687 0.88521052] [-0.00569986 0.99996753 0.00569669 -0.25794912] [ 0.01136933 -0.00563161 0.99991951 -0.09865113] [ 0. 0. 0. 1. ]] SLAMing on 16.676502481 meters 0.11304390655769345 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.26, Z:-0.10 [[ 0.99991114 0.00600505 -0.01190167 0.88508408] [-0.00593303 0.99996393 0.00607763 -0.2581966 ] [ 0.01193774 -0.00600647 0.9999107 -0.0968243 ] [ 0. 0. 0. 1. ]] SLAMing on 16.706502481 meters 0.1131731775659016 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.10 [[ 0.99991003 0.00593069 -0.01203123 0.88490678] [-0.00586265 0.99996667 0.00568291 -0.25641288] [ 0.01206453 -0.00561187 0.99991147 -0.09622999] [ 0. 0. 0. 1. ]] SLAMing on 16.736502481000002 meters 0.11304852898675119 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:-0.10 [[ 0.99991294 0.00557364 -0.01195984 0.88513274] [-0.00551571 0.99997292 0.00487134 -0.2542195 ] [ 0.01198666 -0.00480495 0.99991661 -0.09683147] [ 0. 0. 0. 1. ]] SLAMing on 16.766502481 meters 0.11222236029488224 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:-0.10 [[ 0.99991259 0.00534271 -0.01209389 0.88540422] [-0.00529129 0.99997684 0.0042798 -0.25259885] [ 0.01211647 -0.00421544 0.99991771 -0.09686328] [ 0. 0. 0. 1. ]] SLAMing on 16.796502481 meters 0.11000470407529454 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:-0.10 [[ 0.99990839 0.00524987 -0.01247637 0.88595921] [-0.0051971 0.99997743 0.00425856 -0.25268402] [ 0.01249844 -0.00419333 0.9999131 -0.0965698 ] [ 0. 0. 0. 1. ]] SLAMing on 16.826502481000002 meters 0.11016556816388828 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:-0.10 [[ 0.99990588 0.00483341 -0.0128402 0.88718555] [-0.00478449 0.99998119 0.00383821 -0.25224305] [ 0.01285851 -0.00377642 0.99991019 -0.09739277] [ 0. 0. 0. 1. ]] SLAMing on 16.856502481 meters 0.11255642831886489 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:-0.10 [[ 0.99990354 0.00456147 -0.01311915 0.88813604] [-0.00451443 0.99998328 0.00361305 -0.25225409] [ 0.01313541 -0.00355347 0.99990741 -0.09801512] [ 0. 0. 0. 1. ]] SLAMing on 16.886502481 meters 0.11146971119651214 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:-0.10 [[ 0.99989755 0.00451538 -0.01358344 0.88897466] [-0.00446268 0.99998241 0.00390762 -0.25345795] [ 0.01360084 -0.0038466 0.99990011 -0.09793573] [ 0. 0. 0. 1. ]] SLAMing on 16.916502481000002 meters 0.11265913038772025 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:-0.10 [[ 0.99989166 0.00466353 -0.01396142 0.88910475] [-0.00460402 0.99998019 0.00429157 -0.25422273] [ 0.01398116 -0.00422683 0.99989332 -0.0970341 ] [ 0. 0. 0. 1. ]] SLAMing on 16.946502481 meters 0.11145917116582252 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:-0.10 [[ 0.99988832 0.00480439 -0.0141514 0.8887163 ] [-0.00474235 0.99997901 0.00441465 -0.25362935] [ 0.01417232 -0.00434705 0.99989012 -0.09595335] [ 0. 0. 0. 1. ]] SLAMing on 16.976502481 meters 0.11143323285338186 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:-0.10 [[ 0.99989268 0.004346 -0.01399052 0.88907718] [-0.00429722 0.99998459 0.00351447 -0.25143904] [ 0.01400558 -0.00345398 0.99989595 -0.09700565] [ 0. 0. 0. 1. ]] SLAMing on 17.006502481000002 meters 0.11147901237758977 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:-0.10 [[ 0.99989743 0.00396711 -0.0137621 0.8894387 ] [-0.0039288 0.99998833 0.00281005 -0.24938413] [ 0.01377308 -0.00275569 0.99990135 -0.0980674 ] [ 0. 0. 0. 1. ]] SLAMing on 17.036502481 meters 0.11122885567465646 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.25, Z:-0.10 [[ 0.99989738 0.00394638 -0.01377154 0.8896593 ] [-0.0039078 0.99998837 0.00282672 -0.24975216] [ 0.01378254 -0.00277262 0.99990117 -0.09835398] [ 0. 0. 0. 1. ]] SLAMing on 17.066502481 meters 0.11185383403619072 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.25, Z:-0.10 [[ 9.99976228e-01 -6.41629334e-05 -6.89489037e-03 8.99215159e-01] [ 1.05012461e-04 9.99982445e-01 5.92441001e-03 -2.54722686e-01] [ 6.89438920e-03 -5.92499322e-03 9.99958680e-01 -1.01333079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.096502481 meters 0.11206138229438614 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.26, Z:-0.10 [[ 9.99973407e-01 -1.19424193e-04 -7.29191254e-03 9.00086508e-01] [ 1.63971095e-04 9.99981328e-01 6.10879113e-03 -2.55864838e-01] [ 7.29104685e-03 -6.10982434e-03 9.99954754e-01 -1.01507855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.126502481 meters 0.1124567941410174 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.26, Z:-0.10 [[ 9.99972886e-01 -2.80949835e-04 -7.35854126e-03 9.00454377e-01] [ 3.24127609e-04 9.99982735e-01 5.86717321e-03 -2.55444841e-01] [ 7.35676584e-03 -5.86939924e-03 9.99955713e-01 -1.01872173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.156502481 meters 0.11202563375686918 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.25, Z:-0.10 [[ 9.99975078e-01 -2.28349751e-04 -7.05635288e-03 8.99898931e-01] [ 2.68347922e-04 9.99983901e-01 5.66796477e-03 -2.54614927e-01] [ 7.05494500e-03 -5.66971707e-03 9.99959040e-01 -1.01884642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.186502481 meters 0.11043861730556175 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.25, Z:-0.10 [[ 9.99974886e-01 -1.57929493e-04 -7.08531842e-03 8.99673512e-01] [ 1.98209796e-04 9.99983822e-01 5.68469589e-03 -2.54386843e-01] [ 7.08430601e-03 -5.68595751e-03 9.99958740e-01 -1.01434159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.216502481 meters 0.10945563836110847 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.25, Z:-0.10 [[ 9.99977571e-01 1.12075163e-04 -6.69657664e-03 8.98385288e-01] [-7.52653115e-05 9.99984890e-01 5.49681543e-03 -2.52903464e-01] [ 6.69709150e-03 -5.49618812e-03 9.99962470e-01 -1.00594720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.246502481 meters 0.10963729189507321 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.25, Z:-0.10 [[ 9.99976781e-01 -1.20838747e-04 -6.81338866e-03 8.98830000e-01] [ 1.55368200e-04 9.99987148e-01 5.06758083e-03 -2.52006019e-01] [ 6.81268873e-03 -5.06852175e-03 9.99963948e-01 -1.00946951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.276502481 meters 0.10913935392608975 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.10 [[ 9.99991076e-01 4.19078343e-03 5.34188361e-04 9.07754455e-01] [-4.19023768e-03 9.99990702e-01 -1.01869991e-03 -2.50935578e-01] [-5.38452545e-04 1.01645244e-03 9.99999338e-01 -1.03910734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.306502481000003 meters 0.10917189831300289 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.10 [[ 9.99991272e-01 4.14407602e-03 5.30901629e-04 9.07695220e-01] [-4.14345958e-03 9.99990747e-01 -1.15700349e-03 -2.50362008e-01] [-5.35691427e-04 1.15479363e-03 9.99999190e-01 -1.03832278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.336502481 meters 0.10966798189962121 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.10 [[ 9.99990747e-01 4.20107851e-03 9.25607926e-04 9.06879972e-01] [-4.19988457e-03 9.99990351e-01 -1.28809346e-03 -2.49317471e-01] [-9.31010376e-04 1.28419410e-03 9.99998742e-01 -1.03694470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.366502481 meters 0.10995744123896448 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.10 [[ 9.99991368e-01 4.10599313e-03 6.36513237e-04 9.07317788e-01] [-4.10515579e-03 9.99990714e-01 -1.31128258e-03 -2.49300574e-01] [-6.41891444e-04 1.30865827e-03 9.99998938e-01 -1.03530046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.396502481000002 meters 0.11021361404052445 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.10 [[ 9.99992126e-01 3.95903080e-03 2.73151387e-04 9.07930166e-01] [-3.95867791e-03 9.99991344e-01 -1.28059743e-03 -2.49618878e-01] [-2.78218947e-04 1.27950603e-03 9.99999143e-01 -1.03417457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.426502481 meters 0.11124493738204241 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.10 [[ 9.99992843e-01 3.78327632e-03 5.11245533e-06 9.08625145e-01] [-3.78326610e-03 9.99991949e-01 -1.33773870e-03 -2.49841468e-01] [-1.01734493e-05 1.33770978e-03 9.99999105e-01 -1.03726624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.456502481 meters 0.11250468073749102 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.10 [[ 9.99993831e-01 3.49024008e-03 -3.95119165e-04 9.09871774e-01] [-3.49068569e-03 9.99993266e-01 -1.13278067e-03 -2.51209080e-01] [ 3.91162828e-04 1.13415292e-03 9.99999280e-01 -1.04583924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.486502481000002 meters 0.11300513715666312 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.10 [[ 9.99994113e-01 3.29867599e-03 -9.44746886e-04 9.11025972e-01] [-3.29923987e-03 9.99994380e-01 -5.95927096e-04 -2.53187238e-01] [ 9.42775806e-04 5.99040535e-04 9.99999376e-01 -1.04833199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.516502481 meters 0.11586437743592688 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.10 [[ 9.99993632e-01 3.32954459e-03 -1.28435304e-03 9.11456177e-01] [-3.32982827e-03 9.99994432e-01 -2.18799505e-04 -2.54232324e-01] [ 1.28361738e-03 2.23074787e-04 9.99999151e-01 -1.04481692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.546502481 meters 0.1147489350361026 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.26, Z:-0.10 [[ 9.99993031e-01 3.37979001e-03 -1.58576413e-03 9.11777820e-01] [-3.37960571e-03 9.99994282e-01 1.18889065e-04 -2.55071753e-01] [ 1.58615689e-03 -1.13528979e-04 9.99998736e-01 -1.04078280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.576502481000002 meters 0.11795820344871084 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.26, Z:-0.10 [[ 9.99991631e-01 3.41410072e-03 -2.25439851e-03 9.12250325e-01] [-3.41312305e-03 9.99994080e-01 4.37377046e-04 -2.55684697e-01] [ 2.25587841e-03 -4.29678846e-04 9.99997363e-01 -1.02873479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.606502481 meters 0.1156775387199685 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.10 [[ 9.99992883e-01 3.14534379e-03 -2.08323301e-03 9.12245810e-01] [-3.14613050e-03 9.99994981e-01 -3.74471700e-04 -2.53302025e-01] [ 2.08204471e-03 3.81023158e-04 9.99997760e-01 -1.03438117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.636502481 meters 0.11543207320352963 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.10 [[ 0.99999396 0.00277651 -0.00209047 0.91276222] [-0.00277874 0.99999557 -0.00106496 -0.25174213] [ 0.00208751 0.00107076 0.99999725 -0.10425396] [ 0. 0. 0. 1. ]] SLAMing on 17.666502481000002 meters 0.11533774156425988 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.11 [[ 0.99999472 0.00245046 -0.00213328 0.91335668] [-0.00245407 0.99999556 -0.00168958 -0.25056185] [ 0.00212913 0.0016948 0.9999963 -0.10507325] [ 0. 0. 0. 1. ]] SLAMing on 17.696502481 meters 0.11492402979727265 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.10 [[ 0.99999479 0.00250574 -0.00203554 0.91305099] [-0.0025093 0.99999532 -0.00174894 -0.25010384] [ 0.00203115 0.00175404 0.9999964 -0.10490852] [ 0. 0. 0. 1. ]] SLAMing on 17.726502481 meters 0.11506607269378051 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.11 [[ 0.99999542 0.00235456 -0.00190154 0.91289109] [-0.00235872 0.99999482 -0.00218858 -0.24863611] [ 0.00189637 0.00219306 0.9999958 -0.10505473] [ 0. 0. 0. 1. ]] SLAMing on 17.756502481000002 meters 0.11522146199063164 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.10 [[ 0.99999464 0.00248904 -0.00212681 0.91283118] [-0.00249315 0.99999503 -0.00193169 -0.24896054] [ 0.00212199 0.00193698 0.99999587 -0.10427914] [ 0. 0. 0. 1. ]] SLAMing on 17.786502481 meters 0.11524530982289298 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.10 [[ 0.99999259 0.00252106 -0.00290932 0.91324661] [-0.00252632 0.99999518 -0.00180557 -0.24914757] [ 0.00290475 0.0018129 0.99999414 -0.10278016] [ 0. 0. 0. 1. ]] SLAMing on 17.816502481 meters 0.11458943664930353 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.10 [[ 0.99999302 0.00258545 -0.00269895 0.91262089] [-0.00259157 0.99999407 -0.00226681 -0.24719214] [ 0.00269307 0.00227379 0.99999379 -0.10243646] [ 0. 0. 0. 1. ]] SLAMing on 17.846502481 meters 0.11191118298482704 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.10 [[ 0.99999362 0.00261154 -0.0024355 0.91212752] [-0.00261784 0.99999323 -0.0025848 -0.24597459] [ 0.00242873 0.00259116 0.99999369 -0.1024606 ] [ 0. 0. 0. 1. ]] SLAMing on 17.876502481 meters 0.11135953510372283 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.10 [[ 0.9999731 0.00676802 -0.00282696 0.91272629] [-0.00676377 0.99997599 0.00150935 -0.24547748] [ 0.00283711 -0.00149019 0.99999487 -0.10218517] [ 0. 0. 0. 1. ]] SLAMing on 17.906502481 meters 0.11046777217937886 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.24, Z:-0.10 [[ 9.99975666e-01 6.36082719e-03 -2.86469824e-03 9.13482075e-01] [-6.35866959e-03 9.99979493e-01 7.61647263e-04 -2.44130749e-01] [ 2.86948420e-03 -7.43413060e-04 9.99995607e-01 -1.03303891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.936502481 meters 0.1108033587715741 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.24, Z:-0.10 [[ 9.99977799e-01 5.95862053e-03 -2.98283125e-03 9.14716282e-01] [-5.95771138e-03 9.99982204e-01 3.13586763e-04 -2.44071086e-01] [ 2.98464671e-03 -2.95808953e-04 9.99995502e-01 -1.04893498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.966502481 meters 0.1101287183586013 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.25, Z:-0.11 [[ 9.99977328e-01 5.86325609e-03 -3.31145062e-03 9.15582198e-01] [-5.86169346e-03 9.99982704e-01 4.81396388e-04 -2.45145234e-01] [ 3.31421590e-03 -4.61974765e-04 9.99994401e-01 -1.05249586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.996502481 meters 0.11164406325732279 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.25, Z:-0.11 [[ 9.99976718e-01 5.61959598e-03 -3.87075745e-03 9.17177975e-01] [-5.61606070e-03 9.99983803e-01 9.23593522e-04 -2.47441406e-01] [ 3.87588498e-03 -9.01833610e-04 9.99992082e-01 -1.06154475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.026502481 meters 0.11157416224520238 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.25, Z:-0.11 [[ 0.99997591 0.00540342 -0.00435755 0.91855505] [-0.0053988 0.99998485 0.00107197 -0.24868614] [ 0.00436328 -0.00104842 0.99998993 -0.10685395] [ 0. 0. 0. 1. ]] SLAMing on 18.056502481 meters 0.1137028474049423 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.25, Z:-0.11 [[ 9.99973726e-01 4.71048234e-03 -5.50981681e-03 9.21448494e-01] [-4.70500540e-03 9.99988425e-01 1.00657288e-03 -2.53112753e-01] [ 5.51449448e-03 -9.80622714e-04 9.99984314e-01 -1.08287091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.086502481 meters 0.11429004334631496 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.26, Z:-0.11 [[ 0.99997066 0.00479526 -0.00597424 0.92229431] [-0.00478552 0.9999872 0.00164226 -0.25528981] [ 0.00598204 -0.00161362 0.99998081 -0.10816074] [ 0. 0. 0. 1. ]] SLAMing on 18.116502481 meters 0.1154653492730938 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.26, Z:-0.11 [[ 9.99981254e-01 7.97305577e-04 -6.07085440e-03 9.22346563e-01] [-8.08739490e-04 9.99997904e-01 -1.88118895e-03 -2.57490075e-01] [ 6.06934179e-03 1.88606343e-03 9.99979803e-01 -1.07896222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.146502481000002 meters 0.11420988397637051 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.26, Z:-0.11 [[ 9.99978989e-01 1.11880592e-03 -6.38512703e-03 9.22526278e-01] [-1.12521199e-03 9.99998867e-01 -9.99775780e-04 -2.59712597e-01] [ 6.38400124e-03 1.00693939e-03 9.99979115e-01 -1.07123964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.176502481 meters 0.11490241009504952 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.26, Z:-0.11 [[ 9.99975878e-01 1.68055645e-03 -6.73940617e-03 9.22307520e-01] [-1.67836036e-03 9.99998537e-01 3.31500666e-04 -2.62796697e-01] [ 6.73995341e-03 -3.20181518e-04 9.99977235e-01 -1.05616568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.206502481 meters 0.11508872658928267 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.27, Z:-0.11 [[ 0.99997409 0.00202163 -0.00690866 0.92232211] [-0.00201313 0.99999721 0.00123715 -0.26503303] [ 0.00691114 -0.00122321 0.99997537 -0.10501584] [ 0. 0. 0. 1. ]] SLAMing on 18.236502481000002 meters 0.11480936672530383 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.27, Z:-0.11 [[ 0.99997302 0.00209553 -0.00704029 0.92265151] [-0.00208447 0.99999658 0.00157737 -0.26617767] [ 0.00704357 -0.00156265 0.99997397 -0.10509227] [ 0. 0. 0. 1. ]] SLAMing on 18.266502481 meters 0.1160533585952346 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.27, Z:-0.11 [[ 0.99996942 0.00206001 -0.00754479 0.92388522] [-0.00204396 0.99999563 0.00213402 -0.26848766] [ 0.00754916 -0.00211854 0.99996926 -0.1054594 ] [ 0. 0. 0. 1. ]] SLAMing on 18.296502481 meters 0.11493026919579055 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.27, Z:-0.11 [[ 0.9999675 0.00187684 -0.00784008 0.92483007] [-0.00186056 0.9999961 0.00208286 -0.26899399] [ 0.00784396 -0.00206821 0.9999671 -0.10602754] [ 0. 0. 0. 1. ]] SLAMing on 18.326502481000002 meters 0.11497840859921246 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.27, Z:-0.11 [[ 0.99996518 0.00194429 -0.00811494 0.92531232] [-0.00192466 0.99999521 0.00242592 -0.27021247] [ 0.00811962 -0.00241022 0.99996413 -0.10589982] [ 0. 0. 0. 1. ]] SLAMing on 18.356502481 meters 0.11499529542341531 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.27, Z:-0.11 [[ 0.99996368 0.00195442 -0.00829591 0.92558384] [-0.00193315 0.99999483 0.00257091 -0.27069139] [ 0.0083009 -0.00255478 0.99996228 -0.10573512] [ 0. 0. 0. 1. ]] SLAMing on 18.386502481 meters 0.11499529542341531 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.27, Z:-0.11 [[ 0.99996368 0.00195442 -0.00829591 0.92558384] [-0.00193315 0.99999483 0.00257091 -0.27069139] [ 0.0083009 -0.00255478 0.99996228 -0.10573512] [ 0. 0. 0. 1. ]] SLAMing on 18.416502481000002 meters 0.11458456895955475 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.27, Z:-0.10 [[ 0.99996093 0.00220605 -0.00856037 0.92558632] [-0.00217883 0.99999254 0.0031885 -0.27227191] [ 0.00856734 -0.00316972 0.99995828 -0.10489053] [ 0. 0. 0. 1. ]] SLAMing on 18.446502481 meters 0.1144275118883839 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.27, Z:-0.10 [[ 0.99995789 0.00234886 -0.0088718 0.92584652] [-0.00231681 0.99999076 0.00362092 -0.27334005] [ 0.00888022 -0.00360021 0.99995409 -0.10429748] [ 0. 0. 0. 1. ]] SLAMing on 18.476502481 meters 0.11406690738145914 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.27, Z:-0.10 [[ 0.9999568 0.00248617 -0.00895643 0.92605042] [-0.00245101 0.99998926 0.00393448 -0.2744316 ] [ 0.00896611 -0.00391236 0.99995215 -0.10429574] [ 0. 0. 0. 1. ]] SLAMing on 18.506502481000002 meters 0.11323991838414255 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.28, Z:-0.10 [[ 0.99993234 0.00674213 -0.00947937 0.92745484] [-0.00665969 0.99993997 0.00870136 -0.27657077] [ 0.00953746 -0.00863764 0.99991721 -0.10482495] [ 0. 0. 0. 1. ]] SLAMing on 18.536502481 meters 0.1131360918078478 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.28, Z:-0.11 [[ 0.99993224 0.00640372 -0.00972142 0.92868837] [-0.00632271 0.99994523 0.00834056 -0.27657106] [ 0.0097743 -0.00827853 0.99991796 -0.10603344] [ 0. 0. 0. 1. ]] SLAMing on 18.566502481 meters 0.11278187875857429 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.28, Z:-0.11 [[ 0.99995679 0.00192147 -0.00909532 0.92932474] [-0.00188897 0.99999181 0.0035803 -0.27584882] [ 0.00910212 -0.00356297 0.99995223 -0.10860812] [ 0. 0. 0. 1. ]] SLAMing on 18.596502481 meters 0.11307466336130051 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.28, Z:-0.11 [[ 0.9999527 0.00182309 -0.00955335 0.93022187] [-0.00178695 0.99999122 0.0037901 -0.27675086] [ 0.00956017 -0.00377285 0.99994718 -0.10859443] [ 0. 0. 0. 1. ]] SLAMing on 18.626502481 meters 0.11374488635111818 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.28, Z:-0.11 [[ 0.99994627 0.00203016 -0.01016501 0.93079447] [-0.00198178 0.99998667 0.00476754 -0.27954583] [ 0.01017455 -0.00474714 0.99993697 -0.10761142] [ 0. 0. 0. 1. ]] SLAMing on 18.656502481 meters 0.11417531217051645 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.28, Z:-0.11 [[ 0.99994048 0.00215728 -0.01069502 0.93132436] [-0.00209903 0.99998292 0.00545506 -0.28135323] [ 0.0107066 -0.00543229 0.99992793 -0.1067887 ] [ 0. 0. 0. 1. ]] SLAMing on 18.686502481 meters 0.11546160916578624 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.28, Z:-0.11 [[ 0.99993419 0.00239621 -0.01121935 0.93185419] [-0.00232286 0.99997587 0.00654668 -0.28434974] [ 0.01123477 -0.00652018 0.99991563 -0.10601076] [ 0. 0. 0. 1. ]] SLAMing on 18.716502481 meters 0.1160451079385973 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.29, Z:-0.11 [[ 0.99993119 0.0024067 -0.0114818 0.93232569] [-0.00232879 0.99997421 0.00679389 -0.28516171] [ 0.01149785 -0.00676669 0.999911 -0.10591147] [ 0. 0. 0. 1. ]] SLAMing on 18.746502481 meters 0.11594389188555787 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.29, Z:-0.11 [[ 0.99993022 0.00251219 -0.01154284 0.9322846 ] [-0.00243174 0.99997269 0.00697825 -0.28550439] [ 0.01156006 -0.00694969 0.99990903 -0.10563473] [ 0. 0. 0. 1. ]] SLAMing on 18.776502481 meters 0.11558279882121034 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.29, Z:-0.11 [[ 0.99992942 0.00235834 -0.01164445 0.93280718] [-0.00227943 0.99997439 0.00678474 -0.28531143] [ 0.01166015 -0.00675771 0.99990918 -0.106125 ] [ 0. 0. 0. 1. ]] SLAMing on 18.806502481 meters 0.11509462996736586 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.28, Z:-0.11 [[ 0.99992936 0.00194002 -0.01172619 0.93391503] [-0.00186858 0.99997965 0.00610021 -0.28441835] [ 0.01173779 -0.00607787 0.99991264 -0.10764518] [ 0. 0. 0. 1. ]] SLAMing on 18.836502481 meters 0.11480816627724916 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.28, Z:-0.11 [[ 0.99992764 0.00173437 -0.01190416 0.9347404 ] [-0.00166434 0.99998127 0.00589043 -0.28451291] [ 0.01191416 -0.0058702 0.99991179 -0.10836975] [ 0. 0. 0. 1. ]] SLAMing on 18.866502481 meters 0.11320162133539036 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.11 [[ 0.99992468 0.00158335 -0.01217047 0.93566501] [-0.00151178 0.99998153 0.00588752 -0.28526788] [ 0.01217957 -0.00586868 0.9999086 -0.10896677] [ 0. 0. 0. 1. ]] SLAMing on 18.896502481000002 meters 0.11304080032040566 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.11 [[ 0.99992242 0.00148824 -0.01236678 0.93636122] [-0.00141553 0.99998167 0.0058861 -0.28572021] [ 0.01237531 -0.00586814 0.9999062 -0.10942153] [ 0. 0. 0. 1. ]] SLAMing on 18.926502481 meters 0.112623982844718 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.11 [[ 0.99991978 0.00145176 -0.01258286 0.93709915] [-0.00137566 0.99998072 0.00605514 -0.28683471] [ 0.01259141 -0.00603734 0.9999025 -0.10988919] [ 0. 0. 0. 1. ]] SLAMing on 18.956502481 meters 0.11246623942638982 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.11 [[ 0.99991682 0.00165776 -0.01279102 0.93740394] [-0.00157297 0.99997674 0.00663636 -0.28859725] [ 0.01280172 -0.00661569 0.99989617 -0.10965796] [ 0. 0. 0. 1. ]] SLAMing on 18.986502481000002 meters 0.11224743486540185 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.11 [[ 0.99991558 0.00171544 -0.01287974 0.93765285] [-0.00162781 0.99997548 0.00681149 -0.28926932] [ 0.01289111 -0.00678995 0.99989385 -0.10975439] [ 0. 0. 0. 1. ]] SLAMing on 19.016502481 meters 0.1123076028228241 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.11 [[ 0.99991429 0.00204594 -0.01293174 0.93766025] [-0.00194871 0.99996978 0.00752665 -0.29127216] [ 0.01294674 -0.00750081 0.99988805 -0.10954192] [ 0. 0. 0. 1. ]] SLAMing on 19.046502481 meters 0.11214482820597321 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.12 [[ 0.99998423 0.00359358 0.00431552 0.93502401] [-0.00360377 0.99999074 0.00235419 -0.29123844] [-0.00430702 -0.00236971 0.99998792 -0.11847117] [ 0. 0. 0. 1. ]] SLAMing on 19.076502481000002 meters 0.11264486759895706 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.29, Z:-0.12 [[ 0.99998446 0.00403626 0.00384666 0.93511189] [-0.00404973 0.99998567 0.00350007 -0.29421742] [-0.00383248 -0.0035156 0.99998648 -0.11712938] [ 0. 0. 0. 1. ]] SLAMing on 19.106502481 meters 0.11266399122635608 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.30, Z:-0.12 [[ 0.99998476 0.0041495 0.00364061 0.93542517] [-0.00416383 0.99998358 0.0039364 -0.29546602] [-0.00362422 -0.0039515 0.99998563 -0.11693869] [ 0. 0. 0. 1. ]] SLAMing on 19.136502481 meters 0.11435065422686279 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.30, Z:-0.12 [[ 0.99998622 0.0041576 0.0032044 0.93635913] [-0.00417251 0.99998045 0.00465769 -0.29789144] [-0.00318497 -0.00467099 0.99998402 -0.11704437] [ 0. 0. 0. 1. ]] SLAMing on 19.166502481000002 meters 0.11597275824172674 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.30, Z:-0.12 [[ 0.9999883 0.00416041 0.00246726 0.93791656] [-0.00417419 0.99997555 0.00560951 -0.30172328] [-0.00244386 -0.00561974 0.99998122 -0.11725892] [ 0. 0. 0. 1. ]] SLAMing on 19.196502481 meters 0.11614790413606267 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.30, Z:-0.12 [[ 0.99998932 0.00418218 0.00196512 0.93884446] [-0.00419426 0.99997207 0.0061865 -0.30371654] [-0.00193919 -0.00619467 0.99997893 -0.11709042] [ 0. 0. 0. 1. ]] SLAMing on 19.226502481 meters 0.11709290627576593 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.30, Z:-0.12 [[ 9.99997834e-01 -2.01166387e-04 2.07155163e-03 9.39239724e-01] [ 1.97508745e-04 9.99998422e-01 1.76570657e-03 -3.04053579e-01] [-2.07190356e-03 -1.76529360e-03 9.99996295e-01 -1.18045471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.256502481000002 meters 0.11743236065973227 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.30, Z:-0.12 [[ 9.99998345e-01 -2.42839841e-04 1.80292691e-03 9.39873747e-01] [ 2.39375381e-04 9.99998125e-01 1.92154273e-03 -3.04760180e-01] [-1.80339016e-03 -1.92110797e-03 9.99996529e-01 -1.18178110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.286502481 meters 0.11729305948548106 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.30, Z:-0.12 [[ 9.99998640e-01 -4.05805868e-04 1.59824554e-03 9.40643940e-01] [ 4.02955165e-04 9.99998328e-01 1.78356350e-03 -3.04969017e-01] [-1.59896665e-03 -1.78291705e-03 9.99997132e-01 -1.18737799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.316502481 meters 0.11714629839693559 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.30, Z:-0.12 [[ 9.99998743e-01 -4.91854064e-04 1.50744043e-03 9.40971025e-01] [ 4.89296224e-04 9.99998441e-01 1.69670917e-03 -3.04883269e-01] [-1.50827261e-03 -1.69596946e-03 9.99997424e-01 -1.18944544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.346502481 meters 0.11622755900398381 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.31, Z:-0.12 [[ 9.99990919e-01 4.17307992e-03 8.64462297e-04 9.41503542e-01] [-4.17917434e-03 9.99965545e-01 7.17237601e-03 -3.08327099e-01] [-8.34501614e-04 -7.17592361e-03 9.99973905e-01 -1.17769176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.376502481 meters 0.11484747404651945 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.31, Z:-0.12 [[ 9.99991591e-01 4.05173371e-03 6.33198104e-04 9.42549785e-01] [-4.05623240e-03 9.99965327e-01 7.27271218e-03 -3.09513689e-01] [-6.03709056e-04 -7.27521942e-03 9.99973353e-01 -1.18658986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.406502481 meters 0.11491255751237357 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.31, Z:-0.12 [[ 9.99991925e-01 3.99879849e-03 4.00468042e-04 9.43138640e-01] [-4.00165607e-03 9.99964547e-01 7.40892578e-03 -3.10163843e-01] [-3.70827043e-04 -7.41046848e-03 9.99972473e-01 -1.18829951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.436502481 meters 0.11563624519967497 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.31, Z:-0.12 [[ 9.99991501e-01 4.10697569e-03 3.62500650e-04 9.43158532e-01] [-4.10964443e-03 9.99961933e-01 7.69693750e-03 -3.11022123e-01] [-3.30875716e-04 -7.69836183e-03 9.99970312e-01 -1.18712224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.466502481 meters 0.11666944838136381 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.31, Z:-0.12 [[ 9.99990506e-01 4.35749476e-03 4.91784626e-06 9.43319923e-01] [-4.35737574e-03 9.99953479e-01 8.60536162e-03 -3.13172049e-01] [ 3.25802007e-05 -8.60530135e-03 9.99962973e-01 -1.17720944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.496502481 meters 0.11720378845242745 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.31, Z:-0.12 [[ 9.99990661e-01 4.31620659e-03 -2.21251539e-04 9.43851124e-01] [-4.31409735e-03 9.99952135e-01 8.78158921e-03 -3.13942181e-01] [ 2.59144102e-04 -8.78055270e-03 9.99961417e-01 -1.17819316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.526502481 meters 0.11774416057043639 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.31, Z:-0.12 [[ 9.99999942e-01 -3.35826237e-04 -5.81671726e-05 9.44483194e-01] [ 3.36043900e-04 9.99992787e-01 3.78333985e-03 -3.12752437e-01] [ 5.68962083e-05 -3.78335917e-03 9.99992841e-01 -1.19367485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.556502481 meters 0.11853535694951606 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.31, Z:-0.12 [[ 9.99999749e-01 -5.70577268e-04 -4.19629402e-04 9.45806352e-01] [ 5.72184892e-04 9.99992460e-01 3.84096776e-03 -3.14011504e-01] [ 4.17434669e-04 -3.84120690e-03 9.99992535e-01 -1.20307018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.586502481 meters 0.11875439971650034 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.31, Z:-0.12 [[ 9.99999657e-01 -6.62132997e-04 -4.97346422e-04 9.46415330e-01] [ 6.64037937e-04 9.99992407e-01 3.83985780e-03 -3.14587617e-01] [ 4.94800149e-04 -3.84018674e-03 9.99992504e-01 -1.20998775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.616502481 meters 0.11988156947793788 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.32, Z:-0.12 [[ 9.99999642e-01 -6.14651985e-04 -5.82245668e-04 9.46758321e-01] [ 6.17057425e-04 9.99991239e-01 4.14018389e-03 -3.15771058e-01] [ 5.79695794e-04 -4.14054168e-03 9.99991260e-01 -1.21251748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.646502481000002 meters 0.11985340518356441 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.32, Z:-0.12 [[ 9.99999576e-01 -5.68620114e-04 -7.24670440e-04 9.46896450e-01] [ 5.71763667e-04 9.99990397e-01 4.34510771e-03 -3.16236797e-01] [ 7.22192765e-04 -4.34552021e-03 9.99990297e-01 -1.20981152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.676502481 meters 0.12042715405218639 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.32, Z:-0.12 [[ 9.99999531e-01 -4.33610001e-04 -8.65513185e-04 9.46796607e-01] [ 4.37615675e-04 9.99989171e-01 4.63327961e-03 -3.16759680e-01] [ 8.63494775e-04 -4.63365621e-03 9.99988892e-01 -1.20372102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.706502481 meters 0.12088926526397158 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.32, Z:-0.12 [[ 9.99999299e-01 -4.25359967e-04 -1.10495761e-03 9.47017081e-01] [ 4.30596959e-04 9.99988656e-01 4.74363500e-03 -3.16890520e-01] [ 1.10292733e-03 -4.74410747e-03 9.99988138e-01 -1.19951370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.736502481000002 meters 0.12109868963879485 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.32, Z:-0.12 [[ 9.99999292e-01 -4.32173333e-04 -1.10853544e-03 9.46795790e-01] [ 4.37285259e-04 9.99989254e-01 4.61533367e-03 -3.16227449e-01] [ 1.10652890e-03 -4.61581514e-03 9.99988735e-01 -1.19601990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.766502481 meters 0.12120434610199482 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.32, Z:-0.12 [[ 9.99999198e-01 -5.60462146e-04 -1.13564066e-03 9.47070475e-01] [ 5.65449235e-04 9.99990178e-01 4.39588049e-03 -3.15790550e-01] [ 1.13316578e-03 -4.39651911e-03 9.99989693e-01 -1.19964664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.796502481 meters 0.11921795400147057 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.32, Z:-0.12 [[ 0.99999861 -0.00100927 -0.00132465 0.94826758] [ 0.00101426 0.99999238 0.00376854 -0.3150245 ] [ 0.00132084 -0.00376988 0.99999202 -0.12133408] [ 0. 0. 0. 1. ]] SLAMing on 19.826502481000002 meters 0.11975227934133378 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.31, Z:-0.12 [[ 0.99999818 -0.00127834 -0.00141534 0.94891344] [ 0.00128308 0.99999355 0.00335575 -0.31430274] [ 0.00141104 -0.00335756 0.99999337 -0.12210099] [ 0. 0. 0. 1. ]] SLAMing on 19.856502481 meters 0.12227887885965252 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.32, Z:-0.12 [[ 0.99999357 0.00273424 -0.00232032 0.95057024] [-0.00271572 0.99996471 0.00795031 -0.3156567 ] [ 0.00234198 -0.00794396 0.9999657 -0.12192364] [ 0. 0. 0. 1. ]] SLAMing on 19.886502481 meters 0.12035157387063831 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.32, Z:-0.12 [[ 0.99999297 0.0026436 -0.0026579 0.95124232] [-0.00262216 0.99996425 0.00803862 -0.31614281] [ 0.00267905 -0.00803159 0.99996416 -0.1219065 ] [ 0. 0. 0. 1. ]] SLAMing on 19.916502481000002 meters 0.12249135368076901 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.32, Z:-0.12 [[ 0.99999083 0.00276247 -0.00327106 0.95180426] [-0.00273336 0.99995691 0.00887123 -0.31840465] [ 0.00329542 -0.00886221 0.9999553 -0.12084222] [ 0. 0. 0. 1. ]] SLAMing on 19.946502481 meters 0.12242523761798312 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.32, Z:-0.12 [[ 0.99998996 0.00271565 -0.00356505 0.95234264] [-0.00268314 0.99995505 0.00909368 -0.31915002] [ 0.00358959 -0.00908402 0.9999523 -0.12074078] [ 0. 0. 0. 1. ]] SLAMing on 19.976502481 meters 0.12567375240837944 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.32, Z:-0.12 [[ 0.99998953 0.00254672 -0.0038012 0.95310829] [-0.0025119 0.99995509 0.00913829 -0.31965711] [ 0.0038243 -0.00912865 0.99995102 -0.12116621] [ 0. 0. 0. 1. ]] SLAMing on 20.006502481000002 meters 0.12600591906144593 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.32, Z:-0.12 [[ 0.99999005 0.00231197 -0.00381399 0.95359949] [-0.0022785 0.99995906 0.00875672 -0.31901542] [ 0.00383408 -0.00874794 0.99995439 -0.12193847] [ 0. 0. 0. 1. ]] SLAMing on 20.036502481 meters 0.12266719340005869 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.32, Z:-0.12 [[ 0.99999105 0.00220578 -0.00361015 0.95344362] [-0.00217573 0.99996314 0.0083063 -0.31767549] [ 0.00362834 -0.00829837 0.99995899 -0.12236163] [ 0. 0. 0. 1. ]] SLAMing on 20.066502481 meters 0.12169516003480323 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.32, Z:-0.12 [[ 0.99999154 0.00195706 -0.00361762 0.95360516] [-0.00192959 0.99996939 0.00758322 -0.3157046 ] [ 0.00363235 -0.00757618 0.9999647 -0.12268179] [ 0. 0. 0. 1. ]] SLAMing on 20.096502481 meters 0.12038226318397956 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.31, Z:-0.12 [[ 0.99999136 0.00156176 -0.00385366 0.95445244] [-0.00153508 0.99997491 0.00691581 -0.31434575] [ 0.00386436 -0.00690983 0.99996866 -0.12333413] [ 0. 0. 0. 1. ]] SLAMing on 20.126502481 meters 0.11950348325091552 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.31, Z:-0.12 [[ 9.99991512e-01 9.14234867e-04 -4.01759479e-03 9.55653178e-01] [-8.91934331e-04 9.99984206e-01 5.54900843e-03 -3.11621950e-01] [ 4.02260443e-03 -5.54537790e-03 9.99976533e-01 -1.24966023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.156502481 meters 0.11815895330571569 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.31, Z:-0.13 [[ 9.99991368e-01 3.96129518e-04 -4.13615070e-03 9.56496987e-01] [-3.76952922e-04 9.99989182e-01 4.63608967e-03 -3.09613903e-01] [ 4.13794245e-03 -4.63449051e-03 9.99980699e-01 -1.25990363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.186502481 meters 0.11706619408227693 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.31, Z:-0.13 [[ 9.99993690e-01 2.17016015e-05 -3.55233368e-03 9.56278900e-01] [-1.00883849e-05 9.99994656e-01 3.26916484e-03 -3.06016288e-01] [ 3.55238565e-03 -3.26910837e-03 9.99988347e-01 -1.27531449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.216502481 meters 0.11770210875081986 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.13 [[ 9.99993282e-01 -3.25327880e-04 -3.65098610e-03 9.56833300e-01] [ 3.34787192e-04 9.99996588e-01 2.59058026e-03 -3.04463547e-01] [ 3.65013086e-03 -2.59178516e-03 9.99989980e-01 -1.28154595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.246502481 meters 0.1154093763500945 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.13 [[ 9.99992514e-01 -6.43052169e-04 -3.81557321e-03 9.57475297e-01] [ 6.50455588e-04 9.99997908e-01 1.93939272e-03 -3.02960520e-01] [ 3.81431809e-03 -1.94186006e-03 9.99990840e-01 -1.28722368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.276502481 meters 0.11589811866803462 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.13 [[ 9.99992000e-01 -8.74063840e-04 -3.90328172e-03 9.58105695e-01] [ 8.80333871e-04 9.99998325e-01 1.60491949e-03 -3.02518951e-01] [ 3.90187238e-03 -1.60834284e-03 9.99991094e-01 -1.29443024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.306502481 meters 0.11589811866803462 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.13 [[ 9.99992000e-01 -8.74063840e-04 -3.90328172e-03 9.58105695e-01] [ 8.80333871e-04 9.99998325e-01 1.60491949e-03 -3.02518951e-01] [ 3.90187238e-03 -1.60834284e-03 9.99991094e-01 -1.29443024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.336502481 meters 0.11663853102094099 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.13 [[ 0.99998414 0.00326883 -0.00458568 0.9596056 ] [-0.00323923 0.99997397 0.00644721 -0.30485462] [ 0.00460664 -0.00643226 0.9999687 -0.12969798] [ 0. 0. 0. 1. ]] SLAMing on 20.366502481 meters 0.11638823069548983 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.30, Z:-0.13 [[ 0.99998436 0.00299024 -0.00472621 0.96048746] [-0.00296131 0.9999769 0.00611801 -0.30470854] [ 0.00474439 -0.00610391 0.99997012 -0.13064736] [ 0. 0. 0. 1. ]] SLAMing on 20.396502481000002 meters 0.11733933543265294 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.31, Z:-0.13 [[ 0.99998291 0.00271873 -0.00517657 0.96178049] [-0.00268635 0.99997685 0.00625172 -0.3058773 ] [ 0.00519344 -0.0062377 0.99996706 -0.13125122] [ 0. 0. 0. 1. ]] SLAMing on 20.426502481 meters 0.11832054372336998 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.31, Z:-0.13 [[ 0.99997936 0.00295681 -0.00570432 0.96224867] [-0.00291412 0.99996779 0.00747822 -0.30941606] [ 0.00572625 -0.00746144 0.99995577 -0.13028945] [ 0. 0. 0. 1. ]] SLAMing on 20.456502481 meters 0.11935802494881735 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.31, Z:-0.13 [[ 0.99997659 0.00303516 -0.00613244 0.96279076] [-0.0029858 0.9999632 0.00804303 -0.31091431] [ 0.00615663 -0.00802453 0.99994885 -0.12972268] [ 0. 0. 0. 1. ]] SLAMing on 20.486502481000002 meters 0.12149891930621592 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.31, Z:-0.13 [[ 0.99997453 0.00304967 -0.00645251 0.9632561 ] [-0.00299421 0.99995865 0.00858727 -0.31238757] [ 0.00647843 -0.00856773 0.99994231 -0.12939957] [ 0. 0. 0. 1. ]] SLAMing on 20.516502481 meters 0.12203101421151057 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.31, Z:-0.13 [[ 0.99997414 0.00287945 -0.00658998 0.96384173] [-0.00282373 0.99996031 0.00844978 -0.31233688] [ 0.00661405 -0.00843095 0.99994259 -0.1298958 ] [ 0. 0. 0. 1. ]] SLAMing on 20.546502481 meters 0.12241512683574071 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.31, Z:-0.13 [[ 0.99997545 0.00230609 -0.00661711 0.96518309] [-0.00225574 0.99996852 0.00760682 -0.3113192 ] [ 0.00663444 -0.00759171 0.99994917 -0.13199874] [ 0. 0. 0. 1. ]] SLAMing on 20.576502481000002 meters 0.12248424293561573 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.31, Z:-0.13 [[ 0.99997393 0.00196024 -0.0069502 0.96637757] [-0.00190967 0.99997171 0.00727564 -0.31123768] [ 0.00696426 -0.00726217 0.99994938 -0.13285548] [ 0. 0. 0. 1. ]] SLAMing on 20.606502481 meters 0.1227288790405738 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.31, Z:-0.13 [[ 0.99997175 0.00143399 -0.00737836 0.96809527] [-0.00138392 0.99997602 0.00678605 -0.31111888] [ 0.00738791 -0.00677565 0.99994975 -0.13426587] [ 0. 0. 0. 1. ]] SLAMing on 20.636502481 meters 0.12376379797780197 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.31, Z:-0.13 [[ 0.9999709 0.00117924 -0.00753655 0.96881781] [-0.00113037 0.99997834 0.00648459 -0.31078396] [ 0.00754404 -0.00647588 0.99995057 -0.13492471] [ 0. 0. 0. 1. ]] SLAMing on 20.666502481000002 meters 0.12547190888877882 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.31, Z:-0.13 [[ 0.9999702 0.00107384 -0.0076455 0.9689182 ] [-0.00102505 0.99997911 0.00638246 -0.31026284] [ 0.0076522 -0.00637443 0.9999504 -0.13471662] [ 0. 0. 0. 1. ]] SLAMing on 20.696502481 meters 0.12568010840888308 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.31, Z:-0.13 [[ 9.99967121e-01 1.01387226e-03 -8.04537529e-03 9.69092178e-01] [-9.62946056e-04 9.99979494e-01 6.33122424e-03 -3.09645369e-01] [ 8.05162937e-03 -6.32326881e-03 9.99947592e-01 -1.33776713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.726502481 meters 0.12524111786746048 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.31, Z:-0.13 [[ 9.99964569e-01 8.92253104e-04 -8.37040799e-03 9.69422138e-01] [-8.39930347e-04 9.99980101e-01 6.25235488e-03 -3.09161082e-01] [ 8.37582011e-03 -6.24510279e-03 9.99945421e-01 -1.33256543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.756502481000002 meters 0.12219347160018297 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.31, Z:-0.13 [[ 9.99962420e-01 1.00007155e-03 -8.61158754e-03 9.68944043e-01] [-9.46328169e-04 9.99980067e-01 6.24263625e-03 -3.08002788e-01] [ 8.61765896e-03 -6.23425226e-03 9.99943433e-01 -1.31793431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.786502481 meters 0.12562435913692696 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.31, Z:-0.13 [[ 9.99961224e-01 7.78659829e-04 -8.77175537e-03 9.69234601e-01] [-7.27435986e-04 9.99982675e-01 5.84131193e-03 -3.06795722e-01] [ 8.77615179e-03 -5.83470454e-03 9.99944466e-01 -1.31821691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.816502481 meters 0.12289853632290795 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.30, Z:-0.13 [[ 9.99962875e-01 4.87203966e-04 -8.60297998e-03 9.69143414e-01] [-4.43285178e-04 9.99986865e-01 5.10623586e-03 -3.04420635e-01] [ 8.60535476e-03 -5.10223271e-03 9.99949956e-01 -1.32246296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.846502481 meters 0.12411721670012082 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.30, Z:-0.13 [[ 9.99961371e-01 1.21618312e-04 -8.78873641e-03 9.69822598e-01] [-8.13994800e-05 9.99989525e-01 4.57639196e-03 -3.03194839e-01] [ 8.78920092e-03 -4.57549978e-03 9.99950906e-01 -1.32789038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.876502481 meters 0.12500089185769392 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.30, Z:-0.13 [[ 9.99961877e-01 -2.91208853e-06 -8.73178415e-03 9.69856811e-01] [ 4.09382693e-05 9.99990517e-01 4.35473978e-03 -3.02527680e-01] [ 8.73168867e-03 -4.35493122e-03 9.99952395e-01 -1.33067543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.906502481 meters 0.12428566054594689 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.30, Z:-0.13 [[ 9.99962284e-01 -4.38509612e-05 -8.68498995e-03 9.69852424e-01] [ 8.19735011e-05 9.99990364e-01 4.38916693e-03 -3.02507638e-01] [ 8.68471379e-03 -4.38971333e-03 9.99952652e-01 -1.33223119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.936502481 meters 0.12579573970313776 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.30, Z:-0.13 [[ 9.99960063e-01 -6.00117926e-04 -8.91694034e-03 9.71138524e-01] [ 6.32978995e-04 9.99993018e-01 3.68287536e-03 -3.01486189e-01] [ 8.91466792e-03 -3.68837251e-03 9.99953461e-01 -1.34635041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.966502481 meters 0.12682225122258528 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.30, Z:-0.14 [[ 9.99959118e-01 -9.30120386e-04 -8.99427339e-03 9.71782905e-01] [ 9.58294473e-04 9.99994647e-01 3.12864507e-03 -3.00403344e-01] [ 8.99131522e-03 -3.13713633e-03 9.99954656e-01 -1.35473651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.996502481 meters 0.12604274320990078 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.30, Z:-0.14 [[ 0.99994958 0.00293626 -0.00960301 0.97310008] [-0.00286701 0.99996985 0.00721649 -0.30034913] [ 0.00962391 -0.00718859 0.99992785 -0.13572898] [ 0. 0. 0. 1. ]] SLAMing on 21.026502481 meters 0.1244691865526479 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.30, Z:-0.14 [[ 0.9999478 0.00259893 -0.00988117 0.9739402 ] [-0.00253254 0.99997418 0.00672522 -0.29944838] [ 0.00989839 -0.00669985 0.99992856 -0.13625176] [ 0. 0. 0. 1. ]] SLAMing on 21.056502481 meters 0.12670205961636943 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.30, Z:-0.14 [[ 0.99994645 0.00218525 -0.01011506 0.97451067] [-0.00212616 0.99998064 0.00584857 -0.29718039] [ 0.01012764 -0.00582676 0.99993174 -0.13655923] [ 0. 0. 0. 1. ]] SLAMing on 21.086502481 meters 0.12588328636040835 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.29, Z:-0.14 [[ 0.99994677 0.0016724 -0.01018118 0.97515269] [-0.00162624 0.99998837 0.00454085 -0.29412635] [ 0.01018865 -0.00452405 0.99993786 -0.13759435] [ 0. 0. 0. 1. ]] SLAMing on 21.116502481 meters 0.12532492381148425 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.29, Z:-0.14 [[ 0.99994747 0.00107996 -0.01019293 0.97597594] [-0.00104647 0.99999404 0.00329093 -0.29141925] [ 0.01019642 -0.00328009 0.99994264 -0.13903308] [ 0. 0. 0. 1. ]] SLAMing on 21.146502481 meters 0.12344014074666018 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.29, Z:-0.14 [[ 9.99952071e-01 7.32236728e-04 -9.76316088e-03 9.75888364e-01] [-7.11027336e-04 9.99997380e-01 2.17568393e-03 -2.88677556e-01] [ 9.76472842e-03 -2.16863778e-03 9.99949972e-01 -1.40350720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.176502481 meters 0.1213740539845326 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.29, Z:-0.14 [[ 0.99993802 0.00455257 -0.01016048 0.97712777] [-0.00449521 0.99997387 0.00566131 -0.28705108] [ 0.01018599 -0.00561528 0.99993235 -0.14112007] [ 0. 0. 0. 1. ]] SLAMing on 21.206502481 meters 0.11999896278990908 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.28, Z:-0.14 [[ 0.99993926 0.00387924 -0.01031685 0.97832171] [-0.00383365 0.99998282 0.0044354 -0.28467341] [ 0.01033388 -0.00439558 0.99993694 -0.14264872] [ 0. 0. 0. 1. ]] SLAMing on 21.236502481000002 meters 0.11971035289395267 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.28, Z:-0.14 [[ 0.99994219 0.00321649 -0.01026062 0.97893082] [-0.00318775 0.99999095 0.00281606 -0.28066629] [ 0.01026958 -0.00278319 0.99994339 -0.14397884] [ 0. 0. 0. 1. ]] SLAMing on 21.266502481 meters 0.1191930133962684 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.28, Z:-0.14 [[ 0.99994092 0.00280585 -0.01050181 0.97963985] [-0.00278428 0.99999399 0.00206816 -0.27894094] [ 0.01050755 -0.0020388 0.99994272 -0.14442952] [ 0. 0. 0. 1. ]] SLAMing on 21.296502481 meters 0.11905475353516556 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.28, Z:-0.15 [[ 9.99940958e-01 2.13492318e-03 -1.06547044e-02 9.80401238e-01] [-2.12981819e-03 9.99997612e-01 4.90453596e-04 -2.75103807e-01] [ 1.06557261e-02 -4.67732055e-04 9.99943117e-01 -1.45415850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.326502481000002 meters 0.11900442285797458 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.27, Z:-0.15 [[ 0.99994378 0.00160282 -0.01048215 0.98048223] [-0.00161391 0.99999815 -0.00104993 -0.27094938] [ 0.01048045 0.00106679 0.99994451 -0.14630777] [ 0. 0. 0. 1. ]] SLAMing on 21.356502481 meters 0.11855104708482722 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.27, Z:-0.15 [[ 0.99994548 0.00121988 -0.0103704 0.98068166] [-0.00124135 0.9999971 -0.00206483 -0.26840743] [ 0.01036785 0.00207759 0.99994409 -0.14712673] [ 0. 0. 0. 1. ]] SLAMing on 21.386502481 meters 0.11872666272078332 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.27, Z:-0.15 [[ 0.99993123 0.00529276 -0.01046508 0.98074027] [-0.00527601 0.99998476 0.00162732 -0.26640271] [ 0.01047354 -0.001572 0.99994392 -0.14695556] [ 0. 0. 0. 1. ]] SLAMing on 21.416502481000002 meters 0.11915922084299764 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.27, Z:-0.15 [[ 0.99993209 0.00512168 -0.01046827 0.98074376] [-0.00510993 0.99998628 0.00114948 -0.26501087] [ 0.01047401 -0.00109591 0.99994455 -0.14702306] [ 0. 0. 0. 1. ]] SLAMing on 21.446502481 meters 0.11957777000369317 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.26, Z:-0.15 [[ 9.99935727e-01 4.57698635e-03 -1.03727507e-02 9.81116082e-01] [-4.57829134e-03 9.99989514e-01 -1.02068206e-04 -2.61827804e-01] [ 1.03721748e-02 1.49551121e-04 9.99946196e-01 -1.48021440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.476502481 meters 0.12023234142910769 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.26, Z:-0.15 [[ 9.99936888e-01 4.22513861e-03 -1.04100276e-02 9.81472756e-01] [-4.23395323e-03 9.99990697e-01 -8.24850696e-04 -2.60048171e-01] [ 1.04064457e-02 8.68874208e-04 9.99945474e-01 -1.48558669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.506502481000002 meters 0.119268371544308 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.26, Z:-0.15 [[ 0.9999379 0.00388285 -0.01044583 0.98158204] [-0.00389945 0.99999117 -0.00156927 -0.2578941 ] [ 0.01043964 0.0016099 0.99994421 -0.14872466] [ 0. 0. 0. 1. ]] SLAMing on 21.536502481 meters 0.12446026598707932 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.26, Z:-0.15 [[ 0.99993991 0.00335092 -0.01043741 0.98201812] [-0.00337874 0.99999078 -0.00264906 -0.25506865] [ 0.01042843 0.00268417 0.99994202 -0.14953566] [ 0. 0. 0. 1. ]] SLAMing on 21.566502481 meters 0.12508242724677368 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.25, Z:-0.15 [[ 0.99994133 0.00308837 -0.0103823 0.9821509 ] [-0.00312224 0.99998985 -0.00324782 -0.25355466] [ 0.01037217 0.00328004 0.99994083 -0.14998074] [ 0. 0. 0. 1. ]] SLAMing on 21.596502481 meters 0.12244777488826089 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.25, Z:-0.15 [[ 0.99994003 0.00314055 -0.01049133 0.98158971] [-0.00317659 0.9999891 -0.00342078 -0.25232115] [ 0.01048047 0.0034539 0.99993911 -0.14882067] [ 0. 0. 0. 1. ]] SLAMing on 21.626502481 meters 0.12319265255095287 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.25, Z:-0.15 [[ 0.99993689 0.00312316 -0.01079154 0.98162022] [-0.00316054 0.99998906 -0.00344839 -0.25179255] [ 0.01078065 0.00348228 0.99993582 -0.14799733] [ 0. 0. 0. 1. ]] SLAMing on 21.656502481 meters 0.12450312978378356 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.25, Z:-0.15 [[ 0.99994117 0.00303948 -0.01041266 0.98066725] [-0.00308418 0.99998609 -0.00427947 -0.2487603 ] [ 0.01039951 0.00431133 0.99993663 -0.1477383 ] [ 0. 0. 0. 1. ]] SLAMing on 21.686502481 meters 0.12467266170555219 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.25, Z:-0.15 [[ 9.99915345e-01 7.42545084e-03 -1.06848546e-02 9.80810808e-01] [-7.42277295e-03 9.99972409e-01 2.90261114e-04 -2.49138629e-01] [ 1.06867151e-02 -2.10925293e-04 9.99942873e-01 -1.47099760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.716502481 meters 0.12445206262103405 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.25, Z:-0.15 [[ 0.99992337 0.00699207 -0.01021561 0.98059323] [-0.00700323 0.99997492 -0.00105732 -0.24524196] [ 0.01020796 0.00112878 0.99994726 -0.14818706] [ 0. 0. 0. 1. ]] SLAMing on 21.746502481 meters 0.12474464477940002 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.24, Z:-0.15 [[ 0.99992537 0.00672799 -0.01019722 0.98073668] [-0.00674573 0.99997579 -0.00170628 -0.24354722] [ 0.01018549 0.00177494 0.99994655 -0.14853947] [ 0. 0. 0. 1. ]] SLAMing on 21.776502481 meters 0.12105424363816084 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.24, Z:-0.15 [[ 0.99992918 0.00614576 -0.01019124 0.98156266] [-0.00617554 0.99997675 -0.00289278 -0.24109201] [ 0.01017322 0.00295551 0.99994388 -0.15001075] [ 0. 0. 0. 1. ]] SLAMing on 21.806502481 meters 0.12704791733767049 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.24, Z:-0.15 [[ 0.99992814 0.00561006 -0.01059406 0.98262581] [-0.0056505 0.99997685 -0.00379175 -0.23914996] [ 0.01057254 0.00385134 0.99993669 -0.15057595] [ 0. 0. 0. 1. ]] SLAMing on 21.836502481 meters 0.12074567966277673 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.24, Z:-0.15 [[ 0.99992917 0.00564526 -0.01047753 0.98214553] [-0.00568727 0.99997589 -0.00398378 -0.23823321] [ 0.01045479 0.00404309 0.99993717 -0.15020226] [ 0. 0. 0. 1. ]] SLAMing on 21.866502481 meters 0.12298031431068904 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.15 [[ 0.99993328 0.0055106 -0.01015195 0.98122066] [-0.00556021 0.99997271 -0.0048652 -0.23490273] [ 0.01012486 0.00492132 0.99993663 -0.14975236] [ 0. 0. 0. 1. ]] SLAMing on 21.896502481 meters 0.12325329546171315 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.15 [[ 0.99993632 0.00540972 -0.00990452 0.98067791] [-0.00546428 0.99997 -0.00549001 -0.23282836] [ 0.00987452 0.00554378 0.99993588 -0.14972314] [ 0. 0. 0. 1. ]] SLAMing on 21.926502481 meters 0.12332634838217868 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.15 [[ 0.99990345 0.00942046 -0.01021535 0.98103416] [-0.00944049 0.99995361 -0.00191438 -0.23072967] [ 0.01019684 0.00201063 0.99994599 -0.14931759] [ 0. 0. 0. 1. ]] SLAMing on 21.956502481 meters 0.11957218440490032 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.15 [[ 0.99991111 0.00896114 -0.00987315 0.98078137] [-0.00899858 0.99995246 -0.00375478 -0.22574706] [ 0.00983904 0.00384329 0.99994421 -0.15001306] [ 0. 0. 0. 1. ]] SLAMing on 21.986502481000002 meters 0.1212540813834663 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.22, Z:-0.15 [[ 0.99991578 0.00868081 -0.0096472 0.98063854] [-0.00872695 0.99995063 -0.00475136 -0.22310122] [ 0.00960548 0.00483515 0.99994218 -0.15050756] [ 0. 0. 0. 1. ]] SLAMing on 22.016502481 meters 0.11721520511954239 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.22, Z:-0.15 [[ 0.99991821 0.00830876 -0.00972331 0.98104586] [-0.00836408 0.99994899 -0.00566267 -0.22087946] [ 0.00967577 0.00574353 0.99993669 -0.15098118] [ 0. 0. 0. 1. ]] SLAMing on 22.046502481 meters 0.11651746730734446 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.22, Z:-0.15 [[ 0.99992367 0.00807756 -0.00934913 0.98058158] [-0.00814287 0.99994256 -0.00696868 -0.21713319] [ 0.0092923 0.00704427 0.99993201 -0.15139794] [ 0. 0. 0. 1. ]] SLAMing on 22.076502481000002 meters 0.1165948475623535 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.21, Z:-0.15 [[ 0.99992617 0.00768516 -0.00941273 0.98094594] [-0.00775933 0.99993894 -0.00786873 -0.21491388] [ 0.00935169 0.00794119 0.99992474 -0.15184207] [ 0. 0. 0. 1. ]] SLAMing on 22.106502481 meters 0.11555801113940467 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.21, Z:-0.15 [[ 0.99992924 0.00772016 -0.00905053 0.97986633] [-0.00779927 0.9999314 -0.00873847 -0.21164675] [ 0.00898245 0.00880844 0.99992086 -0.15119676] [ 0. 0. 0. 1. ]] SLAMing on 22.136502481 meters 0.11538161414068016 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.21, Z:-0.15 [[ 0.99992981 0.00766788 -0.0090317 0.97959707] [-0.00775019 0.99992844 -0.00911342 -0.21032357] [ 0.00896118 0.00918278 0.99991768 -0.15085229] [ 0. 0. 0. 1. ]] SLAMing on 22.166502481000002 meters 0.11546403890868759 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.21, Z:-0.15 [[ 0.99993096 0.00748448 -0.00905865 0.97966296] [-0.00757189 0.99992474 -0.00965342 -0.20882013] [ 0.00898572 0.00972134 0.99991237 -0.15092563] [ 0. 0. 0. 1. ]] SLAMing on 22.196502481 meters 0.11546403890868759 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.21, Z:-0.15 [[ 0.99993096 0.00748448 -0.00905865 0.97966296] [-0.00757189 0.99992474 -0.00965342 -0.20882013] [ 0.00898572 0.00972134 0.99991237 -0.15092563] [ 0. 0. 0. 1. ]] SLAMing on 22.226502481 meters 0.1135799299746234 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.21, Z:-0.15 [[ 9.99992633e-01 3.63139858e-03 1.24371391e-03 9.74575703e-01] [-3.63077264e-03 9.99993281e-01 -5.05168165e-04 -2.06444200e-01] [-1.24554002e-03 5.00648801e-04 9.99999099e-01 -1.50995006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.256502481000002 meters 0.11645358661636278 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.20, Z:-0.15 [[ 0.99999388 0.00329388 0.0011826 0.9747705 ] [-0.00329223 0.99999361 -0.0013948 -0.20408626] [-0.00118719 0.0013909 0.99999833 -0.15121014] [ 0. 0. 0. 1. ]] SLAMing on 22.286502481 meters 0.11616110876511512 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.20, Z:-0.15 [[ 9.99995204e-01 2.94578152e-03 9.56099885e-04 9.75401736e-01] [-2.94384790e-03 9.99993632e-01 -2.01755151e-03 -2.02752269e-01] [-9.62037062e-04 2.01472722e-03 9.99997508e-01 -1.51600605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.316502481 meters 0.11749913712429015 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.20, Z:-0.15 [[ 9.99996560e-01 2.46864499e-03 8.86745029e-04 9.75994201e-01] [-2.46595272e-03 9.99992386e-01 -3.02449123e-03 -2.00469886e-01] [-8.94204672e-04 3.02229416e-03 9.99995033e-01 -1.52436527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.346502481 meters 0.11435246464420488 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.20, Z:-0.15 [[ 9.99997404e-01 2.13354808e-03 7.99453207e-04 9.76541194e-01] [-2.13063003e-03 9.99991130e-01 -3.63329317e-03 -1.99210201e-01] [-8.07197921e-04 3.63158041e-03 9.99993080e-01 -1.53119450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.376502481 meters 0.11459367072425483 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.20, Z:-0.15 [[ 9.99981654e-01 6.04505643e-03 3.87125902e-04 9.77665037e-01] [-6.04523475e-03 9.99981621e-01 4.61125748e-04 -1.99341456e-01] [-3.84331256e-04 -4.63457555e-04 9.99999819e-01 -1.53710488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.406502481 meters 0.11465440933819829 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.20, Z:-0.15 [[ 9.99983960e-01 5.64980545e-03 4.00523847e-04 9.77849719e-01] [-5.64956844e-03 9.99983867e-01 -5.90436512e-04 -1.96630445e-01] [-4.03853236e-04 5.88164255e-04 9.99999745e-01 -1.54081506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.436502481 meters 0.11371017910317854 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.19, Z:-0.15 [[ 9.99984072e-01 5.60958570e-03 6.23410255e-04 9.77289502e-01] [-5.60888846e-03 9.99983649e-01 -1.11460726e-03 -1.94846204e-01] [-6.29652546e-04 1.11109287e-03 9.99999185e-01 -1.53866336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.466502481 meters 0.11362685609761955 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.19, Z:-0.15 [[ 9.99985203e-01 5.40075423e-03 6.52816016e-04 9.77171306e-01] [-5.39956195e-03 9.99983776e-01 -1.81454508e-03 -1.92863641e-01] [-6.62605337e-04 1.81099331e-03 9.99998141e-01 -1.53756964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.496502481 meters 0.11187041211877251 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.19, Z:-0.15 [[ 9.99985943e-01 5.25593879e-03 6.98760972e-04 9.76827652e-01] [-5.25397780e-03 9.99982336e-01 -2.77921822e-03 -1.90052780e-01] [-7.13356030e-04 2.77550788e-03 9.99995894e-01 -1.53263013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.526502481 meters 0.11095245712223034 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.19, Z:-0.15 [[ 9.99987690e-01 4.92621202e-03 5.93785613e-04 9.77181933e-01] [-4.92404334e-03 9.99981397e-01 -3.60004278e-03 -1.88021876e-01] [-6.11509141e-04 3.59707464e-03 9.99993344e-01 -1.53554614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.556502481 meters 0.11028612720639126 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.19, Z:-0.15 [[ 9.99962389e-01 8.66428681e-03 3.87253043e-04 9.77857666e-01] [-8.66414322e-03 9.99962397e-01 -3.70939909e-04 -1.85387253e-01] [-3.90452411e-04 3.67570741e-04 9.99999856e-01 -1.53942369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.586502481 meters 0.109050142381106 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.18, Z:-0.15 [[ 9.99966690e-01 8.15747013e-03 2.71923107e-04 9.78457044e-01] [-8.15708950e-03 9.99965788e-01 -1.37268394e-03 -1.83102338e-01] [-2.83111432e-04 1.37042011e-03 9.99999021e-01 -1.54592965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.616502481 meters 0.11147430698853103 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.18, Z:-0.15 [[ 9.99970710e-01 7.65227021e-03 1.45079791e-04 9.78849486e-01] [-7.65189318e-03 9.99967742e-01 -2.44213832e-03 -1.80452560e-01] [-1.63763013e-04 2.44095665e-03 9.99997007e-01 -1.54863245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.646502481 meters 0.11008795968132576 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.18, Z:-0.16 [[ 9.99973105e-01 7.33075629e-03 2.23886783e-04 9.78857128e-01] [-7.33000057e-03 9.99967990e-01 -3.20788061e-03 -1.78437386e-01] [-2.47395807e-04 3.20615324e-03 9.99994830e-01 -1.55117187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.676502481 meters 0.11035158209449673 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.18, Z:-0.16 [[ 9.99975188e-01 7.04361302e-03 1.04537555e-04 9.79351506e-01] [-7.04317850e-03 9.99968363e-01 -3.69672796e-03 -1.77435345e-01] [-1.30572569e-04 3.69589996e-03 9.99993162e-01 -1.55590095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.706502481 meters 0.11106186835466103 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.18, Z:-0.16 [[ 9.99978531e-01 6.55219988e-03 -8.11907614e-05 9.80032385e-01] [-6.55250379e-03 9.99967975e-01 -4.59490353e-03 -1.75462483e-01] [ 5.10814348e-05 4.59533689e-03 9.99989440e-01 -1.56149259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.736502481000002 meters 0.1108181629238381 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.17, Z:-0.16 [[ 9.99978609e-01 6.53896345e-03 -1.55202616e-04 9.79894095e-01] [-6.53962244e-03 9.99967507e-01 -4.71358389e-03 -1.74932952e-01] [ 1.24375620e-04 4.71449803e-03 9.99988879e-01 -1.55702950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.766502481 meters 0.11170026144988467 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.17, Z:-0.16 [[ 9.99980006e-01 6.31092401e-03 -3.98618066e-04 9.80103771e-01] [-6.31290932e-03 9.99966591e-01 -5.19278817e-03 -1.73556676e-01] [ 3.65833457e-04 5.19520079e-03 9.99986438e-01 -1.55360153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.796502481 meters 0.11217814041832512 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.17, Z:-0.16 [[ 9.99981414e-01 6.07642366e-03 -4.98690910e-04 9.80265979e-01] [-6.07916770e-03 9.99965282e-01 -5.69895425e-03 -1.72235310e-01] [ 4.64044336e-04 5.70187996e-03 9.99983636e-01 -1.55344461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.826502481000002 meters 0.11224757346237602 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.17, Z:-0.16 [[ 9.99982860e-01 5.82014191e-03 -6.37431659e-04 9.80435010e-01] [-5.82406354e-03 9.99962982e-01 -6.33362184e-03 -1.70437977e-01] [ 6.00545485e-04 6.33722573e-03 9.99979739e-01 -1.55232380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.856502481 meters 0.11160779700765273 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.17, Z:-0.16 [[ 9.99985101e-01 5.39916478e-03 -8.04751122e-04 9.81106735e-01] [-5.40472961e-03 9.99960323e-01 -7.08110444e-03 -1.68868823e-01] [ 7.66487142e-04 7.08534840e-03 9.99974605e-01 -1.55840344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.886502481 meters 0.10941206988610175 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.17, Z:-0.16 [[ 9.99953738e-01 9.56843786e-03 -9.83659664e-04 9.81510276e-01] [-9.57121922e-03 9.99950097e-01 -2.86285204e-03 -1.68837465e-01] [ 9.56217554e-04 2.87213442e-03 9.99995418e-01 -1.55874994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.916502481000002 meters 0.10945459887088392 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.17, Z:-0.16 [[ 0.9999564 0.00926614 -0.00115352 0.9820949 ] [-0.00926996 0.99995143 -0.00334784 -0.16793393] [ 0.00112245 0.00335839 0.99999373 -0.15629981] [ 0. 0. 0. 1. ]] SLAMing on 22.946502481 meters 0.11228097297508428 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.16, Z:-0.16 [[ 0.99996276 0.00853563 -0.00126991 0.98294477] [-0.00854171 0.99995171 -0.00485902 -0.16439327] [ 0.00122838 0.00486968 0.99998739 -0.15728266] [ 0. 0. 0. 1. ]] SLAMing on 22.976502481 meters 0.1092421197607743 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.16, Z:-0.16 [[ 0.99996622 0.00812765 -0.0012213 0.98318046] [-0.0081346 0.99995011 -0.00579703 -0.16206587] [ 0.00117413 0.00580677 0.99998245 -0.15781708] [ 0. 0. 0. 1. ]] SLAMing on 23.006502481000002 meters 0.10891964865663101 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.16, Z:-0.16 [[ 9.99996206e-01 1.84371370e-03 2.04665208e-03 9.75469189e-01] [-1.84202512e-03 9.99997962e-01 -8.26624250e-04 -1.57783946e-01] [-2.04817197e-03 8.22851129e-04 9.99997564e-01 -1.60744080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.036502481 meters 0.10904092332630276 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.16, Z:-0.16 [[ 0.99999687 0.00157793 0.00193941 0.97566784] [-0.00157521 0.99999777 -0.00140722 -0.1563495 ] [-0.00194163 0.00140416 0.99999713 -0.16074294] [ 0. 0. 0. 1. ]] SLAMing on 23.066502481 meters 0.10888244344047404 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.15, Z:-0.16 [[ 9.99989267e-01 3.91612858e-03 2.47576166e-03 9.73796387e-01] [-3.91653451e-03 9.99992318e-01 1.59135715e-04 -1.51770336e-01] [-2.47511945e-03 -1.68830413e-04 9.99996923e-01 -1.59229741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.096502481 meters 0.107330198189164 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.15, Z:-0.16 [[ 9.99990507e-01 3.52616274e-03 2.55976627e-03 9.73738522e-01] [-3.52381048e-03 9.99993366e-01 -9.22866158e-04 -1.48929371e-01] [-2.56300347e-03 9.13837266e-04 9.99996298e-01 -1.59371241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.126502481 meters 0.1064972163738672 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.15, Z:-0.16 [[ 0.9999881 0.00374995 0.00312208 0.97190214] [-0.00374489 0.99999167 -0.00162486 -0.14561062] [-0.00312815 0.00161315 0.99999381 -0.15794599] [ 0. 0. 0. 1. ]] SLAMing on 23.156502481 meters 0.10792524677029251 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.14, Z:-0.16 [[ 0.99998841 0.00361701 0.00317712 0.97156596] [-0.00361025 0.99999121 -0.00213123 -0.14400684] [-0.0031848 0.00211974 0.99999268 -0.15757214] [ 0. 0. 0. 1. ]] SLAMing on 23.186502481 meters 0.1061447028340648 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.14, Z:-0.16 [[ 0.99996491 0.00771776 0.00325662 0.97111492] [-0.00772305 0.99996887 0.00161562 -0.1421464 ] [-0.00324405 -0.00164071 0.99999339 -0.15703951] [ 0. 0. 0. 1. ]] SLAMing on 23.216502481 meters 0.10648727212250987 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.14, Z:-0.16 [[ 9.99969242e-01 7.19389266e-03 3.12445076e-03 9.71868679e-01] [-7.19611336e-03 9.99973863e-01 7.00086891e-04 -1.40291197e-01] [-3.11933274e-03 -7.22549260e-04 9.99994874e-01 -1.57884667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.246502481 meters 0.1055388784921831 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.14, Z:-0.16 [[ 9.99973207e-01 6.69491354e-03 2.96032864e-03 9.72818985e-01] [-6.69439026e-03 9.99977575e-01 -1.86638257e-04 -1.38658808e-01] [-2.96151179e-03 1.66815661e-04 9.99995601e-01 -1.59048235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.276502481 meters 0.10463079675069205 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.14, Z:-0.16 [[ 0.99997833 0.00603929 0.00262157 0.97428994] [-0.0060363 0.99998112 -0.00114684 -0.13711535] [-0.00262845 0.00113099 0.99999591 -0.16050802] [ 0. 0. 0. 1. ]] SLAMing on 23.306502481 meters 0.10457834672661213 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.13, Z:-0.16 [[ 0.99998569 0.00478807 0.00238539 0.97626555] [-0.00478049 0.99998353 -0.00317492 -0.13295205] [-0.00240055 0.00316347 0.99999211 -0.16301926] [ 0. 0. 0. 1. ]] SLAMing on 23.336502481 meters 0.10468444494121996 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.13, Z:-0.16 [[ 0.99998708 0.00454153 0.00228297 0.97650433] [-0.00453314 0.999983 -0.00366612 -0.13172358] [-0.00229958 0.00365572 0.99999067 -0.16317138] [ 0. 0. 0. 1. ]] SLAMing on 23.366502481 meters 0.10448796932320817 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.13, Z:-0.16 [[ 0.9999878 0.00446539 0.00211129 0.97667179] [-0.00445733 0.99998282 -0.00380727 -0.13138228] [-0.00212826 0.00379782 0.99999052 -0.16295218] [ 0. 0. 0. 1. ]] SLAMing on 23.396502481 meters 0.1049530387950019 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.13, Z:-0.16 [[ 0.9999876 0.00466673 0.00173671 0.97663602] [-0.00466053 0.9999828 -0.00356053 -0.13186341] [-0.0017533 0.00355239 0.99999215 -0.16184085] [ 0. 0. 0. 1. ]] SLAMing on 23.426502481 meters 0.10419939676301572 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.13, Z:-0.16 [[ 0.99998771 0.00463013 0.00177385 0.9762705 ] [-0.00462278 0.99998081 -0.0041233 -0.13006777] [-0.0017929 0.00411504 0.99998993 -0.16126547] [ 0. 0. 0. 1. ]] SLAMing on 23.456502481 meters 0.10370676857734133 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.13, Z:-0.16 [[ 0.99998955 0.00427351 0.00162355 0.97679647] [-0.00426561 0.99997919 -0.00484063 -0.12851183] [-0.00164421 0.00483366 0.99998697 -0.16170221] [ 0. 0. 0. 1. ]] SLAMing on 23.486502481000002 meters 0.10273556205446295 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.13, Z:-0.16 [[ 0.99999246 0.00372523 0.00109762 0.97846756] [-0.00371891 0.99997683 -0.00570125 -0.12716194] [-0.00111884 0.00569712 0.99998315 -0.16303233] [ 0. 0. 0. 1. ]] SLAMing on 23.516502481 meters 0.10248256510259164 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.13, Z:-0.16 [[ 9.99992832e-01 3.68669587e-03 8.62973241e-04 9.79000579e-01] [-3.68173372e-03 9.99977076e-01 -5.68270864e-03 -1.27477627e-01] [-8.83903876e-04 5.67949067e-03 9.99983481e-01 -1.63181291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.546502481 meters 0.10246452296219605 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.13, Z:-0.16 [[ 9.99992410e-01 3.83961590e-03 6.61622319e-04 9.79127525e-01] [-3.83602083e-03 9.99978321e-01 -5.35191295e-03 -1.28312584e-01] [-6.82157265e-04 5.34933433e-03 9.99985460e-01 -1.62782420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.576502481000002 meters 0.10264070220430146 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.13, Z:-0.16 [[ 9.99990495e-01 4.34782938e-03 3.25922072e-04 9.78974995e-01] [-4.34636147e-03 9.99980976e-01 -4.37682323e-03 -1.30604712e-01] [-3.44945553e-04 4.37536505e-03 9.99990369e-01 -1.61565635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.606502481 meters 0.10291363080781687 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.13, Z:-0.16 [[ 9.99987508e-01 4.98917332e-03 3.04408046e-04 9.78071923e-01] [-4.98813033e-03 9.99981995e-01 -3.33589303e-03 -1.32538970e-01] [-3.21045913e-04 3.33433293e-03 9.99994390e-01 -1.60011083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.636502481 meters 0.10324594170334912 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.13, Z:-0.16 [[ 9.99987871e-01 4.92456038e-03 8.51120034e-05 9.78551190e-01] [-4.92424953e-03 9.99982326e-01 -3.33145310e-03 -1.32764212e-01] [-1.01516441e-04 3.33099358e-03 9.99994447e-01 -1.60169657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.666502481000002 meters 0.10430255466792865 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.13, Z:-0.16 [[ 9.99989850e-01 4.48285157e-03 -4.52303303e-04 9.80268552e-01] [-4.48437992e-03 9.99984040e-01 -3.43657278e-03 -1.33544914e-01] [ 4.36890439e-04 3.43856620e-03 9.99993993e-01 -1.61508152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.696502481 meters 0.10498702947462783 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.13, Z:-0.16 [[ 9.99989496e-01 4.51651511e-03 -7.80157760e-04 9.80910466e-01] [-4.51884953e-03 9.99985239e-01 -3.01686325e-03 -1.34958314e-01] [ 7.66520536e-04 3.02035697e-03 9.99995145e-01 -1.61622452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.726502481 meters 0.10489170696420037 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.14, Z:-0.16 [[ 0.99998689 0.00482611 -0.00171274 0.98158642] [-0.00482847 0.9999874 -0.00137607 -0.14078185] [ 0.00170608 0.00138433 0.99999759 -0.16032178] [ 0. 0. 0. 1. ]] SLAMing on 23.756502481000002 meters 0.1056302745356186 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.14, Z:-0.16 [[ 9.99998027e-01 7.33072991e-04 -1.84641479e-03 9.81635221e-01] [-7.42643747e-04 9.99986266e-01 -5.18808610e-03 -1.42102511e-01] [ 1.84258619e-03 5.18944710e-03 9.99984837e-01 -1.60018494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.786502481 meters 0.10893540938783805 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.15, Z:-0.16 [[ 0.9999967 0.00120133 -0.00227191 0.98167275] [-0.00120955 0.9999927 -0.00362445 -0.14602662] [ 0.00226754 0.00362718 0.99999085 -0.15892662] [ 0. 0. 0. 1. ]] SLAMing on 23.816502481 meters 0.1091230905717246 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.15, Z:-0.16 [[ 0.99999655 0.00141004 -0.00221557 0.98127826] [-0.00141732 0.99999359 -0.00328763 -0.14653986] [ 0.00221092 0.00329076 0.99999214 -0.15849143] [ 0. 0. 0. 1. ]] SLAMing on 23.846502481 meters 0.10793890524463089 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.15, Z:-0.16 [[ 0.9999805 0.00578946 -0.00234074 0.9814784 ] [-0.00578609 0.99998222 0.00144555 -0.14763797] [ 0.00234907 -0.00143197 0.99999622 -0.15843545] [ 0. 0. 0. 1. ]] SLAMing on 23.876502481 meters 0.10805343372900651 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.15, Z:-0.16 [[ 9.99982102e-01 5.45977853e-03 -2.44686598e-03 9.82059550e-01] [-5.45762104e-03 9.99984713e-01 8.87545799e-04 -1.46543162e-01] [ 2.45167438e-03 -8.74175846e-04 9.99996613e-01 -1.59078741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.906502481 meters 0.10751618801614095 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.15, Z:-0.16 [[ 9.99982326e-01 5.31637421e-03 -2.66147033e-03 9.82713519e-01] [-5.31435194e-03 9.99985585e-01 7.66330036e-04 -1.46677962e-01] [ 2.66550606e-03 -7.52172502e-04 9.99996165e-01 -1.59424947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.936502481 meters 0.10692307261341459 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.15, Z:-0.16 [[ 0.99998133 0.00541903 -0.00282291 0.98292208] [-0.00541604 0.99998477 0.0010636 -0.14760161] [ 0.00282863 -0.00104829 0.99999545 -0.15922377] [ 0. 0. 0. 1. ]] SLAMing on 23.966502481 meters 0.10729280142710433 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.15, Z:-0.16 [[ 0.99997898 0.00567641 -0.00313265 0.98308794] [-0.00567085 0.99998234 0.00177939 -0.14960071] [ 0.00314269 -0.00176159 0.99999351 -0.15856151] [ 0. 0. 0. 1. ]] SLAMing on 23.996502481 meters 0.10821290390481397 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.15, Z:-0.16 [[ 0.9999785 0.00568609 -0.00326737 0.98354823] [-0.00567902 0.99998153 0.00216668 -0.15090601] [ 0.00327963 -0.00214807 0.99999231 -0.15889673] [ 0. 0. 0. 1. ]] SLAMing on 24.026502481 meters 0.1084599992508042 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.15, Z:-0.16 [[ 0.99997787 0.00567983 -0.00346254 0.98409387] [-0.00567161 0.99998109 0.00237831 -0.15181327] [ 0.00347598 -0.00235862 0.99999118 -0.15916581] [ 0. 0. 0. 1. ]] SLAMing on 24.056502481 meters 0.10812151921452162 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.15, Z:-0.16 [[ 0.9999755 0.00585788 -0.00383317 0.98479618] [-0.00584643 0.99997844 0.00299105 -0.15383788] [ 0.00385061 -0.00296857 0.99998818 -0.15917055] [ 0. 0. 0. 1. ]] SLAMing on 24.086502481 meters 0.10802844606743936 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.15, Z:-0.16 [[ 0.99997464 0.00586598 -0.00403827 0.98524042] [-0.00585339 0.99997799 0.00312269 -0.15443472] [ 0.0040565 -0.00309897 0.99998697 -0.15923963] [ 0. 0. 0. 1. ]] SLAMing on 24.116502481 meters 0.10802844606743936 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.15, Z:-0.16 [[ 0.99997464 0.00586598 -0.00403827 0.98524042] [-0.00585339 0.99997799 0.00312269 -0.15443472] [ 0.0040565 -0.00309897 0.99998697 -0.15923963] [ 0. 0. 0. 1. ]] SLAMing on 24.146502481 meters 0.1082386309697655 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.15, Z:-0.16 [[ 0.99997432 0.00581772 -0.00418583 0.98560524] [-0.00580464 0.99997825 0.00313095 -0.15469275] [ 0.00420395 -0.00310657 0.99998634 -0.15934817] [ 0. 0. 0. 1. ]] SLAMing on 24.176502481 meters 0.10699483720534209 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.15, Z:-0.16 [[ 0.99997506 0.00562004 -0.00427693 0.98623272] [-0.00560801 0.99998031 0.00281761 -0.15431084] [ 0.00429268 -0.00279355 0.99998688 -0.16001516] [ 0. 0. 0. 1. ]] SLAMing on 24.206502481 meters 0.10699471642173447 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.15, Z:-0.16 [[ 0.99997561 0.00548489 -0.00432355 0.9864812 ] [-0.00547386 0.99998174 0.00255907 -0.15379718] [ 0.00433751 -0.00253535 0.99998738 -0.16023354] [ 0. 0. 0. 1. ]] SLAMing on 24.236502481000002 meters 0.10645991654359456 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.15, Z:-0.16 [[ 0.99997528 0.00555309 -0.00431244 0.98633656] [-0.00554214 0.9999814 0.00254723 -0.15368701] [ 0.0043265 -0.00252327 0.99998746 -0.15994745] [ 0. 0. 0. 1. ]] SLAMing on 24.266502481 meters 0.10630122969456104 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.16, Z:-0.16 [[ 0.99997372 0.00562743 -0.00456968 0.98693539] [-0.00561402 0.99997991 0.00294173 -0.15519932] [ 0.00458614 -0.002916 0.99998523 -0.16008571] [ 0. 0. 0. 1. ]] SLAMing on 24.296502481 meters 0.10595570707378513 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.16, Z:-0.16 [[ 0.9999722 0.00569539 -0.00481268 0.9875596 ] [-0.00567915 0.99997815 0.00338224 -0.15679471] [ 0.00483184 -0.00335482 0.9999827 -0.16032368] [ 0. 0. 0. 1. ]] SLAMing on 24.326502481000002 meters 0.10606945795927873 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.16, Z:-0.16 [[ 0.99997018 0.00576507 -0.00513771 0.9882822 ] [-0.00574492 0.99997579 0.00392734 -0.158681 ] [ 0.00516023 -0.00389771 0.99997909 -0.16050929] [ 0. 0. 0. 1. ]] SLAMing on 24.356502481 meters 0.10705881671884282 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.16, Z:-0.16 [[ 9.99985800e-01 1.47241196e-03 -5.12171514e-03 9.88643960e-01] [-1.47261149e-03 9.99998915e-01 -3.51870231e-05 -1.59947317e-01] [ 5.12165777e-03 4.27288200e-05 9.99986883e-01 -1.61137352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.386502481 meters 0.10920917192388128 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.16, Z:-0.16 [[ 0.99998415 0.00192486 -0.00529165 0.9881806 ] [-0.00191952 0.99999764 0.00101483 -0.16228881] [ 0.00529359 -0.00100465 0.99998548 -0.15994072] [ 0. 0. 0. 1. ]] SLAMing on 24.416502481000002 meters 0.10942158966890148 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.16, Z:-0.16 [[ 0.99998301 0.00212653 -0.00542674 0.98798932] [-0.00211892 0.99999676 0.00140809 -0.1630675 ] [ 0.00542972 -0.00139657 0.99998428 -0.15923626] [ 0. 0. 0. 1. ]] SLAMing on 24.446502481 meters 0.10886736347215523 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.16, Z:-0.16 [[ 0.99998168 0.00196319 -0.00572525 0.988668 ] [-0.00195583 0.99999725 0.00129077 -0.16318283] [ 0.00572777 -0.00127955 0.99998278 -0.15944558] [ 0. 0. 0. 1. ]] SLAMing on 24.476502481 meters 0.10983343227213525 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.16, Z:-0.16 [[ 9.99981462e-01 1.64334785e-03 -5.86296338e-03 9.89403662e-01] [-1.63865676e-03 9.99998334e-01 8.04837073e-04 -1.62428250e-01] [ 5.86427623e-03 -7.95214769e-04 9.99982489e-01 -1.60223863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.506502481000002 meters 0.10880796425701644 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.16, Z:-0.16 [[ 9.99980938e-01 1.35177027e-03 -6.02459253e-03 9.90099354e-01] [-1.34949040e-03 9.99999016e-01 3.82475832e-04 -1.61825939e-01] [ 6.02510362e-03 -3.74338412e-04 9.99981779e-01 -1.60818283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.536502481 meters 0.1085044128854593 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.16, Z:-0.16 [[ 9.99980704e-01 8.47086560e-04 -6.15422087e-03 9.91308644e-01] [-8.49390207e-04 9.99999570e-01 -3.71715668e-04 -1.60842835e-01] [ 6.15390335e-03 3.76935830e-04 9.99980994e-01 -1.62347989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.566502481 meters 0.10766647312327594 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.16, Z:-0.16 [[ 9.99980655e-01 6.82562971e-04 -6.18250112e-03 9.91686885e-01] [-6.86859569e-04 9.99999524e-01 -6.92864470e-04 -1.60252380e-01] [ 6.18202525e-03 6.97097577e-04 9.99980648e-01 -1.62878484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.596502481 meters 0.10724018496701798 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.16 [[ 9.99996450e-01 -2.65994027e-03 1.59584346e-04 9.99610083e-01] [ 2.65931792e-03 9.99989316e-01 3.78091499e-03 -1.60230096e-01] [-1.69639649e-04 -3.78047718e-03 9.99992840e-01 -1.63970859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.626502481 meters 0.10710941985083448 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.16 [[ 9.99996832e-01 -2.48209078e-03 4.18492257e-04 9.98640071e-01] [ 2.48053453e-03 9.99990156e-01 3.67909760e-03 -1.59273039e-01] [-4.27619991e-04 -3.67804787e-03 9.99993145e-01 -1.63103249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.656502481 meters 0.1071952583339193 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.16 [[ 9.99996249e-01 -2.71636436e-03 3.50149053e-04 9.98947152e-01] [ 2.71519270e-03 9.99990855e-01 3.30430731e-03 -1.58498867e-01] [-3.59121553e-04 -3.30334419e-03 9.99994479e-01 -1.63416117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.686502481 meters 0.10828171279875265 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.16 [[ 9.99995792e-01 -2.89080364e-03 2.42481610e-04 9.99531915e-01] [ 2.88999045e-03 9.99990414e-01 3.28948287e-03 -1.58838945e-01] [-2.51988534e-04 -3.28876826e-03 9.99994560e-01 -1.64088775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.716502481 meters 0.10749207197332382 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.16 [[ 9.99995992e-01 -2.82473963e-03 1.92417281e-04 9.99745959e-01] [ 2.82403349e-03 9.99989618e-01 3.57623411e-03 -1.59706694e-01] [-2.02517213e-04 -3.57567639e-03 9.99993587e-01 -1.64313342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.746502481 meters 0.1094262109394849 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.16 [[ 9.99995075e-01 -3.09456321e-03 -5.22271947e-04 1.00127479e+00] [ 3.09667245e-03 9.99986852e-01 4.08730392e-03 -1.61990084e-01] [ 5.09616660e-04 -4.08890110e-03 9.99991511e-01 -1.64827382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.776502481 meters 0.10937837582825338 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.16 [[ 9.99995119e-01 -3.01364054e-03 -8.24601893e-04 1.00162548e+00] [ 3.01734143e-03 9.99985213e-01 4.52427011e-03 -1.63227587e-01] [ 8.10955176e-04 -4.52673613e-03 9.99989425e-01 -1.64527659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.806502481 meters 0.11167635467043 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.16 [[ 9.99995413e-01 -2.89206156e-03 -8.99904396e-04 1.00144648e+00] [ 2.89640476e-03 9.99983981e-01 4.86300411e-03 -1.63862844e-01] [ 8.85825873e-04 -4.86558830e-03 9.99987771e-01 -1.64075264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.836502481 meters 0.11103959352670977 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.16 [[ 9.99994907e-01 -3.05390829e-03 -9.26720156e-04 1.00153578e+00] [ 3.05808977e-03 9.99984996e-01 4.54476459e-03 -1.63064052e-01] [ 9.12826958e-04 -4.54757544e-03 9.99989243e-01 -1.64161974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.866502481 meters 0.11038135746140713 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.16 [[ 0.99999839 0.00123443 -0.00130526 1.00159722] [-0.00122289 0.9999605 0.00880355 -0.16282701] [ 0.00131608 -0.00880194 0.9999604 -0.16326971] [ 0. 0. 0. 1. ]] SLAMing on 24.896502481 meters 0.10952324091004596 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.16 [[ 9.99998640e-01 9.04615280e-04 -1.37922132e-03 1.00200065e+00] [-8.93433425e-04 9.99966904e-01 8.08654249e-03 -1.61259303e-01] [ 1.38649088e-03 -8.08529924e-03 9.99966352e-01 -1.63698073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.926502481 meters 0.10794164645001819 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.16 [[ 9.99999167e-01 5.07179207e-04 -1.18694144e-03 1.00209837e+00] [-4.99026878e-04 9.99976355e-01 6.85859654e-03 -1.58327285e-01] [ 1.19039191e-03 -6.85799851e-03 9.99975775e-01 -1.64382700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.956502481 meters 0.1082414213370862 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.16 [[ 9.99999216e-01 2.34196894e-04 -1.23007122e-03 1.00246746e+00] [-2.26411007e-04 9.99979965e-01 6.32595255e-03 -1.57177867e-01] [ 1.23152809e-03 -6.32566909e-03 9.99979234e-01 -1.64849863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.986502481000002 meters 0.1077455074057438 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.17 [[ 9.99999187e-01 -1.14974424e-05 -1.27521549e-03 1.00272794e+00] [ 1.89811458e-05 9.99982779e-01 5.86872258e-03 -1.56156606e-01] [ 1.27512605e-03 -5.86874201e-03 9.99981966e-01 -1.65146257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.016502481 meters 0.10881637349908073 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.15, Z:-0.16 [[ 9.99999245e-01 -1.74206352e-04 -1.21605099e-03 1.00249489e+00] [ 1.80873608e-04 9.99984942e-01 5.48475589e-03 -1.54902601e-01] [ 1.21507720e-03 -5.48497170e-03 9.99984219e-01 -1.64957504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.046502481 meters 0.10928884429459253 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.15, Z:-0.16 [[ 9.99999294e-01 -1.58297579e-04 -1.17766937e-03 1.00224922e+00] [ 1.64796608e-04 9.99984748e-01 5.52050233e-03 -1.54755044e-01] [ 1.17677753e-03 -5.52069251e-03 9.99984068e-01 -1.64704354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.076502481000002 meters 0.10998304907437212 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.16 [[ 9.99999127e-01 -1.85541986e-04 -1.30831870e-03 1.00254099e+00] [ 1.92930700e-04 9.99984022e-01 5.64962484e-03 -1.55262879e-01] [ 1.30724955e-03 -5.64987232e-03 9.99983185e-01 -1.64802727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.106502481 meters 0.11231173813247211 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.16 [[ 9.99998097e-01 -2.03173872e-04 -1.94026583e-03 1.00327300e+00] [ 2.15634266e-04 9.99979343e-01 6.42395485e-03 -1.57730986e-01] [ 1.93892057e-03 -6.42436101e-03 9.99977484e-01 -1.64319460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.136502481 meters 0.11307721012912227 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.16 [[ 9.99997305e-01 -2.05422025e-04 -2.31259132e-03 1.00388588e+00] [ 2.21245834e-04 9.99976553e-01 6.84428304e-03 -1.59073667e-01] [ 2.31113113e-03 -6.84477625e-03 9.99973904e-01 -1.64275544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.166502481000002 meters 0.11588060159158434 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.16 [[ 9.99996682e-01 -3.31012031e-04 -2.55484850e-03 1.00417879e+00] [ 3.48691686e-04 9.99975977e-01 6.92269995e-03 -1.59322016e-01] [ 2.55249563e-03 -6.92356783e-03 9.99972774e-01 -1.64142194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.196502481 meters 0.11553152377308377 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.16, Z:-0.16 [[ 9.99996331e-01 -6.05617713e-04 -2.64044590e-03 1.00461429e+00] [ 6.22707363e-04 9.99978835e-01 6.47624809e-03 -1.58425886e-01] [ 2.63646789e-03 -6.47786855e-03 9.99975543e-01 -1.64632880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.226502481 meters 0.11691760385127989 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.16, Z:-0.17 [[ 0.99999589 -0.00108953 -0.00265097 1.00504543] [ 0.00110388 0.99998472 0.0054168 -0.15587566] [ 0.00264503 -0.0054197 0.99998182 -0.16534136] [ 0. 0. 0. 1. ]] SLAMing on 25.256502481000002 meters 0.11227425735850605 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.15, Z:-0.16 [[ 9.99998148e-01 6.23095388e-04 -1.82071844e-03 1.00337532e+00] [-6.10950530e-04 9.99977613e-01 6.66332608e-03 -1.52016839e-01] [ 1.82482957e-03 -6.66220137e-03 9.99976142e-01 -1.64730065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.286502481 meters 0.11292996001918136 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.15, Z:-0.17 [[ 9.99997950e-01 2.73328799e-05 -2.02481999e-03 1.00446015e+00] [-1.60453840e-05 9.99984463e-01 5.57437411e-03 -1.49931296e-01] [ 2.02494090e-03 -5.57433019e-03 9.99982413e-01 -1.65893726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.316502481 meters 0.11165456208267505 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.15, Z:-0.17 [[ 9.99997570e-01 -5.84151867e-04 -2.12567670e-03 1.00530664e+00] [ 5.93317118e-04 9.99990520e-01 4.31361335e-03 -1.47238256e-01] [ 2.12313674e-03 -4.31486407e-03 9.99988437e-01 -1.66988786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.346502481 meters 0.11012210924228359 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.14, Z:-0.17 [[ 0.99999261 0.00310519 -0.00226488 1.00594823] [-0.00308873 0.99996906 0.00723507 -0.14396769] [ 0.00228727 -0.00722802 0.99997126 -0.16756897] [ 0. 0. 0. 1. ]] SLAMing on 25.376502481 meters 0.1095942938311256 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.14, Z:-0.17 [[ 0.99999348 0.00269976 -0.00239744 1.00645312] [-0.00268437 0.99997592 0.0063996 -0.14213002] [ 0.00241466 -0.00639312 0.99997665 -0.16799338] [ 0. 0. 0. 1. ]] SLAMing on 25.406502481 meters 0.109287881671477 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.14, Z:-0.17 [[ 0.99999452 0.00212111 -0.00254033 1.00712823] [-0.0021079 0.99998431 0.00519053 -0.1393484 ] [ 0.0025513 -0.00518515 0.9999833 -0.1686584 ] [ 0. 0. 0. 1. ]] SLAMing on 25.436502481 meters 0.10911085371419478 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.14, Z:-0.17 [[ 0.99999577 0.00135428 -0.00257346 1.00803743] [-0.00134455 0.99999195 0.00378071 -0.13615784] [ 0.00257856 -0.00377724 0.99998954 -0.16999773] [ 0. 0. 0. 1. ]] SLAMing on 25.466502481 meters 0.10921780337354334 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.13, Z:-0.17 [[ 9.99996197e-01 9.19966478e-04 -2.59995831e-03 1.00849184e+00] [-9.12263697e-04 9.99995196e-01 2.96229028e-03 -1.34372824e-01] [ 2.60267103e-03 -2.95990716e-03 9.99992232e-01 -1.70647178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.496502481 meters 0.10821635443595766 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.13, Z:-0.17 [[ 9.99996809e-01 5.08489173e-04 -2.47448062e-03 1.00861591e+00] [-5.03986708e-04 9.99998217e-01 1.81984297e-03 -1.31440395e-01] [ 2.47540158e-03 -1.81859005e-03 9.99995283e-01 -1.71169526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.526502481 meters 0.1085040252320993 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.13, Z:-0.17 [[ 9.99996686e-01 3.25177610e-05 -2.57415074e-03 1.00918700e+00] [-3.03367261e-05 9.99999641e-01 8.47317817e-04 -1.29270561e-01] [ 2.57417737e-03 -8.47236918e-04 9.99996328e-01 -1.71791654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.556502481 meters 0.10791528866953426 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.13, Z:-0.17 [[ 9.99996436e-01 -3.57672808e-04 -2.64571159e-03 1.00962492e+00] [ 3.57844159e-04 9.99999934e-01 6.42925254e-05 -1.27517491e-01] [ 2.64568842e-03 -6.52390488e-05 9.99996498e-01 -1.72270390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.586502481 meters 0.10722642171147083 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.13, Z:-0.17 [[ 9.99996330e-01 -6.35630433e-04 -2.63355095e-03 1.00982490e+00] [ 6.33906015e-04 9.99999584e-01 -6.55571096e-04 -1.25697828e-01] [ 2.63396655e-03 6.53899266e-04 9.99996317e-01 -1.72614862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.616502481 meters 0.10740806800106693 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.13, Z:-0.17 [[ 0.99999002 0.00349133 -0.0027882 1.01006573] [-0.00348166 0.99998793 0.00346545 -0.12536242] [ 0.00280027 -0.00345571 0.99999011 -0.17255945] [ 0. 0. 0. 1. ]] SLAMing on 25.646502481 meters 0.1083536535627439 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.12, Z:-0.17 [[ 0.99999131 0.00310833 -0.00277777 1.01035206] [-0.00310089 0.99999161 0.00267551 -0.12351647] [ 0.00278606 -0.00266688 0.99999256 -0.17307117] [ 0. 0. 0. 1. ]] SLAMing on 25.676502481 meters 0.1073738423439217 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.12, Z:-0.17 [[ 0.99999288 0.00279253 -0.00253756 1.01003876] [-0.00278825 0.99999468 0.00169215 -0.12069802] [ 0.00254227 -0.00168506 0.99999535 -0.17319916] [ 0. 0. 0. 1. ]] SLAMing on 25.706502481 meters 0.10730192195710783 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.12, Z:-0.17 [[ 0.99999348 0.00248528 -0.00262002 1.01034751] [-0.00248247 0.99999634 0.0010736 -0.1193219 ] [ 0.00262268 -0.00106709 0.99999599 -0.17343475] [ 0. 0. 0. 1. ]] SLAMing on 25.736502481 meters 0.10729188493293487 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.12, Z:-0.17 [[ 9.99994625e-01 2.07579276e-03 -2.53787678e-03 1.01041499e+00] [-2.07579955e-03 9.99997846e-01 -4.12301928e-08 -1.16584036e-01] [ 2.53787123e-03 5.30935344e-06 9.99996780e-01 -1.73755612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.766502481 meters 0.10622045132708649 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.11, Z:-0.17 [[ 9.99995041e-01 1.80826875e-03 -2.57826520e-03 1.01055852e+00] [-1.80989806e-03 9.99998164e-01 -6.29744608e-04 -1.14974589e-01] [ 2.57712172e-03 6.34407882e-04 9.99996478e-01 -1.73889542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.796502481 meters 0.1061719590211438 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.11, Z:-0.17 [[ 0.99999582 0.00171439 -0.00232653 1.00991405] [-0.00171746 0.99999765 -0.00131938 -0.11278725] [ 0.00232426 0.00132337 0.99999642 -0.17353068] [ 0. 0. 0. 1. ]] SLAMing on 25.826502481000002 meters 0.10579032703644103 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.11, Z:-0.17 [[ 0.99999554 0.00180365 -0.00237936 1.00963092] [-0.00180681 0.99999749 -0.00132369 -0.11246694] [ 0.00237696 0.00132799 0.99999629 -0.17292332] [ 0. 0. 0. 1. ]] SLAMing on 25.856502481 meters 0.1061767394964251 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.11, Z:-0.17 [[ 0.99999504 0.00195608 -0.00246936 1.00905133] [-0.00195925 0.99999726 -0.00128155 -0.11210941] [ 0.00246684 0.00128638 0.99999613 -0.17174907] [ 0. 0. 0. 1. ]] SLAMing on 25.886502481 meters 0.10630232900778544 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.11, Z:-0.17 [[ 0.99999497 0.00199101 -0.00246794 1.00879486] [-0.00199429 0.99999713 -0.00132791 -0.11173302] [ 0.00246529 0.00133283 0.99999607 -0.17138067] [ 0. 0. 0. 1. ]] SLAMing on 25.916502481000002 meters 0.10630440215395535 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.11, Z:-0.17 [[ 0.9999952 0.00158169 -0.00266435 1.00972171] [-0.00158663 0.99999703 -0.00185031 -0.11102902] [ 0.00266142 0.00185452 0.99999474 -0.17234772] [ 0. 0. 0. 1. ]] SLAMing on 25.946502481 meters 0.10680435813173346 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.11, Z:-0.17 [[ 0.99999501 0.00136238 -0.00285169 1.01052546] [-0.00136827 0.99999693 -0.002066 -0.11096941] [ 0.00284887 0.00206989 0.9999938 -0.17310646] [ 0. 0. 0. 1. ]] SLAMing on 25.976502481 meters 0.10703177820581901 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.11, Z:-0.17 [[ 9.99994471e-01 1.00756199e-03 -3.16893543e-03 1.01211656e+00] [-1.01427657e-03 9.99997243e-01 -2.11798189e-03 -1.11843770e-01] [ 3.16679269e-03 2.12118435e-03 9.99992736e-01 -1.74747390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.006502481000002 meters 0.10618287566980832 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.11, Z:-0.18 [[ 9.99993975e-01 9.78594008e-04 -3.33049077e-03 1.01267944e+00] [-9.85215667e-04 9.99997540e-01 -1.98713382e-03 -1.12534084e-01] [ 3.32853798e-03 1.99040310e-03 9.99992480e-01 -1.75197001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.036502481 meters 0.10618287566980832 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.11, Z:-0.18 [[ 9.99993975e-01 9.78594008e-04 -3.33049077e-03 1.01267944e+00] [-9.85215667e-04 9.99997540e-01 -1.98713382e-03 -1.12534084e-01] [ 3.32853798e-03 1.99040310e-03 9.99992480e-01 -1.75197001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.066502481 meters 0.1066138563076518 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.11, Z:-0.18 [[ 0.99999301 0.00101691 -0.00359834 1.0134214 ] [-0.00102276 0.99999816 -0.00162548 -0.11384832] [ 0.00359668 0.00162915 0.9999922 -0.17563884] [ 0. 0. 0. 1. ]] SLAMing on 26.096502481 meters 0.10672355375482813 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.11, Z:-0.18 [[ 9.99992037e-01 6.18522731e-04 -3.94261374e-03 1.01494783e+00] [-6.26271295e-04 9.99997874e-01 -1.96440555e-03 -1.13933528e-01] [ 3.94139033e-03 1.96685906e-03 9.99990298e-01 -1.77127442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.126502481 meters 0.10737720995676958 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.11, Z:-0.18 [[ 9.99991342e-01 3.03421910e-04 -4.15009463e-03 1.01593083e+00] [-3.13290963e-04 9.99997124e-01 -2.37758744e-03 -1.13444494e-01] [ 4.14936128e-03 2.37886704e-03 9.99988562e-01 -1.78131506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.156502481 meters 0.10574949634961797 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.11, Z:-0.18 [[ 0.99997973 0.00446062 -0.00454339 1.0169447 ] [-0.00445183 0.99998821 0.00194172 -0.11406105] [ 0.004552 -0.00192145 0.99998779 -0.17862175] [ 0. 0. 0. 1. ]] SLAMing on 26.186502481 meters 0.10590172922876093 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.11, Z:-0.18 [[ 0.99997938 0.00436342 -0.00471219 1.01729491] [-0.00435483 0.99998884 0.001832 -0.11402035] [ 0.00472014 -0.00181144 0.99998722 -0.17865721] [ 0. 0. 0. 1. ]] SLAMing on 26.216502481 meters 0.10647224828966662 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 0.99997525 0.00464998 -0.00528008 1.01765707] [-0.00463745 0.99998641 0.00238158 -0.11579217] [ 0.00529109 -0.00235704 0.99998322 -0.17765635] [ 0. 0. 0. 1. ]] SLAMing on 26.246502481 meters 0.10567010883642654 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 0.9999737 0.00473006 -0.0054973 1.01792832] [-0.00471583 0.9999855 0.00259899 -0.11646755] [ 0.00550951 -0.002573 0.99998151 -0.17744758] [ 0. 0. 0. 1. ]] SLAMing on 26.276502481 meters 0.10588673292516346 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 0.99997211 0.00488881 -0.00564616 1.01765762] [-0.00487354 0.99998444 0.00271625 -0.11633658] [ 0.00565935 -0.00268865 0.99998037 -0.1766224 ] [ 0. 0. 0. 1. ]] SLAMing on 26.306502481 meters 0.10621671719106589 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 0.99997215 0.00492884 -0.00560455 1.01736791] [-0.00491378 0.99998429 0.00269741 -0.11605572] [ 0.00561776 -0.00266979 0.99998066 -0.17626152] [ 0. 0. 0. 1. ]] SLAMing on 26.336502481 meters 0.10660356015425553 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 0.99997035 0.0050947 -0.00577381 1.01736395] [-0.0050771 0.99998243 0.00305984 -0.11687897] [ 0.0057893 -0.00303043 0.99997865 -0.17577081] [ 0. 0. 0. 1. ]] SLAMing on 26.366502481 meters 0.10683605940385202 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 9.99982140e-01 8.04260119e-04 -5.92221665e-03 1.01779952e+00] [-8.10344540e-04 9.99999146e-01 -1.02506121e-03 -1.17711226e-01] [ 5.92138718e-03 1.02984194e-03 9.99981938e-01 -1.76065464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.396502481 meters 0.10752271239964067 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 9.99980320e-01 8.23398290e-04 -6.21943749e-03 1.01867069e+00] [-8.26352222e-04 9.99999547e-01 -4.72396783e-04 -1.19618670e-01] [ 6.21904570e-03 4.77526932e-04 9.99980548e-01 -1.76697141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.426502481 meters 0.10821077217378255 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 9.99978904e-01 7.37223016e-04 -6.45345699e-03 1.01941212e+00] [-7.39503470e-04 9.99999665e-01 -3.50990376e-04 -1.20393024e-01] [ 6.45319607e-03 3.55755326e-04 9.99979115e-01 -1.77218743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.456502481 meters 0.10928630409997395 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 9.99977563e-01 8.15988700e-04 -6.64885083e-03 1.01983667e+00] [-8.15036433e-04 9.99999657e-01 1.45931104e-04 -1.21752272e-01] [ 6.64896762e-03 -1.40508774e-04 9.99977885e-01 -1.77467228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.486502481 meters 0.11012214207722802 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 9.99977532e-01 7.47660213e-04 -6.66150255e-03 1.01994222e+00] [-7.46999377e-04 9.99999716e-01 1.01689742e-04 -1.21712224e-01] [ 6.66157669e-03 -9.67113185e-05 9.99977807e-01 -1.77617848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.516502481 meters 0.10945694545658291 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 9.99979155e-01 1.13954567e-03 -6.35536530e-03 1.01861073e+00] [-1.13660089e-03 9.99999245e-01 4.66945168e-04 -1.21596182e-01] [ 6.35589261e-03 -4.59711921e-04 9.99979695e-01 -1.76352258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.546502481 meters 0.1101738827958312 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 9.99978226e-01 1.04333257e-03 -6.51611318e-03 1.01869347e+00] [-1.04170099e-03 9.99999425e-01 2.53780642e-04 -1.21024004e-01] [ 6.51637422e-03 -2.46987275e-04 9.99978738e-01 -1.76008652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.576502481000002 meters 0.10993171486559712 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 9.99977440e-01 1.07639811e-03 -6.63026323e-03 1.01857108e+00] [-1.07571046e-03 9.99999416e-01 1.07277710e-04 -1.20603942e-01] [ 6.63037483e-03 -1.00143046e-04 9.99978014e-01 -1.75412096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.606502481 meters 0.11119846621954219 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 9.99976606e-01 8.27864610e-04 -6.78984435e-03 1.01923752e+00] [-8.29831785e-04 9.99999615e-01 -2.86910989e-04 -1.19997094e-01] [ 6.78960421e-03 2.92538705e-04 9.99976908e-01 -1.76030285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.636502481 meters 0.10922279160925748 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 9.99976741e-01 4.12472443e-04 -6.80792704e-03 1.02015816e+00] [-4.18903553e-04 9.99999467e-01 -9.43251413e-04 -1.18876160e-01] [ 6.80753435e-03 9.46081338e-04 9.99976381e-01 -1.77493148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.666502481000002 meters 0.10941007670397276 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 9.99976677e-01 2.83423439e-04 -6.82392952e-03 1.02061723e+00] [-2.90677040e-04 9.99999394e-01 -1.06199720e-03 -1.18903353e-01] [ 6.82362438e-03 1.06395599e-03 9.99976153e-01 -1.78204312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.696502481 meters 0.1101777140588075 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 9.99976055e-01 1.27162064e-04 -6.91903724e-03 1.02128218e+00] [-1.33550110e-04 9.99999565e-01 -9.22802397e-04 -1.19698977e-01] [ 6.91891689e-03 9.23704339e-04 9.99975637e-01 -1.79027573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.726502481 meters 0.11104302157829532 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 9.99975137e-01 2.11118835e-04 -7.04850740e-03 1.02152184e+00] [-2.14998512e-04 9.99999826e-01 -5.49672117e-04 -1.20835890e-01] [ 7.04839013e-03 5.51173869e-04 9.99975008e-01 -1.79041207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.756502481000002 meters 0.1133919557658076 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.12, Z:-0.18 [[ 9.99972013e-01 5.53066780e-04 -7.46106615e-03 1.02171225e+00] [-5.48098383e-04 9.99999627e-01 6.67938089e-04 -1.24162021e-01] [ 7.46143278e-03 -6.63829997e-04 9.99971943e-01 -1.78246816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.786502481 meters 0.1116760469590135 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.13, Z:-0.18 [[ 9.99969417e-01 7.66837089e-04 -7.78310537e-03 1.02199259e+00] [-7.56415858e-04 9.99998814e-01 1.34181074e-03 -1.26050081e-01] [ 7.78412509e-03 -1.33588244e-03 9.99968811e-01 -1.77777863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.816502481 meters 0.11282065004901165 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.13, Z:-0.18 [[ 0.9999642 0.00111348 -0.00838758 1.022443 ] [-0.00109311 0.99999644 0.00243335 -0.12930161] [ 0.00839026 -0.0024241 0.99996186 -0.17692145] [ 0. 0. 0. 1. ]] SLAMing on 26.846502481 meters 0.1136804637370161 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.13, Z:-0.18 [[ 9.99963374e-01 9.25501071e-04 -8.50851235e-03 1.02292749e+00] [-9.06515955e-04 9.99997092e-01 2.23489449e-03 -1.29051729e-01] [ 8.51055601e-03 -2.22709953e-03 9.99961304e-01 -1.77336523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.876502481 meters 0.11396743269589464 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.13, Z:-0.18 [[ 9.99963881e-01 7.24470007e-04 -8.46830415e-03 1.02306373e+00] [-7.09254660e-04 9.99998129e-01 1.79960591e-03 -1.27925768e-01] [ 8.46959207e-03 -1.79353472e-03 9.99962524e-01 -1.77702261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.906502481 meters 0.11400683467328088 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.13, Z:-0.18 [[ 0.99999669 -0.00217644 -0.00136955 1.03106737] [ 0.00218532 0.99997639 0.00651489 -0.12885552] [ 0.00135534 -0.00651786 0.99997784 -0.17955182] [ 0. 0. 0. 1. ]] SLAMing on 26.936502481 meters 0.11397517756563558 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.13, Z:-0.18 [[ 0.99999607 -0.00222799 -0.00170285 1.03178099] [ 0.00223923 0.99997555 0.00662526 -0.1297037 ] [ 0.00168805 -0.00662904 0.9999766 -0.17966686] [ 0. 0. 0. 1. ]] SLAMing on 26.966502481 meters 0.1135373986918683 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.13, Z:-0.18 [[ 0.99999584 -0.00223577 -0.00182359 1.03199922] [ 0.00224786 0.99997533 0.00665497 -0.12994851] [ 0.00180867 -0.00665905 0.99997619 -0.1796164 ] [ 0. 0. 0. 1. ]] SLAMing on 26.996502481 meters 0.11431253518543986 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.13, Z:-0.18 [[ 0.99999517 -0.00250584 -0.00183796 1.03219806] [ 0.00251707 0.99997805 0.00612966 -0.12877413] [ 0.00182256 -0.00613425 0.99997952 -0.17985965] [ 0. 0. 0. 1. ]] SLAMing on 27.026502481 meters 0.11196100977008311 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.13, Z:-0.18 [[ 0.99999466 -0.00266042 -0.00189783 1.03228944] [ 0.00267144 0.99997944 0.00582924 -0.12802119] [ 0.00188228 -0.00583428 0.99998121 -0.17983766] [ 0. 0. 0. 1. ]] SLAMing on 27.056502481 meters 0.1129544514942493 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.13, Z:-0.18 [[ 0.99999465 -0.00278072 -0.00172167 1.03179308] [ 0.00278992 0.99998172 0.00536501 -0.1264114 ] [ 0.00170672 -0.00536978 0.99998413 -0.17959554] [ 0. 0. 0. 1. ]] SLAMing on 27.086502481 meters 0.11327383850369148 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.13, Z:-0.18 [[ 0.99999404 -0.0029729 -0.00175757 1.03192671] [ 0.00298151 0.99998346 0.00491918 -0.12522544] [ 0.00174291 -0.00492439 0.99998636 -0.17975443] [ 0. 0. 0. 1. ]] SLAMing on 27.116502481 meters 0.11357902957960696 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.12, Z:-0.18 [[ 0.99999243 -0.00342321 -0.00184874 1.0325641 ] [ 0.00343075 0.99998574 0.00409342 -0.12345843] [ 0.0018347 -0.00409973 0.99998991 -0.18055569] [ 0. 0. 0. 1. ]] SLAMing on 27.146502481 meters 0.11382053801855874 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.12, Z:-0.18 [[ 0.99999144 -0.00367875 -0.00189403 1.03304501] [ 0.00368564 0.99998656 0.00364555 -0.12258989] [ 0.00188059 -0.0036525 0.99999156 -0.18120856] [ 0. 0. 0. 1. ]] SLAMing on 27.176502481 meters 0.11340945245295092 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.12, Z:-0.18 [[ 9.99998221e-01 3.30537275e-04 -1.85713939e-03 1.03296331e+00] [-3.17197979e-04 9.99974184e-01 7.17842078e-03 -1.20476735e-01] [ 1.85946419e-03 -7.17781892e-03 9.99972510e-01 -1.81202134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.206502481 meters 0.1130821573532314 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.12, Z:-0.18 [[ 9.99998554e-01 -1.12104782e-04 -1.69716460e-03 1.03282630e+00] [ 1.22293749e-04 9.99981965e-01 6.00461022e-03 -1.17263536e-01] [ 1.69646085e-03 -6.00480909e-03 9.99980532e-01 -1.81445287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.236502481 meters 0.11264458733357977 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.11, Z:-0.18 [[ 9.99999111e-01 -2.48586445e-04 -1.30993188e-03 1.03179952e+00] [ 2.55094622e-04 9.99987614e-01 4.97050958e-03 -1.13718437e-01] [ 1.30868005e-03 -4.97083932e-03 9.99986789e-01 -1.80841272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.266502481 meters 0.11248060403718052 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.11, Z:-0.18 [[ 9.99999083e-01 -3.64650621e-04 -1.30404647e-03 1.03149969e+00] [ 3.70480097e-04 9.99989928e-01 4.47285436e-03 -1.12200197e-01] [ 1.30240231e-03 -4.47333338e-03 9.99989146e-01 -1.80335494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.296502481 meters 0.11253477072428479 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.11, Z:-0.18 [[ 9.99998745e-01 -6.19613388e-04 -1.45833697e-03 1.03196207e+00] [ 6.25503587e-04 9.99991635e-01 4.04199902e-03 -1.11379299e-01] [ 1.45582029e-03 -4.04290614e-03 9.99990768e-01 -1.80629288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.326502481000002 meters 0.10979764385041128 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.11, Z:-0.18 [[ 0.99999838 -0.00113163 -0.00140309 1.03244408] [ 0.00113591 0.99999469 0.00305464 -0.10901131] [ 0.00139962 -0.00305623 0.99999435 -0.18152783] [ 0. 0. 0. 1. ]] SLAMing on 27.356502481 meters 0.11276671008071697 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.11, Z:-0.18 [[ 0.99999766 -0.00159953 -0.00145759 1.03309991] [ 0.00160288 0.99999607 0.00229851 -0.1074545 ] [ 0.00145391 -0.00230084 0.9999963 -0.18240665] [ 0. 0. 0. 1. ]] SLAMing on 27.386502481 meters 0.10996897739464771 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.11, Z:-0.18 [[ 0.99999718 -0.00163068 -0.00172413 1.03387631] [ 0.00163504 0.99999545 0.0025335 -0.10860857] [ 0.00171999 -0.00253631 0.9999953 -0.18287602] [ 0. 0. 0. 1. ]] SLAMing on 27.416502481000002 meters 0.11252602386509303 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.11, Z:-0.18 [[ 0.99999688 -0.00151506 -0.00198586 1.03450998] [ 0.00152094 0.99999445 0.00296511 -0.11028021] [ 0.00198136 -0.00296812 0.99999363 -0.18308314] [ 0. 0. 0. 1. ]] SLAMing on 27.446502481 meters 0.11019759152991628 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.11, Z:-0.18 [[ 0.99999611 -0.00134203 -0.00244684 1.03541089] [ 0.00135093 0.99999247 0.00363914 -0.11286851] [ 0.00244194 -0.00364243 0.99999038 -0.18317298] [ 0. 0. 0. 1. ]] SLAMing on 27.476502481 meters 0.11035802277650579 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.11, Z:-0.18 [[ 0.99999576 -0.00139452 -0.00255634 1.03571209] [ 0.00140376 0.99999248 0.00361553 -0.11298705] [ 0.00255128 -0.0036191 0.9999902 -0.18332259] [ 0. 0. 0. 1. ]] SLAMing on 27.506502481000002 meters 0.11021176742931675 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.11, Z:-0.19 [[ 9.99979576e-01 4.50528529e-03 4.53315026e-03 1.04597230e+00] [-4.50151233e-03 9.99989514e-01 -8.42163162e-04 -1.11943353e-01] [-4.53689691e-03 8.21739930e-04 9.99989371e-01 -1.88161701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.536502481 meters 0.1100611277593423 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.11, Z:-0.19 [[ 0.99998102 0.00425019 0.0044598 1.04631167] [-0.0042444 0.99999014 -0.00130529 -0.11090161] [-0.00446531 0.00128634 0.9999892 -0.18847678] [ 0. 0. 0. 1. ]] SLAMing on 27.566502481 meters 0.1080527395289932 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.11, Z:-0.19 [[ 0.99998254 0.00411249 0.00424434 1.0469327 ] [-0.00410553 0.99999022 -0.0016474 -0.1104508 ] [-0.00425107 0.00162994 0.99998964 -0.18874115] [ 0. 0. 0. 1. ]] SLAMing on 27.596502481 meters 0.10717749162897831 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.11, Z:-0.19 [[ 0.99998401 0.00408045 0.00391596 1.04762972] [-0.00407395 0.99999031 -0.00166614 -0.11088588] [-0.00392272 0.00165016 0.99999094 -0.18883236] [ 0. 0. 0. 1. ]] SLAMing on 27.626502481 meters 0.10625743472047802 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.11, Z:-0.19 [[ 0.99998527 0.00405972 0.00360216 1.04822024] [-0.00405356 0.99999031 -0.00171573 -0.11128863] [-0.00360909 0.0017011 0.99999204 -0.18880426] [ 0. 0. 0. 1. ]] SLAMing on 27.656502481 meters 0.10650048728448851 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.11, Z:-0.19 [[ 0.99998553 0.00402556 0.00356859 1.04850808] [-0.00401971 0.99999057 -0.00164384 -0.11178964] [-0.00357517 0.00162948 0.99999228 -0.18911713] [ 0. 0. 0. 1. ]] SLAMing on 27.686502481 meters 0.10682011943876756 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.11, Z:-0.19 [[ 0.99998551 0.00406983 0.00352424 1.04873123] [-0.00406492 0.99999076 -0.00139875 -0.11265552] [-0.0035299 0.00138441 0.99999281 -0.18934262] [ 0. 0. 0. 1. ]] SLAMing on 27.716502481 meters 0.10710150432824396 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.11, Z:-0.19 [[ 9.99985143e-01 4.20701479e-03 3.46623440e-03 1.04881169e+00] [-4.20359983e-03 9.99990673e-01 -9.91904058e-04 -1.13787387e-01] [-3.47037503e-03 9.77318659e-04 9.99993501e-01 -1.89333621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.746502481 meters 0.10792585359880828 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:-0.19 [[ 9.99985912e-01 4.41351191e-03 2.94916503e-03 1.04951057e+00] [-4.41380760e-03 9.99990255e-01 9.37630673e-05 -1.17168613e-01] [-2.94872247e-03 -1.06778793e-04 9.99995647e-01 -1.89088369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.776502481 meters 0.10914302107964279 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:-0.19 [[ 9.99986483e-01 4.51488338e-03 2.57883001e-03 1.05010775e+00] [-4.51658481e-03 9.99989586e-01 6.54327415e-04 -1.19132138e-01] [-2.57584894e-03 -6.65966074e-04 9.99996461e-01 -1.89003356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.806502481 meters 0.10903613870026792 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:-0.19 [[ 9.99989732e-01 4.01741346e-03 2.09663216e-03 1.05176236e+00] [-4.01819412e-03 9.99991859e-01 3.68262985e-04 -1.19525678e-01] [-2.09513562e-03 -3.76683879e-04 9.99997734e-01 -1.90340088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.836502481 meters 0.10919636656702325 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:-0.19 [[ 0.99999383 0.00294713 0.00191075 1.05392008] [-0.00294507 0.99999508 -0.00107972 -0.11705137] [-0.00191392 0.00107409 0.99999759 -0.19313336] [ 0. 0. 0. 1. ]] SLAMing on 27.866502481 meters 0.10829148717943121 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:-0.19 [[ 9.99993577e-01 3.06473916e-03 1.85821630e-03 1.05384589e+00] [-3.06305665e-03 9.99994897e-01 -9.07614828e-04 -1.17351629e-01] [-1.86098842e-03 9.01917177e-04 9.99997862e-01 -1.92869800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.896502481 meters 0.1087639948061999 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:-0.19 [[ 9.99993843e-01 3.09373455e-03 1.65640667e-03 1.05396013e+00] [-3.09236276e-03 9.99994874e-01 -8.30093756e-04 -1.17623098e-01] [-1.65896627e-03 8.24966435e-04 9.99998284e-01 -1.92431977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.926502481 meters 0.1087639948061999 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:-0.19 [[ 9.99993843e-01 3.09373455e-03 1.65640667e-03 1.05396013e+00] [-3.09236276e-03 9.99994874e-01 -8.30093756e-04 -1.17623098e-01] [-1.65896627e-03 8.24966435e-04 9.99998284e-01 -1.92431977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.956502481 meters 0.10876903151257122 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:-0.19 [[ 9.99993394e-01 3.42580267e-03 1.21495028e-03 1.05354120e+00] [-3.42529163e-03 9.99994044e-01 -4.22455118e-04 -1.18717307e-01] [-1.21639029e-03 4.18290768e-04 9.99999173e-01 -1.90638691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.986502481 meters 0.10841301731798415 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:-0.19 [[ 9.99993724e-01 3.38751239e-03 1.03788763e-03 1.05382461e+00] [-3.38701400e-03 9.99994148e-01 -4.81577803e-04 -1.18735869e-01] [-1.03951290e-03 4.78059441e-04 9.99999345e-01 -1.90541691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.016502481 meters 0.10781338805605024 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.12, Z:-0.19 [[ 0.99999489 0.00301693 0.00105632 1.05449801] [-0.00301565 0.99999472 -0.00120964 -0.11711974] [-0.00105997 0.00120645 0.99999871 -0.19158958] [ 0. 0. 0. 1. ]] SLAMing on 28.046502481 meters 0.1076773693230342 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.19 [[ 9.99996227e-01 2.63212205e-03 7.86473488e-04 1.05605015e+00] [-2.63089556e-03 9.99995328e-01 -1.55645548e-03 -1.17232066e-01] [-7.90566595e-04 1.55438048e-03 9.99998479e-01 -1.93164823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.076502481000002 meters 0.10764525696101941 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.19 [[ 9.99996223e-01 2.70380706e-03 4.94190834e-04 1.05679417e+00] [-2.70322482e-03 9.99995656e-01 -1.17506130e-03 -1.18913993e-01] [-4.97365827e-04 1.17372095e-03 9.99999188e-01 -1.93457796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.106502481 meters 0.10780340695427053 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.20 [[ 9.99997592e-01 2.16413915e-03 -3.64624589e-04 1.05956354e+00] [-2.16456735e-03 9.99996963e-01 -1.17808105e-03 -1.23392535e-01] [ 3.62073950e-04 1.17886746e-03 9.99999240e-01 -1.95329526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.136502481 meters 0.10843630599521366 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.12, Z:-0.20 [[ 9.99997506e-01 2.14659434e-03 -6.16291236e-04 1.06028627e+00] [-2.14716180e-03 9.99997270e-01 -9.21576387e-04 -1.24625890e-01] [ 6.14311303e-04 9.22897365e-04 9.99999385e-01 -1.95778462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.166502481000002 meters 0.10975407498026148 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.13, Z:-0.20 [[ 9.99996673e-01 2.38968227e-03 -9.71619481e-04 1.06056305e+00] [-2.38973765e-03 9.99997143e-01 -5.58359503e-05 -1.27125769e-01] [ 9.71483275e-04 5.81576802e-05 9.99999526e-01 -1.95310832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.196502481 meters 0.11033786841744922 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.13, Z:-0.19 [[ 9.99995592e-01 2.67541035e-03 -1.28748300e-03 1.06077837e+00] [-2.67442428e-03 9.99996130e-01 7.67003911e-04 -1.29543699e-01] [ 1.28953007e-03 -7.63557254e-04 9.99998877e-01 -1.94766667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.226502481 meters 0.1120274478819641 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.13, Z:-0.19 [[ 9.99998376e-01 -8.50417321e-04 -1.58921176e-03 1.06041622e+00] [ 8.47308894e-04 9.99997729e-01 -1.95560569e-03 -1.33726993e-01] [ 1.59087123e-03 1.95425596e-03 9.99996825e-01 -1.93461989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.256502481000002 meters 0.1126773921102838 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.14, Z:-0.19 [[ 9.99995994e-01 -8.57375432e-04 -2.69772490e-03 1.06141704e+00] [ 8.54750865e-04 9.99999160e-01 -9.73884223e-04 -1.39390556e-01] [ 2.69855762e-03 9.71574439e-04 9.99995887e-01 -1.92417552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.286502481 meters 0.11511151715496411 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.14, Z:-0.19 [[ 9.99995596e-01 -7.12513061e-04 -2.88098118e-03 1.06167652e+00] [ 7.11175874e-04 9.99999639e-01 -4.65140671e-04 -1.40981347e-01] [ 2.88131156e-03 4.63089738e-04 9.99995742e-01 -1.92283305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.316502481 meters 0.11613316233358893 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.14, Z:-0.19 [[ 9.99995240e-01 -8.19643077e-04 -2.97452232e-03 1.06251393e+00] [ 8.18666499e-04 9.99999611e-01 -3.29517056e-04 -1.41908752e-01] [ 2.97479124e-03 3.27080346e-04 9.99995522e-01 -1.93257293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.346502481 meters 0.11621725397625407 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.14, Z:-0.19 [[ 0.9999885 0.00331467 -0.00346708 1.06375463] [-0.00329951 0.999985 0.00437106 -0.14400317] [ 0.00348151 -0.00435957 0.99998444 -0.19385011] [ 0. 0. 0. 1. ]] SLAMing on 28.376502481 meters 0.11405513078404918 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.14, Z:-0.19 [[ 0.99998872 0.00310264 -0.00359627 1.06440736] [-0.00308761 0.9999865 0.00417814 -0.14403704] [ 0.00360918 -0.00416699 0.9999848 -0.19443619] [ 0. 0. 0. 1. ]] SLAMing on 28.406502481 meters 0.1149985667850123 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.15, Z:-0.19 [[ 0.9999854 0.00345045 -0.00415833 1.06484657] [-0.0034295 0.99998144 0.00503493 -0.14700909] [ 0.00417563 -0.0050206 0.99997868 -0.19355762] [ 0. 0. 0. 1. ]] SLAMing on 28.436502481 meters 0.11298371866189551 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.15, Z:-0.19 [[ 0.99998246 0.00367902 -0.00464118 1.06520342] [-0.00365373 0.99997849 0.00544652 -0.14862593] [ 0.00466112 -0.00542947 0.9999744 -0.19276033] [ 0. 0. 0. 1. ]] SLAMing on 28.466502481 meters 0.11243836840458761 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.15, Z:-0.19 [[ 0.99998301 0.00333103 -0.0047846 1.06591017] [-0.00330775 0.99998268 0.00486717 -0.14755606] [ 0.00480073 -0.00485127 0.99997671 -0.19342085] [ 0. 0. 0. 1. ]] SLAMing on 28.496502481 meters 0.1120517098948604 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.14, Z:-0.20 [[ 0.99998539 0.00302301 -0.00448222 1.06728138] [-0.00300676 0.9999889 0.00362775 -0.14329358] [ 0.00449314 -0.00361422 0.99998337 -0.19615354] [ 0. 0. 0. 1. ]] SLAMing on 28.526502481 meters 0.10957627246441164 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.14, Z:-0.20 [[ 0.99998602 0.00253441 -0.00464147 1.06838576] [-0.00252125 0.99999279 0.00284058 -0.14195317] [ 0.00464863 -0.00282884 0.99998519 -0.19738097] [ 0. 0. 0. 1. ]] SLAMing on 28.556502481 meters 0.10871544612252541 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.14, Z:-0.20 [[ 0.99998348 0.00224527 -0.00529065 1.070491 ] [-0.00223072 0.99999372 0.00275435 -0.14409431] [ 0.0052968 -0.00274251 0.99998221 -0.19873399] [ 0. 0. 0. 1. ]] SLAMing on 28.586502481 meters 0.10835626143346172 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.15, Z:-0.20 [[ 0.9999819 0.00231674 -0.00555309 1.07120409] [-0.00229959 0.99999257 0.00309299 -0.14566703] [ 0.00556021 -0.00308017 0.9999798 -0.19900155] [ 0. 0. 0. 1. ]] SLAMing on 28.616502481 meters 0.10804011607452155 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.15, Z:-0.20 [[ 0.99998115 0.00229621 -0.00569395 1.07188753] [-0.00227719 0.99999181 0.00334474 -0.14695192] [ 0.00570158 -0.00333171 0.9999782 -0.19956473] [ 0. 0. 0. 1. ]] SLAMing on 28.646502481 meters 0.10837861175729202 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.15, Z:-0.20 [[ 0.99998087 0.00215866 -0.00579608 1.07249536] [-0.0021396 0.99999229 0.00329358 -0.14725204] [ 0.00580314 -0.00328112 0.99997778 -0.20018367] [ 0. 0. 0. 1. ]] SLAMing on 28.676502481 meters 0.1086069385955126 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.15, Z:-0.20 [[ 0.99997876 0.00211484 -0.00616459 1.07348051] [-0.00209186 0.99999085 0.00373203 -0.14911814] [ 0.00617243 -0.00371906 0.99997403 -0.20063097] [ 0. 0. 0. 1. ]] SLAMing on 28.706502481 meters 0.10903061623406927 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.15, Z:-0.20 [[ 0.99997634 0.00219186 -0.00652002 1.07412637] [-0.00216431 0.99998871 0.00423033 -0.15090307] [ 0.00652922 -0.00421612 0.9999698 -0.20060521] [ 0. 0. 0. 1. ]] SLAMing on 28.736502481 meters 0.11007082215291365 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.15, Z:-0.20 [[ 9.99975709e-01 -1.92369176e-03 -6.69935237e-03 1.07454418e+00] [ 1.92790085e-03 9.99997948e-01 6.21881034e-04 -1.53192629e-01] [ 6.69814232e-03 -6.34781615e-04 9.99977366e-01 -2.00631064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.766502481 meters 0.1107591909368096 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.16, Z:-0.20 [[ 0.99997462 -0.00163096 -0.00693486 1.07463584] [ 0.00164092 0.99999763 0.0014311 -0.15527611] [ 0.00693251 -0.00144244 0.99997493 -0.20010535] [ 0. 0. 0. 1. ]] SLAMing on 28.796502481 meters 0.11233355090902002 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.16, Z:-0.20 [[ 0.99997076 -0.0015797 -0.00748252 1.07559038] [ 0.00159776 0.99999582 0.00240839 -0.15843741] [ 0.00747868 -0.00242027 0.99996911 -0.20007777] [ 0. 0. 0. 1. ]] SLAMing on 28.826502481 meters 0.113043862291406 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.16, Z:-0.20 [[ 0.9999682 -0.00169693 -0.00779212 1.07640391] [ 0.00171695 0.99999524 0.0025632 -0.15948199] [ 0.00778773 -0.00257649 0.99996636 -0.20044602] [ 0. 0. 0. 1. ]] SLAMing on 28.856502481 meters 0.11438984669301319 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.16, Z:-0.20 [[ 0.99996432 -0.00169109 -0.0082766 1.07728691] [ 0.00171773 0.99999336 0.00321242 -0.16190774] [ 0.00827111 -0.00322652 0.99996059 -0.20047257] [ 0. 0. 0. 1. ]] SLAMing on 28.886502481 meters 0.11510751539206215 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.16, Z:-0.20 [[ 0.99996295 -0.00170067 -0.0084388 1.07774171] [ 0.00172974 0.99999259 0.00343971 -0.16294818] [ 0.00843289 -0.00345418 0.99995848 -0.20069502] [ 0. 0. 0. 1. ]] SLAMing on 28.916502481000002 meters 0.11652433588751178 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.16, Z:-0.20 [[ 0.99996032 -0.00202744 -0.00867475 1.07902244] [ 0.00205734 0.99999197 0.00343874 -0.1641304 ] [ 0.00866771 -0.00345645 0.99995646 -0.2019616 ] [ 0. 0. 0. 1. ]] SLAMing on 28.946502481 meters 0.11743571219442328 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.16, Z:-0.20 [[ 0.99996125 -0.00228159 -0.00850242 1.07959035] [ 0.00230869 0.99999228 0.00317896 -0.16392357] [ 0.00849511 -0.00319847 0.9999588 -0.20323912] [ 0. 0. 0. 1. ]] SLAMing on 28.976502481 meters 0.11658002249853551 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.16, Z:-0.20 [[ 0.99995894 -0.00257664 -0.00868768 1.08045665] [ 0.00260163 0.99999251 0.00286608 -0.16376235] [ 0.00868023 -0.00288856 0.99995815 -0.20401318] [ 0. 0. 0. 1. ]] SLAMing on 29.006502481000002 meters 0.11790601735478837 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.16, Z:-0.20 [[ 0.99995759 -0.00278884 -0.00877712 1.0811424 ] [ 0.00281249 0.99999244 0.00268332 -0.16397621] [ 0.00876957 -0.00270789 0.99995788 -0.20476316] [ 0. 0. 0. 1. ]] SLAMing on 29.036502481 meters 0.11538047924283816 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.16, Z:-0.20 [[ 0.99995602 -0.00281724 -0.00894534 1.08153795] [ 0.00284215 0.99999211 0.00277354 -0.16452267] [ 0.00893746 -0.00279884 0.99995614 -0.20485066] [ 0. 0. 0. 1. ]] SLAMing on 29.066502481 meters 0.11662655332085177 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.17, Z:-0.21 [[ 9.99975183e-01 -9.51660950e-04 6.98057115e-03 1.08114569e+00] [ 9.40473282e-04 9.99998268e-01 1.60579410e-03 -1.68520871e-01] [-6.98208723e-03 -1.59918920e-03 9.99974346e-01 -2.12316445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.096502481 meters 0.1159281536853991 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.17, Z:-0.21 [[ 9.99976648e-01 -9.37072019e-04 6.76943265e-03 1.08162391e+00] [ 9.24664261e-04 9.99997887e-01 1.83580686e-03 -1.69482705e-01] [-6.77113863e-03 -1.82950454e-03 9.99975402e-01 -2.12457416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.126502481 meters 0.12078383151231115 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.17, Z:-0.21 [[ 0.99998023 -0.00110907 0.00618914 1.08309099] [ 0.00109512 0.99999685 0.00225668 -0.17174212] [-0.00619162 -0.00224986 0.9999783 -0.21311361] [ 0. 0. 0. 1. ]] SLAMing on 29.156502481 meters 0.11752563776230193 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.17, Z:-0.21 [[ 0.99998265 -0.00115924 0.00577464 1.08427305] [ 0.00114416 0.99999593 0.00261409 -0.1735124 ] [-0.00577764 -0.00260744 0.99997991 -0.21377265] [ 0. 0. 0. 1. ]] SLAMing on 29.186502481 meters 0.11709149410679401 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.17, Z:-0.21 [[ 0.99998417 -0.00126206 0.00548297 1.08498936] [ 0.00124793 0.9999959 0.00257855 -0.17385319] [-0.0054862 -0.00257166 0.99998164 -0.21405077] [ 0. 0. 0. 1. ]] SLAMing on 29.216502481 meters 0.11694713830213324 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.17, Z:-0.21 [[ 0.99998529 -0.00138869 0.00524393 1.0857108 ] [ 0.00137577 0.99999601 0.00246761 -0.17409243] [-0.00524734 -0.00246036 0.99998321 -0.21448335] [ 0. 0. 0. 1. ]] SLAMing on 29.246502481 meters 0.11906752931199756 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.17, Z:-0.22 [[ 0.99998545 -0.00161861 0.0051462 1.08638785] [ 0.00160748 0.99999636 0.00216601 -0.17391716] [-0.00514968 -0.0021577 0.99998441 -0.21524173] [ 0. 0. 0. 1. ]] SLAMing on 29.276502481 meters 0.11435256832205898 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.17, Z:-0.22 [[ 0.99998572 -0.00192418 0.00498593 1.08751545] [ 0.00191473 0.99999636 0.00189948 -0.17422149] [-0.00498956 -0.00188991 0.99998577 -0.21651312] [ 0. 0. 0. 1. ]] SLAMing on 29.306502481 meters 0.11433030379970932 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.17, Z:-0.22 [[ 0.99998665 -0.00202062 0.00475517 1.08817496] [ 0.00201156 0.99999615 0.00191031 -0.17469116] [-0.00475901 -0.00190072 0.99998687 -0.2168362 ] [ 0. 0. 0. 1. ]] SLAMing on 29.336502481 meters 0.11379530741370236 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.18, Z:-0.22 [[ 0.99998905 -0.00180585 0.00431824 1.08846263] [ 0.001795 0.99999523 0.00251545 -0.1764363 ] [-0.00432276 -0.00250767 0.99998751 -0.21601276] [ 0. 0. 0. 1. ]] SLAMing on 29.366502481 meters 0.11428450132363732 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.18, Z:-0.22 [[ 0.99999032 -0.00185307 0.00399015 1.08888117] [ 0.00184279 0.99999498 0.00257731 -0.17667303] [-0.00399491 -0.00256993 0.99998872 -0.21572863] [ 0. 0. 0. 1. ]] SLAMing on 29.396502481 meters 0.11548179312825653 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.18, Z:-0.22 [[ 0.99999063 -0.00192616 0.00387753 1.08907235] [ 0.00191589 0.99999465 0.00265101 -0.17690173] [-0.00388261 -0.00264356 0.99998897 -0.2156816 ] [ 0. 0. 0. 1. ]] SLAMing on 29.426502481 meters 0.11573807083981552 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.18, Z:-0.22 [[ 0.99999072 -0.00215868 0.00372861 1.08986265] [ 0.00214939 0.99999458 0.00249359 -0.17719407] [-0.00373397 -0.00248556 0.99998994 -0.21649818] [ 0. 0. 0. 1. ]] SLAMing on 29.456502481 meters 0.11547285251076038 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.18, Z:-0.22 [[ 0.99999161 -0.00262812 0.00314143 1.09202774] [ 0.00262016 0.99999335 0.00253508 -0.17914508] [-0.00314807 -0.00252683 0.99999185 -0.21822449] [ 0. 0. 0. 1. ]] SLAMing on 29.486502481 meters 0.11557662136017126 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.18, Z:-0.22 [[ 0.99999287 -0.00266331 0.00267868 1.09311243] [ 0.00265541 0.99999212 0.0029495 -0.18100637] [-0.00268651 -0.00294236 0.99999206 -0.21853935] [ 0. 0. 0. 1. ]] SLAMing on 29.516502481 meters 0.11535768803903215 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.18, Z:-0.22 [[ 0.99999384 -0.00277872 0.0021467 1.09477333] [ 0.00277132 0.99999024 0.0034405 -0.18361783] [-0.00215624 -0.00343453 0.99999178 -0.21955018] [ 0. 0. 0. 1. ]] SLAMing on 29.546502481 meters 0.11507395640027238 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.18, Z:-0.22 [[ 0.99999337 -0.00301205 0.00204438 1.09553627] [ 0.00300555 0.99999044 0.00317517 -0.183584 ] [-0.00205392 -0.003169 0.99999287 -0.22042669] [ 0. 0. 0. 1. ]] SLAMing on 29.576502481 meters 0.11441292482170005 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.19, Z:-0.22 [[ 0.99999778 0.00149653 0.00148555 1.09610179] [-0.00150892 0.99996379 0.00837487 -0.18603428] [-0.00147297 -0.00837709 0.99996383 -0.21962413] [ 0. 0. 0. 1. ]] SLAMing on 29.606502481 meters 0.11205702330823133 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.19, Z:-0.22 [[ 0.99999797 0.00148047 0.00136883 1.09638375] [-0.00149177 0.99996448 0.00829481 -0.18607348] [-0.00135651 -0.00829684 0.99996466 -0.21967821] [ 0. 0. 0. 1. ]] SLAMing on 29.636502481 meters 0.11170558960788088 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.19, Z:-0.22 [[ 9.99998337e-01 1.49327975e-03 1.04662709e-03 1.09687174e+00] [-1.50207267e-03 9.99963158e-01 8.45137917e-03 -1.86755836e-01] [-1.03396826e-03 -8.45293723e-03 9.99963739e-01 -2.19447580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.666502481000002 meters 0.11182226435591777 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.19, Z:-0.22 [[ 0.99999612 -0.00253554 0.0011495 1.09650868] [ 0.00253061 0.99998769 0.00426741 -0.18694175] [-0.0011603 -0.00426448 0.99999023 -0.21907237] [ 0. 0. 0. 1. ]] SLAMing on 29.696502481 meters 0.11117740209701518 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.19, Z:-0.22 [[ 9.99996213e-01 -2.58315176e-03 9.48913528e-04 1.09693471e+00] [ 2.57909281e-03 9.99987625e-01 4.25407584e-03 -1.87116765e-01] [-9.59890709e-04 -4.25161239e-03 9.99990501e-01 -2.19111618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.726502481 meters 0.10960900317664671 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.19, Z:-0.22 [[ 9.99998129e-01 1.78302937e-03 7.50198548e-04 1.09735701e+00] [-1.78957371e-03 9.99959544e-01 8.81516273e-03 -1.87967747e-01] [-7.34450504e-04 -8.81648878e-03 9.99960864e-01 -2.19157721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.756502481000002 meters 0.10932486665933293 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.19, Z:-0.22 [[ 9.99998805e-01 1.38068961e-03 6.95073777e-04 1.09809051e+00] [-1.38627692e-03 9.99966208e-01 8.10318064e-03 -1.86685501e-01] [-6.83862312e-04 -8.10413452e-03 9.99966927e-01 -2.20153881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.786502481 meters 0.10852210085185948 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.19, Z:-0.22 [[ 9.99998896e-01 1.45664784e-03 2.95164057e-04 1.09858502e+00] [-1.45905712e-03 9.99964210e-01 8.33366459e-03 -1.87586274e-01] [-2.83014278e-04 -8.33408605e-03 9.99965231e-01 -2.19738198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.816502481 meters 0.10852210085185948 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.19, Z:-0.22 [[ 9.99998896e-01 1.45664784e-03 2.95164057e-04 1.09858502e+00] [-1.45905712e-03 9.99964210e-01 8.33366459e-03 -1.87586274e-01] [-2.83014278e-04 -8.33408605e-03 9.99965231e-01 -2.19738198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.846502481 meters 0.10866161424190852 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.19, Z:-0.22 [[ 9.99995345e-01 -3.04210801e-03 2.33767406e-04 1.09909345e+00] [ 3.04124682e-03 9.99988895e-01 3.60000984e-03 -1.86987745e-01] [-2.44716429e-04 -3.59928213e-03 9.99993493e-01 -2.20380950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.876502481 meters 0.1089367202984769 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.19, Z:-0.22 [[ 9.99994941e-01 -3.18000659e-03 -6.84472947e-05 1.09991166e+00] [ 3.18023306e-03 9.99988421e-01 3.61157278e-03 -1.87465120e-01] [ 5.69616769e-05 -3.61177218e-03 9.99993476e-01 -2.20779829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.906502481 meters 0.10958641788186235 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.19, Z:-0.22 [[ 9.99993566e-01 -3.55261890e-03 -4.97478060e-04 1.10177259e+00] [ 3.55438151e-03 9.99987246e-01 3.58819005e-03 -1.88837559e-01] [ 4.84724243e-04 -3.58993519e-03 9.99993439e-01 -2.22484126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.936502481 meters 0.11011615961014562 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.19, Z:-0.22 [[ 9.99993023e-01 -3.65592806e-03 -7.67390673e-04 1.10250916e+00] [ 3.65874328e-03 9.99986462e-01 3.69979357e-03 -1.89455388e-01] [ 7.53854105e-04 -3.70257544e-03 9.99992861e-01 -2.22839610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.966502481 meters 0.11175198843904165 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.19, Z:-0.22 [[ 9.99989080e-01 -9.01811224e-04 4.58558308e-03 1.11563108e+00] [ 9.01420132e-04 9.99999590e-01 8.73533663e-05 -1.93128345e-01] [-4.58565998e-03 -8.32188754e-05 9.99989482e-01 -2.22683063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.996502481 meters 0.1127612110196138 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.20, Z:-0.22 [[ 9.99991711e-01 -4.61302214e-04 4.04543267e-03 1.11562721e+00] [ 4.56142485e-04 9.99999082e-01 1.27627538e-03 -1.95639631e-01] [-4.04601770e-03 -1.27441951e-03 9.99991003e-01 -2.20987380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.026502481 meters 0.11454898093005043 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.20, Z:-0.22 [[ 9.99995376e-01 -9.08986388e-05 3.03974570e-03 1.11604832e+00] [ 8.27809042e-05 9.99996431e-01 2.67055000e-03 -1.98927473e-01] [-3.03997760e-03 -2.67028602e-03 9.99991814e-01 -2.18705163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.056502481 meters 0.11302600964456992 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.20, Z:-0.22 [[ 9.99996128e-01 -2.25667585e-04 2.77356316e-03 1.11657251e+00] [ 2.18494491e-04 9.99996632e-01 2.58626895e-03 -1.98823473e-01] [-2.77413746e-03 -2.58565293e-03 9.99992809e-01 -2.18757844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.086502481 meters 0.11381455972531217 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.20, Z:-0.22 [[ 9.99995908e-01 -5.98138969e-04 2.79763283e-03 1.11713101e+00] [ 5.92616988e-04 9.99997876e-01 1.97421748e-03 -1.97470641e-01] [-2.79880775e-03 -1.97255148e-03 9.99994138e-01 -2.19769809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.116502481 meters 0.11603421377467117 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.20, Z:-0.22 [[ 9.99995593e-01 -1.01331760e-03 2.79060703e-03 1.11788444e+00] [ 1.00971867e-03 9.99998657e-01 1.29076356e-03 -1.96274293e-01] [-2.79191124e-03 -1.28794014e-03 9.99995273e-01 -2.20976315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.146502481 meters 0.11359797356621983 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.20, Z:-0.22 [[ 0.99999395 0.00285574 0.00198752 1.1196305 ] [-0.00286665 0.99998074 0.00550437 -0.19726675] [-0.00197177 -0.00551003 0.99998288 -0.22147404] [ 0. 0. 0. 1. ]] SLAMing on 30.176502481 meters 0.1146352812913579 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.20, Z:-0.22 [[ 0.99999499 0.00265532 0.00172213 1.12009889] [-0.00266433 0.99998264 0.00525506 -0.19663557] [-0.00170814 -0.00525962 0.99998471 -0.22140689] [ 0. 0. 0. 1. ]] SLAMing on 30.206502481 meters 0.11341728980937084 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.19, Z:-0.22 [[ 0.99999561 0.00235582 0.00179926 1.11986775] [-0.00236362 0.99998777 0.00434478 -0.19379545] [-0.001789 -0.00434901 0.99998894 -0.22139424] [ 0. 0. 0. 1. ]] SLAMing on 30.236502481 meters 0.11384831107939802 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.19, Z:-0.22 [[ 0.99999667 0.00183531 0.00181176 1.12033274] [-0.00184138 0.99999269 0.00335081 -0.19134799] [-0.0018056 -0.00335413 0.99999274 -0.22221552] [ 0. 0. 0. 1. ]] SLAMing on 30.266502481 meters 0.11339866967708401 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.19, Z:-0.22 [[ 0.99999684 0.00137281 0.00210637 1.12030663] [-0.00137775 0.99999629 0.00234916 -0.18840338] [-0.00210314 -0.00235206 0.99999502 -0.22305422] [ 0. 0. 0. 1. ]] SLAMing on 30.296502481 meters 0.11428486754622301 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.19, Z:-0.22 [[ 9.99997578e-01 1.00259666e-03 1.95946984e-03 1.12075549e+00] [-1.00599140e-03 9.99997994e-01 1.73226352e-03 -1.86733849e-01] [-1.95772915e-03 -1.73423054e-03 9.99996580e-01 -2.23407041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.326502481 meters 0.11581030507009793 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.19, Z:-0.22 [[ 9.99998372e-01 7.34613778e-04 1.64796533e-03 1.12148509e+00] [-7.37027495e-04 9.99998656e-01 1.46453635e-03 -1.86363315e-01] [-1.64688725e-03 -1.46574856e-03 9.99997570e-01 -2.23698486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.356502481 meters 0.11644947971190706 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.19, Z:-0.22 [[ 9.99999200e-01 4.22185902e-04 1.19209480e-03 1.12242551e+00] [-4.23629609e-04 9.99999177e-01 1.21107386e-03 -1.85914277e-01] [-1.19158252e-03 -1.21157789e-03 9.99998556e-01 -2.23958201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.386502481 meters 0.11676408393587484 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.18, Z:-0.22 [[ 9.99999400e-01 1.28691136e-04 1.08751728e-03 1.12300113e+00] [-1.29466119e-04 9.99999738e-01 7.12576804e-04 -1.84934541e-01] [-1.08742530e-03 -7.12717173e-04 9.99999155e-01 -2.24636317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.416502481000002 meters 0.11829333687561755 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.18, Z:-0.23 [[ 9.99991962e-01 3.95762348e-03 6.42253660e-04 1.12411021e+00] [-3.96054090e-03 9.99981546e-01 4.60661439e-03 -1.84278718e-01] [-6.24010563e-04 -4.60912104e-03 9.99989183e-01 -2.25203180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.446502481 meters 0.11901538971146791 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.18, Z:-0.23 [[ 9.99993870e-01 3.48232896e-03 3.66186696e-04 1.12516713e+00] [-3.48374210e-03 9.99986202e-01 3.93195283e-03 -1.83227764e-01] [-3.52489290e-04 -3.93320442e-03 9.99992203e-01 -2.26124119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.476502481 meters 0.12056309295028313 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.18, Z:-0.23 [[ 9.99995355e-01 3.04053240e-03 -2.14059604e-04 1.12648576e+00] [-3.03975452e-03 9.99989096e-01 3.54504795e-03 -1.82920015e-01] [ 2.24836103e-04 -3.54438079e-03 9.99993693e-01 -2.26620116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.506502481000002 meters 0.12254727939276822 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.18, Z:-0.23 [[ 9.99995113e-01 3.06244049e-03 -6.28306565e-04 1.12650458e+00] [-3.06009810e-03 9.99988488e-01 3.69579978e-03 -1.82783211e-01] [ 6.39617499e-04 -3.69385904e-03 9.99992973e-01 -2.25498144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.536502481 meters 0.1231490485165058 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.18, Z:-0.23 [[ 9.99995479e-01 2.92565087e-03 -6.94389421e-04 1.12647691e+00] [-2.92327744e-03 9.99989965e-01 3.39476293e-03 -1.81703482e-01] [ 7.04314344e-04 -3.39271769e-03 9.99993997e-01 -2.25311854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.566502481 meters 0.12480991252525413 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.18, Z:-0.22 [[ 9.99991885e-01 3.99988928e-03 4.80937601e-04 1.12439588e+00] [-4.00182933e-03 9.99983575e-01 4.10297430e-03 -1.76522682e-01] [-4.64518259e-04 -4.10486564e-03 9.99991467e-01 -2.24845459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.596502481 meters 0.12496874078414455 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.17, Z:-0.23 [[ 9.99993935e-01 3.45500894e-03 4.38383712e-04 1.12495050e+00] [-3.45631138e-03 9.99989509e-01 3.00587689e-03 -1.73918691e-01] [-4.27993781e-04 -3.00737385e-03 9.99995386e-01 -2.25664239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.626502481 meters 0.12489956870831923 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.17, Z:-0.23 [[ 9.99995636e-01 2.95099642e-03 -1.40522049e-04 1.12603324e+00] [-2.95068744e-03 9.99993334e-01 2.15045996e-03 -1.72195591e-01] [ 1.46867112e-04 -2.15003593e-03 9.99997678e-01 -2.25746849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.656502481 meters 0.12441764655702281 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.17, Z:-0.23 [[ 9.99996073e-01 2.72897425e-03 -6.38052804e-04 1.12683616e+00] [-2.72778345e-03 9.99994550e-01 1.85977145e-03 -1.71811233e-01] [ 6.43124595e-04 -1.85802367e-03 9.99998067e-01 -2.25575009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.686502481 meters 0.12365635448088615 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.17, Z:-0.23 [[ 9.99997057e-01 2.35413568e-03 -5.86909868e-04 1.12681948e+00] [-2.35380672e-03 9.99997073e-01 5.60560129e-04 -1.68243961e-01] [ 5.88227785e-04 -5.59177007e-04 9.99999671e-01 -2.25820620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.716502481 meters 0.12296141898742155 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.16, Z:-0.23 [[ 9.99997958e-01 2.00855907e-03 -2.23700510e-04 1.12648160e+00] [-2.00870167e-03 9.99997778e-01 -6.39040671e-04 -1.64763910e-01] [ 2.22416462e-04 6.39488713e-04 9.99999771e-01 -2.26395803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.746502481 meters 0.11654861457520194 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.16, Z:-0.23 [[ 9.99983393e-01 5.76133247e-03 -1.42287442e-04 1.12646613e+00] [-5.76100825e-03 9.99981023e-01 2.18260891e-03 -1.60499203e-01] [ 1.54859477e-04 -2.18175295e-03 9.99997608e-01 -2.26600499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.776502481 meters 0.11979857138164557 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.16, Z:-0.23 [[ 9.99987929e-01 4.91301644e-03 6.94101104e-05 1.12737517e+00] [-4.91302447e-03 9.99987924e-01 1.15992722e-04 -1.55852931e-01] [-6.88393980e-05 -1.16332336e-04 9.99999991e-01 -2.28734295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.806502481 meters 0.11535299730525504 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.16, Z:-0.23 [[ 9.99989707e-01 4.53253749e-03 -2.07219070e-04 1.12839962e+00] [-4.53262330e-03 9.99989641e-01 -4.15493647e-04 -1.55192294e-01] [ 2.05333683e-04 4.16428616e-04 9.99999892e-01 -2.29532030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.836502481 meters 0.11392240187520103 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.16, Z:-0.23 [[ 9.99990676e-01 4.26909243e-03 -6.49562821e-04 1.12954430e+00] [-4.26950222e-03 9.99990687e-01 -6.30798690e-04 -1.55364199e-01] [ 6.46863833e-04 6.33566118e-04 9.99999590e-01 -2.30041668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.866502481 meters 0.11374435575580519 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.16, Z:-0.23 [[ 9.99991397e-01 4.01207102e-03 -1.05345442e-03 1.13063535e+00] [-4.01297710e-03 9.99991579e-01 -8.59402700e-04 -1.55376424e-01] [ 1.04999757e-03 8.63622795e-04 9.99999076e-01 -2.30640278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.896502481 meters 0.11292844079456663 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.15, Z:-0.23 [[ 9.99993485e-01 3.48213591e-03 -9.51282665e-04 1.13120558e+00] [-3.48398790e-03 9.99992025e-01 -1.95217223e-03 -1.52572217e-01] [ 9.44477350e-04 1.95547377e-03 9.99997642e-01 -2.31798723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.926502481 meters 0.11297171412478982 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.15, Z:-0.23 [[ 9.99994102e-01 3.28740940e-03 -9.94564154e-04 1.13139043e+00] [-3.28969833e-03 9.99991924e-01 -2.30862706e-03 -1.51653166e-01] [ 9.86966720e-04 2.31188526e-03 9.99996841e-01 -2.31971387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.956502481 meters 0.11328717622192 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.15, Z:-0.23 [[ 0.99999381 0.0033164 -0.00117883 1.13146635] [-0.00331896 0.99999212 -0.0021792 -0.15187757] [ 0.0011716 0.0021831 0.99999693 -0.23152337] [ 0. 0. 0. 1. ]] SLAMing on 30.986502481 meters 0.11292420903779171 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.15, Z:-0.23 [[ 0.99999128 0.00377262 -0.00179168 1.13136735] [-0.00377467 0.99999222 -0.00114641 -0.154303 ] [ 0.00178734 0.00115317 0.99999774 -0.22959876] [ 0. 0. 0. 1. ]] SLAMing on 31.016502481 meters 0.11289743657519696 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.16, Z:-0.23 [[ 9.99989507e-01 4.12226209e-03 -1.99831926e-03 1.13091322e+00] [-4.12334579e-03 9.99991354e-01 -5.38487616e-04 -1.55412757e-01] [ 1.99608220e-03 5.46721727e-04 9.99997858e-01 -2.28235537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.046502481 meters 0.11231485404604849 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.15, Z:-0.23 [[ 9.99990161e-01 3.87671489e-03 -2.15605403e-03 1.13149757e+00] [-3.87861231e-03 9.99992094e-01 -8.76561422e-04 -1.54882961e-01] [ 2.15263881e-03 8.84915295e-04 9.99997292e-01 -2.28685410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.076502481 meters 0.11138335593949661 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.15, Z:-0.23 [[ 0.99999197 0.00324434 -0.00235087 1.13312224] [-0.00324842 0.99999323 -0.0017313 -0.15394287] [ 0.00234523 0.00173892 0.99999574 -0.23069128] [ 0. 0. 0. 1. ]] SLAMing on 31.106502481 meters 0.1115456392767398 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.15, Z:-0.23 [[ 0.9999923 0.00287202 -0.00267274 1.13439892] [-0.00287764 0.99999365 -0.00210081 -0.15394249] [ 0.00266669 0.00210848 0.99999422 -0.23172624] [ 0. 0. 0. 1. ]] SLAMing on 31.136502481 meters 0.11152230983272166 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 0.99998954 0.00297398 -0.00347497 1.13564465] [-0.00297797 0.99999491 -0.00114467 -0.1572221 ] [ 0.00347155 0.00115501 0.99999331 -0.23138416] [ 0. 0. 0. 1. ]] SLAMing on 31.166502481000002 meters 0.11276477638165125 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 9.99987602e-01 3.21827417e-03 -3.79988522e-03 1.13565318e+00] [-3.21968298e-03 9.99994750e-01 -3.64691716e-04 -1.59075607e-01] [ 3.79869159e-03 3.76921620e-04 9.99992714e-01 -2.30427156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.196502481 meters 0.11261814225823433 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 9.99987072e-01 3.24785258e-03 -3.91234193e-03 1.13567808e+00] [-3.24898803e-03 9.99994682e-01 -2.83901833e-04 -1.59145879e-01] [ 3.91139906e-03 2.96609315e-04 9.99992306e-01 -2.30146930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.226502481 meters 0.11280656196936312 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 9.99987996e-01 2.94266112e-03 -3.91769717e-03 1.13616348e+00] [-2.94585713e-03 9.99995333e-01 -8.10267264e-04 -1.58084026e-01] [ 3.91529455e-03 8.21798514e-04 9.99991998e-01 -2.30844501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.256502481000002 meters 0.11177832554168013 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 0.99998852 0.00256392 -0.00404822 1.13701954] [-0.00256972 0.99999568 -0.00142937 -0.1570487 ] [ 0.00404454 0.00143976 0.99999078 -0.23180994] [ 0. 0. 0. 1. ]] SLAMing on 31.286502481 meters 0.11062945459502774 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 0.99998799 0.00193594 -0.00450153 1.139002 ] [-0.00194619 0.99999553 -0.00227181 -0.1564469 ] [ 0.00449711 0.00228054 0.99998729 -0.23360566] [ 0. 0. 0. 1. ]] SLAMing on 31.316502481 meters 0.1101441790994641 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 0.99998724 0.00175921 -0.00473549 1.13975517] [-0.00177106 0.99999531 -0.00249871 -0.15633363] [ 0.00473107 0.00250706 0.99998567 -0.2340744 ] [ 0. 0. 0. 1. ]] SLAMing on 31.346502481 meters 0.10937041273976159 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 0.9999676 0.00611213 -0.00523777 1.14041623] [-0.00610118 0.99997917 0.00210428 -0.15742382] [ 0.00525052 -0.00207225 0.99998407 -0.23366456] [ 0. 0. 0. 1. ]] SLAMing on 31.376502481 meters 0.1089178277260129 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 0.99996939 0.00573669 -0.00532019 1.14094045] [-0.00572919 0.99998257 0.00142481 -0.15585333] [ 0.00532827 -0.00139428 0.99998483 -0.23424604] [ 0. 0. 0. 1. ]] SLAMing on 31.406502481 meters 0.10954492017159977 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 0.99996906 0.00568538 -0.00543738 1.1408274 ] [-0.00567856 0.99998307 0.00126942 -0.15520173] [ 0.00544451 -0.0012385 0.99998441 -0.23371807] [ 0. 0. 0. 1. ]] SLAMing on 31.436502481 meters 0.11013545139314114 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 0.9999832 0.00165115 -0.00555692 1.14028584] [-0.00166609 0.99999501 -0.00268577 -0.15556401] [ 0.00555246 0.00269499 0.99998095 -0.23255588] [ 0. 0. 0. 1. ]] SLAMing on 31.466502481 meters 0.11040036704710454 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 0.99998142 0.00154104 -0.00589803 1.14106515] [-0.00155669 0.99999527 -0.00265091 -0.15618776] [ 0.00589392 0.00266004 0.99997909 -0.23277932] [ 0. 0. 0. 1. ]] SLAMing on 31.496502481 meters 0.11107336647059825 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 0.99997879 0.00128526 -0.00638424 1.1422516 ] [-0.00130257 0.99999548 -0.00270807 -0.15669808] [ 0.00638073 0.00271633 0.99997595 -0.23327141] [ 0. 0. 0. 1. ]] SLAMing on 31.526502481 meters 0.11007966068262069 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 0.99995949 0.00581724 -0.00686831 1.14245816] [-0.00580076 0.99998025 0.00241791 -0.15864973] [ 0.00688224 -0.00237797 0.99997349 -0.23222381] [ 0. 0. 0. 1. ]] SLAMing on 31.556502481 meters 0.11185892485108993 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 0.99996121 0.00547622 -0.00689887 1.14282908] [-0.00546189 0.99998289 0.00209367 -0.15754257] [ 0.00691022 -0.00205591 0.99997401 -0.23262822] [ 0. 0. 0. 1. ]] SLAMing on 31.586502481 meters 0.11283553419743733 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 0.999959 0.00557956 -0.00713234 1.14291955] [-0.00556167 0.99998134 0.00252563 -0.15857045] [ 0.0071463 -0.00248585 0.99997138 -0.2320796 ] [ 0. 0. 0. 1. ]] SLAMing on 31.616502481 meters 0.11392001324139278 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 0.99997467 0.0014188 -0.00697475 1.142393 ] [-0.00143015 0.99999766 -0.00162186 -0.15861792] [ 0.00697243 0.00163179 0.99997436 -0.2317326 ] [ 0. 0. 0. 1. ]] SLAMing on 31.646502481 meters 0.11575462070639435 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 9.99967633e-01 1.42565237e-03 -7.91839597e-03 1.14338345e+00] [-1.43196572e-03 9.99998661e-01 -7.91689557e-04 -1.61834540e-01] [ 7.91725669e-03 8.03002804e-04 9.99968336e-01 -2.30783121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.676502481 meters 0.11557221576695924 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 0.99996859 0.00119647 -0.00783511 1.14364417] [-0.00120615 0.99999851 -0.00123138 -0.16085397] [ 0.00783363 0.00124079 0.99996855 -0.23140411] [ 0. 0. 0. 1. ]] SLAMing on 31.706502481 meters 0.1166247661219274 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 9.99969702e-01 1.05781409e-03 -7.71208667e-03 1.14345462e+00] [-1.07064595e-03 9.99998049e-01 -1.65992517e-03 -1.59419161e-01] [ 7.71031573e-03 1.66813180e-03 9.99968884e-01 -2.31466937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.736502481 meters 0.1166247661219274 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 9.99969702e-01 1.05781409e-03 -7.71208667e-03 1.14345462e+00] [-1.07064595e-03 9.99998049e-01 -1.65992517e-03 -1.59419161e-01] [ 7.71031573e-03 1.66813180e-03 9.99968884e-01 -2.31466937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.766502481 meters 0.11611924736314987 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 0.99995758 0.00510342 -0.00766776 1.14343415] [-0.00508839 0.9999851 0.0019784 -0.15733744] [ 0.00767774 -0.0019393 0.99996865 -0.23155545] [ 0. 0. 0. 1. ]] SLAMing on 31.796502481 meters 0.11595189567960196 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.16, Z:-0.23 [[ 9.99959790e-01 4.70645793e-03 -7.63336287e-03 1.14379447e+00] [-4.69798644e-03 9.99988329e-01 1.12734956e-03 -1.55261508e-01] [ 7.63857961e-03 -1.09144279e-03 9.99970230e-01 -2.32231109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.826502481 meters 0.11456726986078573 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.15, Z:-0.23 [[ 9.99959896e-01 4.22052900e-03 -7.89901943e-03 1.14459461e+00] [-4.21909108e-03 9.99991080e-01 1.98691835e-04 -1.53333453e-01] [ 7.89978755e-03 -1.65357184e-04 9.99968783e-01 -2.32746521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.856502481 meters 0.11872364622429012 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.15, Z:-0.23 [[ 9.99960938e-01 3.93592335e-03 -7.91400311e-03 1.14466994e+00] [-3.93990531e-03 9.99992120e-01 -4.87626901e-04 -1.51520091e-01] [ 7.91202148e-03 5.18788277e-04 9.99968565e-01 -2.32837742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.886502481 meters 0.11286677318015528 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.15, Z:-0.23 [[ 0.99996336 0.00360303 -0.00776483 1.14482814] [-0.00361246 0.99999276 -0.00119999 -0.14971311] [ 0.00776045 0.001228 0.99996913 -0.23354398] [ 0. 0. 0. 1. ]] SLAMing on 31.916502481000002 meters 0.11327694268096958 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.15, Z:-0.23 [[ 0.99996567 0.00322265 -0.00763409 1.14522791] [-0.00323745 0.9999929 -0.00192649 -0.14798967] [ 0.00762783 0.00195114 0.999969 -0.23456984] [ 0. 0. 0. 1. ]] SLAMing on 31.946502481 meters 0.11445878108805219 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.15, Z:-0.24 [[ 0.99994359 0.00682807 -0.00813576 1.14690245] [-0.00681345 0.99997513 0.00182301 -0.14766534] [ 0.00814801 -0.00176747 0.99996524 -0.23583254] [ 0. 0. 0. 1. ]] SLAMing on 31.976502481 meters 0.11545008259758997 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.15, Z:-0.24 [[ 0.99994438 0.00658083 -0.00824197 1.14729996] [-0.00656854 0.99997727 0.00151795 -0.14714202] [ 0.00825177 -0.00146373 0.99996488 -0.23616384] [ 0. 0. 0. 1. ]] SLAMing on 32.006502481 meters 0.11690712246576772 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.14, Z:-0.23 [[ 9.99962979e-01 5.22525329e-03 -6.83650473e-03 1.14417337e+00] [-5.22623210e-03 9.99986335e-01 -1.25318229e-04 -1.44430064e-01] [ 6.83575649e-03 1.61042750e-04 9.99976623e-01 -2.34664914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.036502481 meters 0.11792101505110882 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.14, Z:-0.23 [[ 9.99964781e-01 5.00129500e-03 -6.73977685e-03 1.14414305e+00] [-5.00571564e-03 9.99987267e-01 -6.39193986e-04 -1.43021394e-01] [ 6.73649423e-03 6.72908880e-04 9.99977083e-01 -2.34882858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.066502481 meters 0.11701480293211561 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.14, Z:-0.23 [[ 9.99968854e-01 5.53492129e-03 -5.62638272e-03 1.14222367e+00] [-5.54034718e-03 9.99984202e-01 -9.49236614e-04 -1.37018059e-01] [ 5.62103988e-03 9.80379162e-04 9.99983721e-01 -2.34708094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.096502481 meters 0.11686287047245254 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.13, Z:-0.24 [[ 0.99997347 0.00494645 -0.0053469 1.142608 ] [-0.00495944 0.99998478 -0.00241827 -0.13334973] [ 0.00533486 0.00244472 0.99998278 -0.23611177] [ 0. 0. 0. 1. ]] SLAMing on 32.126502481 meters 0.1128688081648231 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.13, Z:-0.24 [[ 9.99950745e-01 8.35068209e-03 -5.36403076e-03 1.14391969e+00] [-8.35138933e-03 9.99965121e-01 -1.09462717e-04 -1.29490679e-01] [ 5.36292958e-03 1.54254434e-04 9.99985607e-01 -2.38193223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.156502481 meters 0.11198448021961303 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.13, Z:-0.24 [[ 0.99995445 0.00786699 -0.00540486 1.14455395] [-0.00787409 0.99996816 -0.00129361 -0.12698375] [ 0.00539451 0.00133611 0.99998456 -0.23909655] [ 0. 0. 0. 1. ]] SLAMing on 32.186502481 meters 0.11075976973208004 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.12, Z:-0.24 [[ 0.99991753 0.01179591 -0.00507764 1.14422725] [-0.01178817 0.99992931 0.00155168 -0.12312405] [ 0.00509559 -0.0014917 0.9999859 -0.23937058] [ 0. 0. 0. 1. ]] SLAMing on 32.216502481 meters 0.10870578254823238 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.12, Z:-0.24 [[ 9.99925532e-01 1.12477428e-02 -4.73494260e-03 1.14432536e+00] [-1.12478590e-02 9.99936741e-01 2.09370144e-06 -1.19293476e-01] [ 4.73466662e-03 5.11644210e-05 9.99988790e-01 -2.40438123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.246502481 meters 0.1065727373096736 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.12, Z:-0.24 [[ 0.99987563 0.01515972 -0.00434821 1.14392759] [-0.01514805 0.99988161 0.00270307 -0.1150613 ] [ 0.00438867 -0.00263687 0.99998689 -0.24073105] [ 0. 0. 0. 1. ]] SLAMing on 32.276502481 meters 0.10448877029502017 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.11, Z:-0.24 [[ 9.99887447e-01 1.44118289e-02 -4.17035374e-03 1.14451779e+00] [-1.44115422e-02 9.99896143e-01 9.87956701e-05 -1.09126219e-01] [ 4.17134445e-03 -3.86833215e-05 9.99991299e-01 -2.42462912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.306502481 meters 0.10359938327173071 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.11, Z:-0.25 [[ 9.99981858e-01 5.95153762e-03 -9.28498621e-04 1.13807719e+00] [-5.94874128e-03 9.99977848e-01 2.98591291e-03 -1.05908585e-01] [ 9.46248826e-04 -2.98033534e-03 9.99995111e-01 -2.46318614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.336502481000004 meters 0.10282140166143418 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:-0.25 [[ 9.99985568e-01 5.30017029e-03 -8.78451817e-04 1.13864261e+00] [-5.29910316e-03 9.99985224e-01 1.21269945e-03 -1.01966013e-01] [ 8.84866351e-04 -1.20802694e-03 9.99998879e-01 -2.47437156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.366502481 meters 0.10289111757681325 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:-0.25 [[ 9.99988152e-01 4.78571519e-03 -8.90488112e-04 1.13922211e+00] [-4.78555753e-03 9.99988533e-01 1.79094838e-04 -9.97816040e-02] [ 8.91334997e-04 -1.74831234e-04 9.99999587e-01 -2.48347935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.396502481 meters 0.10263878085826157 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:-0.25 [[ 9.99990187e-01 4.38621164e-03 -6.22538331e-04 1.13916772e+00] [-4.38671872e-03 9.99990046e-01 -8.15526356e-04 -9.70071567e-02] [ 6.18955063e-04 8.18249253e-04 9.99999474e-01 -2.48995059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.426502481 meters 0.10260025390864934 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:-0.25 [[ 9.99991011e-01 4.14919120e-03 -8.73561827e-04 1.13977901e+00] [-4.15015985e-03 9.99990772e-01 -1.10997825e-03 -9.65501395e-02] [ 8.68948254e-04 1.11359369e-03 9.99999002e-01 -2.49270861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.456502481 meters 0.10269211206407353 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:-0.25 [[ 9.99990632e-01 4.08322807e-03 -1.43655370e-03 1.14072365e+00] [-4.08437613e-03 9.99991341e-01 -7.97149304e-04 -9.78633640e-02] [ 1.43328631e-03 8.03009261e-04 9.99998650e-01 -2.49229582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.486502481 meters 0.10359416688365265 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:-0.25 [[ 9.99989499e-01 4.07925701e-03 -2.08838521e-03 1.14173984e+00] [-4.07943668e-03 9.99991676e-01 -8.17829671e-05 -1.00398034e-01] [ 2.08803421e-03 9.03015435e-05 9.99997816e-01 -2.49080299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.516502481 meters 0.10360521510122106 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:-0.25 [[ 9.99988906e-01 4.00493781e-03 -2.47952241e-03 1.14244527e+00] [-4.00464794e-03 9.99991974e-01 1.21857664e-04 -1.01443848e-01] [ 2.47999054e-03 -1.11926697e-04 9.99996919e-01 -2.49105857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.546502481 meters 0.10422132283930746 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:-0.25 [[ 9.99986635e-01 4.11990600e-03 -3.12360500e-03 1.14309014e+00] [-4.11739427e-03 9.99991195e-01 8.10114882e-04 -1.03516133e-01] [ 3.12691509e-03 -7.97242941e-04 9.99994793e-01 -2.48382480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.576502481 meters 0.10409819077177927 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:-0.25 [[ 9.99986728e-01 3.90938192e-03 -3.35556888e-03 1.14369015e+00] [-3.90737800e-03 9.99992184e-01 6.03540107e-04 -1.03327064e-01] [ 3.35790212e-03 -5.90420621e-04 9.99994188e-01 -2.48707259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.606502481 meters 0.10457077655686767 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:-0.25 [[ 9.99987856e-01 3.69375593e-03 -3.26260617e-03 1.14407358e+00] [-3.69279964e-03 9.99993137e-01 2.99079481e-04 -1.02748788e-01] [ 3.26368851e-03 -2.87027698e-04 9.99994633e-01 -2.49566495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.636502481 meters 0.10428521503044398 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:-0.25 [[ 9.99987273e-01 3.65310751e-03 -3.47963687e-03 1.14445841e+00] [-3.65192292e-03 9.99993272e-01 3.46728354e-04 -1.03117785e-01] [ 3.48088009e-03 -3.34016575e-04 9.99993886e-01 -2.49539377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.666502481 meters 0.10427825615700019 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.10, Z:-0.25 [[ 9.99983933e-01 3.92759997e-03 -4.08756997e-03 1.14478505e+00] [-3.92380122e-03 9.99991863e-01 9.36945963e-04 -1.04821171e-01] [ 4.09121666e-03 -9.20892097e-04 9.99991207e-01 -2.48378490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.696502481 meters 0.10413202008308878 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.10, Z:-0.25 [[ 9.99984575e-01 3.64209850e-03 -4.19335629e-03 1.14529015e+00] [-3.64030266e-03 9.99993279e-01 4.35812999e-04 -1.03857740e-01] [ 4.19491538e-03 -4.20541190e-04 9.99991113e-01 -2.48869860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.726502481 meters 0.10368185847936655 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.10, Z:-0.25 [[ 9.99986034e-01 3.01647800e-03 -4.33960242e-03 1.14676288e+00] [-3.01858797e-03 9.99995329e-01 -4.79745750e-04 -1.02681258e-01] [ 4.33813500e-03 4.92838521e-04 9.99990469e-01 -2.50759837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.756502481 meters 0.10353246899112538 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.10, Z:-0.25 [[ 9.99985488e-01 2.58456034e-03 -4.72688498e-03 1.14836855e+00] [-2.58870277e-03 9.99996270e-01 -8.70446743e-04 -1.03014581e-01] [ 4.72461763e-03 8.82670612e-04 9.99988449e-01 -2.52194126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.786502481 meters 0.1033563991884664 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.10, Z:-0.25 [[ 0.99998544 0.00233272 -0.00486659 1.14906079] [-0.00233849 0.99999657 -0.00118064 -0.10272903] [ 0.00486381 0.00119201 0.99998746 -0.25286735] [ 0. 0. 0. 1. ]] SLAMing on 32.816502481 meters 0.10348706325271312 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.10, Z:-0.25 [[ 9.99984661e-01 2.26185379e-03 -5.05595340e-03 1.14958480e+00] [-2.26759671e-03 9.99996790e-01 -1.13042827e-03 -1.03291073e-01] [ 5.05338031e-03 1.14187580e-03 9.99986580e-01 -2.53118119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.846502481 meters 0.10379634524193618 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.11, Z:-0.25 [[ 9.99981505e-01 2.37260508e-03 -5.60007693e-03 1.15058954e+00] [-2.37459533e-03 9.99997120e-01 -3.48774560e-04 -1.06352672e-01] [ 5.59923330e-03 3.62066025e-04 9.99984259e-01 -2.53187380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.876502481 meters 0.10435996895072898 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.11, Z:-0.25 [[ 9.99978591e-01 2.34243042e-03 -6.10992708e-03 1.15174881e+00] [-2.34091251e-03 9.99997227e-01 2.55573392e-04 -1.08797695e-01] [ 6.11050880e-03 -2.41265115e-04 9.99981302e-01 -2.53598419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.906502481 meters 0.10463894441172646 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.11, Z:-0.25 [[ 9.99976441e-01 2.42519756e-03 -6.42153661e-03 1.15234144e+00] [-2.42027126e-03 9.99996771e-01 7.74813228e-04 -1.10589917e-01] [ 6.42339495e-03 -7.59253113e-04 9.99979082e-01 -2.53612132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.936502481 meters 0.10524735021437215 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.11, Z:-0.25 [[ 0.99997321 0.00247918 -0.00688676 1.15322304] [-0.00246997 0.99999604 0.00134512 -0.11274599] [ 0.00689007 -0.00132808 0.99997538 -0.25365214] [ 0. 0. 0. 1. ]] SLAMing on 32.966502481 meters 0.10612451221849331 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.12, Z:-0.25 [[ 0.99996747 0.0025297 -0.0076595 1.15460602] [-0.00251215 0.9999942 0.00230072 -0.11622381] [ 0.00766528 -0.00228141 0.99996802 -0.2536884 ] [ 0. 0. 0. 1. ]] SLAMing on 32.996502481 meters 0.10669116220665141 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.12, Z:-0.25 [[ 0.99996605 0.00239895 -0.0078831 1.15553888] [-0.00237939 0.99999407 0.00248958 -0.11749806] [ 0.00788903 -0.00247074 0.99996583 -0.25453728] [ 0. 0. 0. 1. ]] SLAMing on 33.026502481 meters 0.10669725622986137 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.12, Z:-0.25 [[ 0.9999641 0.00229932 -0.00815579 1.15633708] [-0.00227794 0.99999395 0.00263022 -0.11850018] [ 0.00816179 -0.00261155 0.99996328 -0.25495876] [ 0. 0. 0. 1. ]] SLAMing on 33.056502481 meters 0.1067828933071993 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.12, Z:-0.25 [[ 9.99961874e-01 -1.80987912e-03 -8.54250530e-03 1.15690536e+00] [ 1.80150403e-03 9.99997889e-01 -9.87995015e-04 -1.20784973e-01] [ 8.54427542e-03 9.72567990e-04 9.99963024e-01 -2.54673244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.086502481000004 meters 0.10758107648561285 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.12, Z:-0.25 [[ 9.99959104e-01 -1.54766918e-03 -8.91035060e-03 1.15719907e+00] [ 1.54559086e-03 9.99998777e-01 -2.40129814e-04 -1.22842464e-01] [ 8.91071134e-03 2.26348238e-04 9.99960273e-01 -2.54059899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.116502481 meters 0.10844019814673739 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.13, Z:-0.25 [[ 9.99955562e-01 -1.30140915e-03 -9.33702379e-03 1.15763381e+00] [ 1.30831281e-03 9.99998875e-01 7.33315168e-04 -1.25615138e-01] [ 9.33605895e-03 -7.45498329e-04 9.99956140e-01 -2.53518265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.146502481 meters 0.11061005761015101 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.13, Z:-0.25 [[ 0.99995257 -0.00150108 -0.00962328 1.15901781] [ 0.00151247 0.99999816 0.00117626 -0.12790961] [ 0.0096215 -0.00119076 0.999953 -0.25488422] [ 0. 0. 0. 1. ]] SLAMing on 33.176502481 meters 0.10969867375879429 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.13, Z:-0.26 [[ 0.99994737 -0.00178001 -0.01010379 1.16057613] [ 0.00179387 0.99999746 0.0013631 -0.12969236] [ 0.01010134 -0.00138115 0.99994803 -0.25593777] [ 0. 0. 0. 1. ]] SLAMing on 33.206502481 meters 0.10986340733397963 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.13, Z:-0.26 [[ 0.99994187 -0.00156214 -0.01066846 1.16143857] [ 0.00158764 0.9999959 0.00238258 -0.13285567] [ 0.0106647 -0.00239938 0.99994025 -0.25566101] [ 0. 0. 0. 1. ]] SLAMing on 33.236502481 meters 0.11257163854949823 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.14, Z:-0.26 [[ 0.99997231 -0.00721602 -0.00182143 1.16863186] [ 0.00722277 0.99996697 0.00372638 -0.14331644] [ 0.00179448 -0.00373943 0.9999914 -0.25816681] [ 0. 0. 0. 1. ]] SLAMing on 33.266502481 meters 0.1124858439198438 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:-0.26 [[ 9.99995395e-01 2.57031989e-03 -1.61323451e-03 1.17622843e+00] [-2.56980553e-03 9.99996647e-01 3.20831587e-04 -1.48895682e-01] [ 1.61405374e-03 -3.16684411e-04 9.99998647e-01 -2.57619562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.296502481 meters 0.11333548027630058 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:-0.26 [[ 0.9999943 0.00281558 -0.00186524 1.1765473 ] [-0.00281327 0.99999527 0.00124058 -0.1513985 ] [ 0.00186872 -0.00123533 0.99999749 -0.25732634] [ 0. 0. 0. 1. ]] SLAMing on 33.326502481 meters 0.11329662709332365 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:-0.26 [[ 0.99999425 0.00280259 -0.00191124 1.1767079 ] [-0.00280009 0.99999522 0.00131222 -0.15172568] [ 0.0019149 -0.00130686 0.99999731 -0.25740927] [ 0. 0. 0. 1. ]] SLAMing on 33.356502481 meters 0.11387040801717795 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:-0.26 [[ 9.99994830e-01 2.68584812e-03 -1.76820160e-03 1.17706937e+00] [-2.68394127e-03 9.99995815e-01 1.07990514e-03 -1.51510892e-01] [ 1.77109466e-03 -1.07515381e-03 9.99997854e-01 -2.58272063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.386502481 meters 0.11159294910367111 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:-0.26 [[ 9.99995234e-01 2.45282846e-03 -1.87514089e-03 1.17771819e+00] [-2.45147743e-03 9.99996734e-01 7.22451003e-04 -1.51122677e-01] [ 1.87690681e-03 -7.17850694e-04 9.99997981e-01 -2.58961743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.416502481 meters 0.11051172736405393 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:-0.26 [[ 9.99995972e-01 2.16043610e-03 -1.84091406e-03 1.17828475e+00] [-2.16022826e-03 9.99997660e-01 1.14879101e-04 -1.50201066e-01] [ 1.84115794e-03 -1.10901844e-04 9.99998299e-01 -2.59914327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.446502481 meters 0.11037749786941317 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:-0.26 [[ 9.99996176e-01 1.95857063e-03 -1.95255280e-03 1.17876483e+00] [-1.95900054e-03 9.99998057e-01 -2.18291208e-04 -1.49588160e-01] [ 1.95212147e-03 2.22115425e-04 9.99998070e-01 -2.60360784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.476502481 meters 0.11127204942152132 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:-0.26 [[ 9.99996673e-01 1.64725451e-03 -1.98489200e-03 1.17928298e+00] [-1.64857402e-03 9.99998421e-01 -6.63326015e-04 -1.48706875e-01] [ 1.98379620e-03 6.66596050e-04 9.99997810e-01 -2.61109929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.506502481 meters 0.11156340909692411 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:-0.26 [[ 9.99996019e-01 1.61271530e-03 -2.31523953e-03 1.17969376e+00] [-1.61382484e-03 9.99998584e-01 -4.77446371e-04 -1.49336314e-01] [ 2.31446627e-03 4.81180861e-04 9.99997206e-01 -2.60781073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.536502481 meters 0.11290354820916677 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:-0.26 [[ 9.99993221e-01 1.83273794e-03 -3.19370139e-03 1.17959170e+00] [-1.82968372e-03 9.99997866e-01 9.58986114e-04 -1.54268227e-01] [ 3.19545214e-03 -9.53136150e-04 9.99994440e-01 -2.58233214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.566502481 meters 0.11441247209110533 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.16, Z:-0.26 [[ 9.99992021e-01 1.50729202e-03 -3.69935462e-03 1.18098712e+00] [-1.50376200e-03 9.99998412e-01 9.56820634e-04 -1.55258117e-01] [ 3.70079095e-03 -9.51250051e-04 9.99992700e-01 -2.59063330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.596502481 meters 0.11503474055683333 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:-0.26 [[ 9.99992633e-01 8.40985907e-04 -3.74521213e-03 1.18227803e+00] [-8.41155679e-04 9.99999645e-01 -4.37555558e-05 -1.53688043e-01] [ 3.74517400e-03 4.69055399e-05 9.99992986e-01 -2.60992670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.626502481 meters 0.11630444203132428 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:-0.26 [[ 0.99998189 0.00441675 -0.00408759 1.1842661 ] [-0.00440215 0.99998393 0.00357275 -0.15331918] [ 0.00410331 -0.00355469 0.99998526 -0.26321509] [ 0. 0. 0. 1. ]] SLAMing on 33.656502481 meters 0.11630444203132428 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:-0.26 [[ 0.99998189 0.00441675 -0.00408759 1.1842661 ] [-0.00440215 0.99998393 0.00357275 -0.15331918] [ 0.00410331 -0.00355469 0.99998526 -0.26321509] [ 0. 0. 0. 1. ]] SLAMing on 33.686502481 meters 0.11543284543223806 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.15, Z:-0.26 [[ 0.99998283 0.00408255 -0.00420355 1.1849123 ] [-0.0040696 0.99998696 0.00308389 -0.15254339] [ 0.00421608 -0.00306673 0.99998641 -0.26391158] [ 0. 0. 0. 1. ]] SLAMing on 33.716502481 meters 0.11571154027002607 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.15, Z:-0.26 [[ 0.99998029 0.00406028 -0.00478925 1.18558445] [-0.0040441 0.9999861 0.00338285 -0.15360523] [ 0.00480292 -0.00336342 0.99998281 -0.26329595] [ 0. 0. 0. 1. ]] SLAMing on 33.746502481 meters 0.11593136549838295 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.15, Z:-0.26 [[ 0.99998129 0.00380335 -0.00479021 1.18565743] [-0.00378989 0.99998885 0.00281621 -0.15193657] [ 0.00480087 -0.002798 0.99998456 -0.26345889] [ 0. 0. 0. 1. ]] SLAMing on 33.776502481 meters 0.1153882907525075 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.15, Z:-0.26 [[ 0.99998323 0.00332207 -0.00474318 1.18609402] [-0.0033133 0.99999279 0.00185629 -0.14967642] [ 0.00474931 -0.00184054 0.99998703 -0.26433215] [ 0. 0. 0. 1. ]] SLAMing on 33.806502481 meters 0.11509968672064497 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.15, Z:-0.26 [[ 9.99984670e-01 2.84849387e-03 -4.74827785e-03 1.18639673e+00] [-2.84436856e-03 9.99995572e-01 8.75327892e-04 -1.47170535e-01] [ 4.75075019e-03 -8.61808621e-04 9.99988344e-01 -2.64816416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.836502481000004 meters 0.11499467007873707 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.15, Z:-0.26 [[ 9.99984804e-01 2.66501971e-03 -4.82581886e-03 1.18661285e+00] [-2.66263243e-03 9.99996330e-01 5.01047116e-04 -1.46220268e-01] [ 4.82713645e-03 -4.88190120e-04 9.99988230e-01 -2.64963630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.866502481 meters 0.11567629261207679 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:-0.27 [[ 9.99985112e-01 2.20219121e-03 -4.99261306e-03 1.18734183e+00] [-2.20397109e-03 9.99997510e-01 -3.51028982e-04 -1.44446124e-01] [ 4.99182760e-03 3.62027331e-04 9.99987475e-01 -2.65703859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.896502481 meters 0.11592542091115965 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:-0.27 [[ 9.99984610e-01 1.81235020e-03 -5.24365974e-03 1.18819723e+00] [-1.81717386e-03 9.99997930e-01 -9.15286241e-04 -1.43532350e-01] [ 5.24199007e-03 9.24800796e-04 9.99985833e-01 -2.66362184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.926502481 meters 0.11636169898865079 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:-0.27 [[ 0.99998457 0.00166397 -0.00529923 1.18824919] [-0.00167061 0.99999783 -0.00124824 -0.14238795] [ 0.00529715 0.00125707 0.99998518 -0.26636006] [ 0. 0. 0. 1. ]] SLAMing on 33.956502481 meters 0.11479304838872717 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:-0.27 [[ 0.99998484 0.00164355 -0.00525527 1.18802637] [-0.00165072 0.99999771 -0.00136087 -0.14180011] [ 0.00525302 0.00136953 0.99998526 -0.2661883 ] [ 0. 0. 0. 1. ]] SLAMing on 33.986502481 meters 0.11663892661963336 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:-0.26 [[ 9.99984504e-01 1.91172146e-03 -5.22856409e-03 1.18718670e+00] [-1.91674029e-03 9.99997707e-01 -9.55043987e-04 -1.41880401e-01] [ 5.22672632e-03 9.65050987e-04 9.99985875e-01 -2.64955228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.016502481 meters 0.1177643119955421 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:-0.26 [[ 9.99983490e-01 2.03237206e-03 -5.37484428e-03 1.18690861e+00] [-2.03663473e-03 9.99997616e-01 -7.87722605e-04 -1.41813082e-01] [ 5.37323052e-03 7.98656195e-04 9.99985245e-01 -2.64187060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.046502481 meters 0.11836920780361655 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:-0.26 [[ 0.99998366 0.00172467 -0.00545022 1.18742464] [-0.00173183 0.99999764 -0.00131019 -0.14078377] [ 0.00544795 0.00131961 0.99998429 -0.26482389] [ 0. 0. 0. 1. ]] SLAMing on 34.076502481 meters 0.11918098308870717 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:-0.27 [[ 9.99983886e-01 3.46148171e-03 -4.49957400e-03 1.18625153e+00] [-3.45986491e-03 9.99993947e-01 3.67059052e-04 -1.38358243e-01] [ 4.50081733e-03 -3.51485219e-04 9.99989809e-01 -2.65082716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.106502481 meters 0.11916250495562455 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.14, Z:-0.27 [[ 9.99985738e-01 2.88686416e-03 -4.49322911e-03 1.18705659e+00] [-2.88991442e-03 9.99995598e-01 -6.72513228e-04 -1.36344031e-01] [ 4.49126787e-03 6.85488685e-04 9.99989679e-01 -2.66413561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.136502481 meters 0.11924290741036447 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.13, Z:-0.27 [[ 0.99996566 0.0069786 -0.00446992 1.18700976] [-0.00696498 0.99997108 0.00305527 -0.13473554] [ 0.00449112 -0.00302403 0.99998534 -0.26638798] [ 0. 0. 0. 1. ]] SLAMing on 34.166502481 meters 0.11683247136637809 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.13, Z:-0.27 [[ 0.99996612 0.00680153 -0.00463613 1.18711043] [-0.00678942 0.99997351 0.00262444 -0.1334716 ] [ 0.00465386 -0.00259287 0.99998581 -0.26604367] [ 0. 0. 0. 1. ]] SLAMing on 34.196502481 meters 0.11595012850399217 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.13, Z:-0.26 [[ 0.99996449 0.0069857 -0.00471277 1.18593092] [-0.00697525 0.99997319 0.00222914 -0.13155031] [ 0.00472822 -0.00219619 0.99998641 -0.26404453] [ 0. 0. 0. 1. ]] SLAMing on 34.226502481 meters 0.11487429546747117 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.13, Z:-0.26 [[ 0.99996712 0.00661105 -0.0046967 1.18617093] [-0.00660527 0.99997741 0.00124455 -0.12915211] [ 0.00470483 -0.00121348 0.9999882 -0.26446191] [ 0. 0. 0. 1. ]] SLAMing on 34.256502481 meters 0.11198392546809859 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.12, Z:-0.27 [[ 0.99994029 0.01000307 -0.00439916 1.18696222] [-0.0099884 0.99994452 0.00334576 -0.12408052] [ 0.00443238 -0.00330162 0.99998473 -0.26655392] [ 0. 0. 0. 1. ]] SLAMing on 34.286502481 meters 0.11039625635131393 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.12, Z:-0.27 [[ 0.99990798 0.01281044 -0.00446258 1.18929228] [-0.01278856 0.99990623 0.00489769 -0.1190403 ] [ 0.00452491 -0.00484017 0.99997805 -0.27016436] [ 0. 0. 0. 1. ]] SLAMing on 34.316502481 meters 0.11080528203622032 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.11, Z:-0.27 [[ 0.99996126 0.00767501 -0.00431003 1.19027816] [-0.00768054 0.9999697 -0.00126787 -0.11489874] [ 0.00430017 0.00130093 0.99998991 -0.27217694] [ 0. 0. 0. 1. ]] SLAMing on 34.346502481 meters 0.10999235675958244 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.11, Z:-0.27 [[ 0.99996064 0.00748077 -0.00476982 1.19055639] [-0.00748873 0.99997059 -0.00165352 -0.11390338] [ 0.00475731 0.00168918 0.99998726 -0.27134922] [ 0. 0. 0. 1. ]] SLAMing on 34.376502481 meters 0.11020030255240348 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.11, Z:-0.27 [[ 0.99995981 0.00742679 -0.00502289 1.19065069] [-0.00743578 0.99997078 -0.00177501 -0.11346297] [ 0.00500956 0.00181228 0.99998581 -0.27081585] [ 0. 0. 0. 1. ]] SLAMing on 34.406502481 meters 0.11069867868572579 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.11, Z:-0.27 [[ 0.99995992 0.00740026 -0.00503832 1.19047373] [-0.00740991 0.99997074 -0.00189959 -0.1128709 ] [ 0.00502412 0.00193685 0.9999855 -0.27050099] [ 0. 0. 0. 1. ]] SLAMing on 34.436502481 meters 0.11140022871244165 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.11, Z:-0.27 [[ 0.99996305 0.00678994 -0.00527152 1.19124966] [-0.00680513 0.99997273 -0.00286907 -0.1104929 ] [ 0.00525189 0.00290484 0.99998199 -0.27106551] [ 0. 0. 0. 1. ]] SLAMing on 34.466502481 meters 0.11187280171298747 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.11, Z:-0.27 [[ 0.99996749 0.00614962 -0.00521548 1.19207959] [-0.00617023 0.99997318 -0.0039452 -0.10823775] [ 0.00519108 0.00397725 0.99997862 -0.27249649] [ 0. 0. 0. 1. ]] SLAMing on 34.496502481 meters 0.11238011923035124 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.11, Z:-0.27 [[ 0.99996738 0.00586651 -0.00555252 1.19300681] [-0.00589002 0.99997372 -0.00422713 -0.108126 ] [ 0.00552757 0.00425969 0.99997565 -0.27300298] [ 0. 0. 0. 1. ]] SLAMing on 34.526502481 meters 0.11298571924305048 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.11, Z:-0.27 [[ 0.99996768 0.00565896 -0.00571014 1.1934446 ] [-0.00568487 0.99997358 -0.00453048 -0.1075473 ] [ 0.00568435 0.00456279 0.99997343 -0.27328151] [ 0. 0. 0. 1. ]] SLAMing on 34.556502481 meters 0.11319276438403518 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.11, Z:-0.27 [[ 0.99996866 0.00531342 -0.00586918 1.19401546] [-0.00534327 0.99997281 -0.00508243 -0.10637701] [ 0.00584202 0.00511363 0.99996986 -0.27377251] [ 0. 0. 0. 1. ]] SLAMing on 34.586502481000004 meters 0.11446924883528369 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.10, Z:-0.27 [[ 0.99997 0.00521139 -0.00573105 1.19363297] [-0.00524256 0.99997147 -0.00543849 -0.10498513] [ 0.00570255 0.00546838 0.99996879 -0.27356735] [ 0. 0. 0. 1. ]] SLAMing on 34.616502481 meters 0.11576360196134361 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.10, Z:-0.27 [[ 0.99996949 0.00515139 -0.00587244 1.193691 ] [-0.0051838 0.99997134 -0.00551758 -0.10459676] [ 0.00584385 0.00554786 0.99996753 -0.2733033 ] [ 0. 0. 0. 1. ]] SLAMing on 34.646502481 meters 0.11489730238965616 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.10, Z:-0.27 [[ 0.99996823 0.00501799 -0.00619265 1.19377692] [-0.00505295 0.99997131 -0.00564388 -0.10397124] [ 0.00616416 0.00567499 0.9999649 -0.27260695] [ 0. 0. 0. 1. ]] SLAMing on 34.676502481 meters 0.11620270053967859 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.10, Z:-0.27 [[ 0.99996722 0.0052419 -0.00617059 1.19326672] [-0.00527468 0.999972 -0.00530755 -0.10436124] [ 0.0061426 0.00533993 0.99996688 -0.27190301] [ 0. 0. 0. 1. ]] SLAMing on 34.706502481 meters 0.11634923626405123 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.11, Z:-0.27 [[ 0.9999629 0.00517942 -0.00688234 1.19382916] [-0.00521332 0.99997432 -0.00491786 -0.10560931] [ 0.00685669 0.00495356 0.99996422 -0.27099751] [ 0. 0. 0. 1. ]] SLAMing on 34.736502481 meters 0.11682839263663385 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.10, Z:-0.27 [[ 0.99996262 0.00493763 -0.00709819 1.19436382] [-0.00497525 0.99997362 -0.0052918 -0.10479497] [ 0.00707187 0.00532692 0.99996081 -0.27130432] [ 0. 0. 0. 1. ]] SLAMing on 34.766502481 meters 0.11776636951438986 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.10, Z:-0.27 [[ 0.99993746 0.00815359 -0.00765522 1.19649995] [-0.00817286 0.9999635 -0.00249046 -0.10221103] [ 0.00763463 0.00255287 0.9999676 -0.27305051] [ 0. 0. 0. 1. ]] SLAMing on 34.796502481 meters 0.1167128882440463 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.10, Z:-0.27 [[ 0.9999441 0.00731282 -0.00763726 1.19720806] [-0.00734584 0.99996376 -0.00430432 -0.09768402] [ 0.0076055 0.00436018 0.99996157 -0.27414767] [ 0. 0. 0. 1. ]] SLAMing on 34.826502481 meters 0.11715340024779228 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.10, Z:-0.27 [[ 0.99994638 0.00705134 -0.00758387 1.19722943] [-0.00708918 0.9999625 -0.00497475 -0.09580949] [ 0.0075485 0.00502825 0.99995887 -0.27429083] [ 0. 0. 0. 1. ]] SLAMing on 34.856502481 meters 0.1152466054325362 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.09, Z:-0.27 [[ 0.9999505 0.00656376 -0.00747729 1.19718041] [-0.00661006 0.99995903 -0.00618472 -0.09245406] [ 0.00743639 0.00623384 0.99995292 -0.27447142] [ 0. 0. 0. 1. ]] SLAMing on 34.886502481 meters 0.11610268162110543 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.09, Z:-0.27 [[ 0.99999067 0.00248087 -0.00353529 1.20295182] [-0.00248614 0.99999581 -0.00148544 -0.08925764] [ 0.00353159 0.00149422 0.99999265 -0.27135014] [ 0. 0. 0. 1. ]] SLAMing on 34.916502481 meters 0.11682174324763103 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.09, Z:-0.27 [[ 0.99999129 0.00233369 -0.00346135 1.20281968] [-0.00234051 0.99999533 -0.00196746 -0.08773201] [ 0.00345674 0.00197554 0.99999207 -0.27139349] [ 0. 0. 0. 1. ]] SLAMing on 34.946502481 meters 0.11641134752879448 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.09, Z:-0.27 [[ 0.99999228 0.0020416 -0.00335614 1.20287077] [-0.00205053 0.99999436 -0.0026591 -0.08574713] [ 0.00335069 0.00266597 0.99999083 -0.27178652] [ 0. 0. 0. 1. ]] SLAMing on 34.976502481 meters 0.11729670862322823 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.08, Z:-0.27 [[ 9.99977303e-01 5.59390691e-03 -3.75530325e-03 1.20405134e+00] [-5.59218850e-03 9.99984254e-01 4.67939657e-04 -8.33691597e-02] [ 3.75786173e-03 -4.46928673e-04 9.99992839e-01 -2.72567801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.006502481 meters 0.11759862784755333 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.08, Z:-0.27 [[ 9.99980637e-01 5.03310222e-03 -3.65962117e-03 1.20413037e+00] [-5.03665292e-03 9.99986854e-01 -9.61670212e-04 -7.95439804e-02] [ 3.65473288e-03 9.80083834e-04 9.99992841e-01 -2.72989348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.036502481 meters 0.11737073908777886 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.08, Z:-0.27 [[ 0.99998312 0.00450624 -0.00366818 1.20447501] [-0.00451398 0.9999876 -0.00210541 -0.07663003] [ 0.00365865 0.00212194 0.99999106 -0.27347081] [ 0. 0. 0. 1. ]] SLAMing on 35.066502481 meters 0.1173041453405846 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.07, Z:-0.27 [[ 9.99974421e-01 6.38136467e-03 -3.23043747e-03 1.20287573e+00] [-6.38526547e-03 9.99978896e-01 -1.19864695e-03 -7.14449202e-02] [ 3.22272029e-03 1.21924349e-03 9.99994064e-01 -2.72241271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.096502481 meters 0.11678982977097313 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.07, Z:-0.27 [[ 0.99997697 0.00603217 -0.00310916 1.20290147] [-0.00603882 0.99997949 -0.00213517 -0.06892729] [ 0.00309622 0.0021539 0.99999289 -0.27257976] [ 0. 0. 0. 1. ]] SLAMing on 35.126502481 meters 0.12203251455331213 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.07, Z:-0.27 [[ 0.99998023 0.0054098 -0.00320406 1.20356905] [-0.0054206 0.99997963 -0.00337101 -0.06606995] [ 0.00318576 0.00338832 0.99998919 -0.27335226] [ 0. 0. 0. 1. ]] SLAMing on 35.156502481 meters 0.11448123754572369 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.06, Z:-0.27 [[ 9.99957542e-01 8.67135338e-03 -3.11811500e-03 1.20416344e+00] [-8.67463563e-03 9.99961833e-01 -1.04066146e-03 -6.08357915e-02] [ 3.10897205e-03 1.06766579e-03 9.99994597e-01 -2.74341701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.186502481 meters 0.11654217962617859 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.06, Z:-0.28 [[ 0.99996593 0.00771421 -0.0029378 1.20470473] [-0.00772329 0.99996539 -0.00309307 -0.05562154] [ 0.00291384 0.00311565 0.9999909 -0.27558821] [ 0. 0. 0. 1. ]] SLAMing on 35.216502481 meters 0.11376668349577845 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.05, Z:-0.28 [[ 0.99996784 0.00737673 -0.00314588 1.20528911] [-0.00738842 0.99996578 -0.00372176 -0.05433426] [ 0.00311832 0.00374488 0.99998813 -0.27592026] [ 0. 0. 0. 1. ]] SLAMing on 35.246502481 meters 0.11450530051710558 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.05, Z:-0.28 [[ 0.99997316 0.00671648 -0.00292565 1.20527914] [-0.00673221 0.99996276 -0.00539957 -0.04984465] [ 0.00288927 0.00541912 0.99998114 -0.27645666] [ 0. 0. 0. 1. ]] SLAMing on 35.276502481 meters 0.1147867858482387 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.05, Z:-0.28 [[ 0.99997692 0.00616018 -0.00286641 1.20549295] [-0.00617916 0.99995875 -0.00665694 -0.04658686] [ 0.00282528 0.0066745 0.99997373 -0.27694767] [ 0. 0. 0. 1. ]] SLAMing on 35.306502481 meters 0.11254374436500837 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.04, Z:-0.28 [[ 0.99994648 0.00991907 -0.00294098 1.2059553 ] [-0.00992936 0.99994456 -0.00350519 -0.04386964] [ 0.00290605 0.00353421 0.99998953 -0.27734957] [ 0. 0. 0. 1. ]] SLAMing on 35.336502481 meters 0.11346825306475734 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.04, Z:-0.28 [[ 9.99989253e-01 -4.38278382e-04 4.61542817e-03 1.20639999e+00] [ 4.31457913e-04 9.99998814e-01 1.47864646e-03 -4.16189404e-02] [-4.61607075e-03 -1.47663920e-03 9.99988256e-01 -2.79289566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.366502481 meters 0.1094165959496529 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.04, Z:-0.28 [[ 9.99988687e-01 -7.21207763e-04 4.70163082e-03 1.20637591e+00] [ 7.18248224e-04 9.99999543e-01 6.31128853e-04 -3.93482862e-02] [-4.70208385e-03 -6.27744775e-04 9.99988748e-01 -2.79429529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.396502481 meters 0.10965672542997532 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.04, Z:-0.28 [[ 9.99988916e-01 -1.13909675e-03 4.56850026e-03 1.20692459e+00] [ 1.14032030e-03 9.99999315e-01 -2.65225977e-04 -3.75421447e-02] [-4.56819502e-03 2.70432591e-04 9.99989529e-01 -2.79907607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.426502481 meters 0.11317948671334992 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.04, Z:-0.28 [[ 0.99998663 0.00303204 0.00418859 1.2075532 ] [-0.0030492 0.99998696 0.00409592 -0.03828952] [-0.00417612 -0.00410863 0.99998284 -0.27989386] [ 0. 0. 0. 1. ]] SLAMing on 35.456502481 meters 0.11085426371123266 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.04, Z:-0.28 [[ 0.9999875 0.00248292 0.00434085 1.20792062] [-0.00249622 0.9999922 0.00305991 -0.03582173] [-0.00433322 -0.00307071 0.9999859 -0.28086778] [ 0. 0. 0. 1. ]] SLAMing on 35.486502481 meters 0.1090817528896339 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.04, Z:-0.28 [[ 0.99998844 0.00219558 0.00427713 1.20839383] [-0.00220681 0.99999412 0.00262352 -0.03504708] [-0.00427134 -0.00263293 0.99998741 -0.28143971] [ 0. 0. 0. 1. ]] SLAMing on 35.516502481 meters 0.11009418975390237 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.04, Z:-0.28 [[ 0.99998977 0.0018893 0.00410965 1.20909319] [-0.001899 0.99999542 0.00235749 -0.03504143] [-0.00410517 -0.00236527 0.99998878 -0.28212023] [ 0. 0. 0. 1. ]] SLAMing on 35.546502481 meters 0.11009418975390237 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.04, Z:-0.28 [[ 0.99998977 0.0018893 0.00410965 1.20909319] [-0.001899 0.99999542 0.00235749 -0.03504143] [-0.00410517 -0.00236527 0.99998878 -0.28212023] [ 0. 0. 0. 1. ]] SLAMing on 35.576502481 meters 0.1125456738894415 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.04, Z:-0.28 [[ 0.99999039 0.00180549 0.00399572 1.20952692] [-0.00181517 0.99999542 0.00242186 -0.03565835] [-0.00399133 -0.00242909 0.99998908 -0.28251671] [ 0. 0. 0. 1. ]] SLAMing on 35.606502481 meters 0.11021721221797894 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.04, Z:-0.28 [[ 0.99999274 0.00149349 0.00350608 1.21105537] [-0.00150304 0.99999517 0.00272188 -0.03796638] [-0.003502 -0.00272713 0.99999015 -0.28364486] [ 0. 0. 0. 1. ]] SLAMing on 35.636502481 meters 0.11106018376160887 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.04, Z:-0.28 [[ 0.99999336 0.00143491 0.00334909 1.21170337] [-0.00144468 0.99999471 0.0029155 -0.03906051] [-0.00334489 -0.00292032 0.99999014 -0.28427773] [ 0. 0. 0. 1. ]] SLAMing on 35.666502481 meters 0.11252212368756631 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.04, Z:-0.28 [[ 0.99999416 0.00142468 0.00310749 1.21233526] [-0.00143543 0.99999299 0.00345936 -0.04101523] [-0.00310254 -0.0034638 0.99998919 -0.28473082] [ 0. 0. 0. 1. ]] SLAMing on 35.696502481 meters 0.11356298423449289 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.04, Z:-0.29 [[ 0.9999947 0.00138914 0.00294312 1.21291254] [-0.0014 0.99999222 0.00368868 -0.04213476] [-0.00293797 -0.00369278 0.99998887 -0.28524196] [ 0. 0. 0. 1. ]] SLAMing on 35.726502481 meters 0.11444619057555064 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.04, Z:-0.29 [[ 0.99999585 0.00132537 0.00255656 1.2138141 ] [-0.00133608 0.99999032 0.0041918 -0.0442685 ] [-0.00255098 -0.0041952 0.99998795 -0.28568942] [ 0. 0. 0. 1. ]] SLAMing on 35.756502481 meters 0.11523852184576808 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.05, Z:-0.29 [[ 0.99999625 0.00134147 0.0023892 1.21427085] [-0.00135207 0.99998923 0.0044402 -0.04539112] [-0.00238322 -0.00444341 0.99998729 -0.28595499] [ 0. 0. 0. 1. ]] SLAMing on 35.786502481 meters 0.11606308585004736 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.05, Z:-0.29 [[ 0.99999667 0.00128568 0.00223552 1.21475349] [-0.00129593 0.99998863 0.00459 -0.04627372] [-0.00222959 -0.00459288 0.99998697 -0.28630762] [ 0. 0. 0. 1. ]] SLAMing on 35.816502481 meters 0.11673132948281058 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.05, Z:-0.29 [[ 9.99997631e-01 8.43934064e-04 2.00623371e-03 1.21585277e+00] [-8.52009723e-04 9.99991525e-01 4.02784210e-03 -4.56715442e-02] [-2.00281748e-03 -4.02954189e-03 9.99989876e-01 -2.87431073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.846502481 meters 0.11508398444769491 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.05, Z:-0.29 [[ 9.99998238e-01 6.25437607e-04 1.76971849e-03 1.21660972e+00] [-6.32028382e-04 9.99992858e-01 3.72608880e-03 -4.54262545e-02] [-1.76737541e-03 -3.72720074e-03 9.99991492e-01 -2.87970799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.876502481 meters 0.11316023428161122 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.05, Z:-0.29 [[ 9.99998663e-01 3.88276738e-04 1.58842269e-03 1.21745781e+00] [-3.93839429e-04 9.99993786e-01 3.50320943e-03 -4.55664071e-02] [-1.58705261e-03 -3.50383033e-03 9.99992602e-01 -2.88804517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.906502481 meters 0.11474592433547685 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.05, Z:-0.29 [[ 9.99998868e-01 1.78508189e-04 1.49422971e-03 1.21790583e+00] [-1.83324610e-04 9.99994787e-01 3.22383148e-03 -4.51724008e-02] [-1.49364644e-03 -3.22410176e-03 9.99993687e-01 -2.89264748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.936502481 meters 0.11374324405428947 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.04, Z:-0.29 [[ 9.99999002e-01 -1.06906414e-04 1.40889009e-03 1.21825144e+00] [ 1.03003880e-04 9.99996159e-01 2.76971668e-03 -4.41757698e-02] [-1.40918078e-03 -2.76956879e-03 9.99995172e-01 -2.89583967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.966502481 meters 0.11414243756428635 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.04, Z:-0.29 [[ 9.99999059e-01 -2.13050695e-04 1.35524290e-03 1.21840248e+00] [ 2.09557244e-04 9.99996657e-01 2.57735062e-03 -4.37090732e-02] [-1.35578748e-03 -2.57706420e-03 9.99995760e-01 -2.89671424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.996502481 meters 0.11319479180470189 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.04, Z:-0.29 [[ 9.99999376e-01 -1.99000489e-04 1.09896300e-03 1.21871935e+00] [ 1.96022287e-04 9.99996310e-01 2.70945450e-03 -4.43289503e-02] [-1.09949813e-03 -2.70923738e-03 9.99995726e-01 -2.89441648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.026502481 meters 0.11411835886010421 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.04, Z:-0.29 [[ 9.99999489e-01 -3.06560490e-04 9.63585337e-04 1.21916303e+00] [ 3.04047912e-04 9.99996557e-01 2.60659639e-03 -4.44013576e-02] [-9.64381099e-04 -2.60630208e-03 9.99996139e-01 -2.89757243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.056502481 meters 0.11413932625590355 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.04, Z:-0.29 [[ 9.99999500e-01 -5.54385094e-04 8.31810907e-04 1.21977152e+00] [ 5.52503332e-04 9.99997292e-01 2.26077451e-03 -4.38394246e-02] [-8.33061994e-04 -2.26031380e-03 9.99997098e-01 -2.90370386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.086502481 meters 0.11396065498031101 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.04, Z:-0.29 [[ 9.99999227e-01 -1.11879078e-03 5.42340570e-04 1.22121741e+00] [ 1.11791703e-03 9.99998081e-01 1.60871875e-03 -4.32716461e-02] [-5.44139349e-04 -1.60811122e-03 9.99998559e-01 -2.91825110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.116502481 meters 0.11381668774354593 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.04, Z:-0.29 [[ 9.99998932e-01 -1.42215208e-03 3.37334818e-04 1.22207563e+00] [ 1.42173815e-03 9.99998240e-01 1.22415518e-03 -4.28851824e-02] [-3.39075159e-04 -1.22367427e-03 9.99999194e-01 -2.92598300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.146502481 meters 0.11518912359448719 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.04, Z:-0.29 [[ 9.99998672e-01 -1.62009117e-03 1.75873402e-04 1.22257268e+00] [ 1.61992633e-03 9.99998252e-01 9.33383884e-04 -4.23024807e-02] [-1.77385261e-04 -9.33097742e-04 9.99999549e-01 -2.92975526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.176502481 meters 0.115655938517859 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.04, Z:-0.29 [[ 9.99998067e-01 -1.96618690e-03 1.91251754e-05 1.22324812e+00] [ 1.96617870e-03 9.99997979e-01 4.19603682e-04 -4.14219467e-02] [-1.99501560e-05 -4.19565267e-04 9.99999912e-01 -2.93617251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.206502481 meters 0.11539393249120551 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.04, Z:-0.29 [[ 9.99997924e-01 1.98887320e-03 -4.42865190e-04 1.22436126e+00] [-1.98684157e-03 9.99987713e-01 4.54160570e-03 -4.18109956e-02] [ 4.51892427e-04 -4.54071637e-03 9.99989589e-01 -2.94273357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.236502481 meters 0.11468230383811107 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.04, Z:-0.30 [[ 9.99998543e-01 1.58158532e-03 -6.41792435e-04 1.22519497e+00] [-1.57903833e-03 9.99990953e-01 3.94984713e-03 -4.07754746e-02] [ 6.48033649e-04 -3.94882797e-03 9.99991993e-01 -2.95050790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.266502481 meters 0.11603184224376321 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.04, Z:-0.30 [[ 9.99999234e-01 8.29725293e-04 -9.18921943e-04 1.22665731e+00] [-8.27064063e-04 9.99995474e-01 2.89263857e-03 -3.90479380e-02] [ 9.21317879e-04 -2.89187635e-03 9.99995394e-01 -2.96613472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.296502481 meters 0.1161543986451674 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.04, Z:-0.30 [[ 9.99999257e-01 5.54403943e-04 -1.08525224e-03 1.22712157e+00] [-5.51770461e-04 9.99996906e-01 2.42540544e-03 -3.80907164e-02] [ 1.08659354e-03 -2.42480483e-03 9.99996470e-01 -2.96888172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.326502481 meters 0.11563976135442779 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.04, Z:-0.30 [[ 9.99999132e-01 2.54140193e-04 -1.29270124e-03 1.22763233e+00] [-2.51675196e-04 9.99998151e-01 1.90666277e-03 -3.70259492e-02] [ 1.29318341e-03 -1.90633578e-03 9.99997347e-01 -2.97132842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.356502481 meters 0.1169767676928538 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.03, Z:-0.30 [[ 9.99998780e-01 -3.46271648e-04 -1.52317773e-03 1.22856928e+00] [ 3.47622314e-04 9.99999547e-01 8.86566872e-04 -3.49138349e-02] [ 1.52287005e-03 -8.87095281e-04 9.99998447e-01 -2.97989262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.386502481 meters 0.11753734888954451 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.03, Z:-0.30 [[ 9.99998346e-01 -7.20112015e-04 -1.67021081e-03 1.22913780e+00] [ 7.20553091e-04 9.99999706e-01 2.63497511e-04 -3.35576638e-02] [ 1.67002058e-03 -2.64700551e-04 9.99998570e-01 -2.98492693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.416502481 meters 0.11803695166099759 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.03, Z:-0.30 [[ 9.99997933e-01 -9.47676642e-04 -1.79859464e-03 1.22944227e+00] [ 9.47417526e-04 9.99999541e-01 -1.44912331e-04 -3.26544191e-02] [ 1.79873114e-03 1.43208012e-04 9.99998372e-01 -2.98629624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.446502481 meters 0.11862780390650797 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.03, Z:-0.30 [[ 9.99997809e-01 -1.05052917e-03 -1.81049555e-03 1.22888054e+00] [ 1.04931448e-03 9.99999224e-01 -6.71734963e-04 -3.06277545e-02] [ 1.81119983e-03 6.69833712e-04 9.99998135e-01 -2.97692409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.476502481 meters 0.11886160691651515 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.03, Z:-0.30 [[ 0.99999349 0.00290472 -0.00214289 1.22913537] [-0.00289798 0.99999087 0.00313948 -0.02985303] [ 0.00215199 -0.00313325 0.99999278 -0.29726513] [ 0. 0. 0. 1. ]] SLAMing on 36.506502481 meters 0.11919072465433098 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.03, Z:-0.30 [[ 0.99999425 0.00248757 -0.00230472 1.22981043] [-0.00248197 0.99999397 0.00242837 -0.02843993] [ 0.00231075 -0.00242264 0.9999944 -0.29787873] [ 0. 0. 0. 1. ]] SLAMing on 36.536502481 meters 0.1193967176230013 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.03, Z:-0.30 [[ 9.99995596e-01 1.69357201e-03 -2.43725563e-03 1.23086388e+00] [-1.69138846e-03 9.99998167e-01 8.97687016e-04 -2.51454307e-02] [ 2.43877146e-03 -8.93560716e-04 9.99996627e-01 -2.99153299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.566502481 meters 0.11933065515770763 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.02, Z:-0.30 [[ 9.99996097e-01 8.22074619e-04 -2.67030319e-03 1.23220670e+00] [-8.23568367e-04 9.99999505e-01 -5.58341235e-04 -2.22764162e-02] [ 2.66984287e-03 5.60538233e-04 9.99996279e-01 -3.00580787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.596502481 meters 0.11922754792831958 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.02, Z:-0.30 [[ 0.99998695 0.00422303 -0.00287507 1.23352541] [-0.00421668 0.99998866 0.00221176 -0.01912604] [ 0.00288438 -0.00219961 0.99999342 -0.30206404] [ 0. 0. 0. 1. ]] SLAMing on 36.626502481 meters 0.11932312395868515 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.02, Z:-0.30 [[ 9.99988751e-01 3.60216218e-03 -3.08596243e-03 1.23449511e+00] [-3.59869013e-03 9.99992886e-01 1.12992466e-03 -1.69238803e-02] [ 3.09001065e-03 -1.11880653e-03 9.99994600e-01 -3.03006469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.656502481 meters 0.11786868928791944 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.02, Z:-0.30 [[ 9.99989190e-01 3.18948088e-03 -3.38326183e-03 1.23527763e+00] [-3.18847213e-03 9.99994871e-01 3.03510348e-04 -1.54355963e-02] [ 3.38421252e-03 -2.92719631e-04 9.99994231e-01 -3.03357395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.686502481 meters 0.11370657814635204 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.30 [[ 9.99989045e-01 2.96636397e-03 -3.62083155e-03 1.23584252e+00] [-2.96667382e-03 9.99995596e-01 -8.02069936e-05 -1.47991674e-02] [ 3.62057768e-03 9.09479411e-05 9.99993442e-01 -3.03538050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.716502481 meters 0.11337755616013202 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.30 [[ 9.99989728e-01 2.80383402e-03 -3.56124129e-03 1.23556527e+00] [-2.80739446e-03 9.99995564e-01 -9.95170436e-04 -1.22487818e-02] [ 3.55843520e-03 1.00515802e-03 9.99993164e-01 -3.03124703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.746502481 meters 0.11121053125912123 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.30 [[ 0.99997118 0.00672416 -0.00352457 1.23567375] [-0.00671629 0.99997494 0.00223787 -0.00942942] [ 0.00353953 -0.00221413 0.99999128 -0.30331462] [ 0. 0. 0. 1. ]] SLAMing on 36.776502481 meters 0.11085715490128929 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.30 [[ 9.99975020e-01 6.07098065e-03 -3.61987783e-03 1.23650848e+00] [-6.06735249e-03 9.99981081e-01 1.01242736e-03 -6.73771627e-03] [ 3.62595578e-03 -9.90438998e-04 9.99992936e-01 -3.04349769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.806502481 meters 0.11195699701356916 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.31 [[ 9.99978010e-01 5.22493376e-03 -4.08398055e-03 1.23837288e+00] [-5.22655159e-03 9.99986267e-01 -3.85567947e-04 -4.37745807e-03] [ 4.08190989e-03 4.06904604e-04 9.99991586e-01 -3.06079897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.836502481 meters 0.10964553534197494 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.31 [[ 9.99977822e-01 5.06680385e-03 -4.32228449e-03 1.23903708e+00] [-5.06926229e-03 9.99986996e-01 -5.58017784e-04 -4.43184243e-03] [ 4.31940092e-03 5.79916202e-04 9.99990503e-01 -3.06423883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.866502481 meters 0.11160868305108362 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.31 [[ 9.99977031e-01 5.01790969e-03 -4.55612180e-03 1.23947619e+00] [-5.02078201e-03 9.99987204e-01 -6.19212502e-04 -4.65371168e-03] [ 4.55295634e-03 6.42073574e-04 9.99989429e-01 -3.06442444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.896502481 meters 0.11182855603505361 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.31 [[ 0.99997842 0.0045882 -0.00470269 1.24006597] [-0.00459456 0.99998854 -0.00134345 -0.0030732 ] [ 0.00469647 0.00136503 0.99998804 -0.30697688] [ 0. 0. 0. 1. ]] SLAMing on 36.926502481 meters 0.1125925090418588 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.31 [[ 9.99981605e-01 3.91158502e-03 -4.63556553e-03 1.24061880e+00] [-3.92319087e-03 9.99989186e-01 -2.49721095e-03 -2.14863944e-04] [ 4.62574735e-03 2.51535123e-03 9.99986138e-01 -3.07964742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.956502481 meters 0.11379792181658895 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.31 [[ 0.99997979 0.00395599 -0.00497659 1.24113764] [-0.00396639 0.99998997 -0.00208111 -0.00172765] [ 0.00496831 0.0021008 0.99998545 -0.30789568] [ 0. 0. 0. 1. ]] SLAMing on 36.986502481 meters 0.1114337639367034 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.31 [[ 0.99997813 0.004095 -0.00519369 1.24139334] [-0.00410357 0.99999023 -0.00164047 -0.00308306] [ 0.00518693 0.00166175 0.99998517 -0.30771655] [ 0. 0. 0. 1. ]] SLAMing on 37.016502481 meters 0.11224626158846399 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.31 [[ 0.9999771 0.0042096 -0.00529835 1.24143427] [-0.00421654 0.99999027 -0.00129945 -0.00405532] [ 0.00529282 0.00132176 0.99998512 -0.30748756] [ 0. 0. 0. 1. ]] SLAMing on 37.046502481 meters 0.11762782611067048 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.31 [[ 9.99975122e-01 4.29269625e-03 -5.59724269e-03 1.24185603e+00] [-4.29684822e-03 9.99990502e-01 -7.29974500e-04 -6.00998250e-03] [ 5.59405597e-03 7.54006842e-04 9.99984069e-01 -3.07405787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.076502481 meters 0.1139328665067193 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.31 [[ 9.99975039e-01 4.12553233e-03 -5.73602228e-03 1.24244391e+00] [-4.13054883e-03 9.99991097e-01 -8.62990402e-04 -6.08634129e-03] [ 5.73241092e-03 8.86661781e-04 9.99983177e-01 -3.07938995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.106502481 meters 0.11463642538660343 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.31 [[ 0.99997589 0.00373735 -0.00585277 1.24337341] [-0.00374496 0.99999215 -0.00129088 -0.00556489] [ 0.0058479 0.00131277 0.99998204 -0.30907538] [ 0. 0. 0. 1. ]] SLAMing on 37.136502481 meters 0.11380109660616931 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.31 [[ 0.99997545 0.00364246 -0.00598592 1.24380168] [-0.00365034 0.99999248 -0.00130583 -0.00585853] [ 0.00598112 0.00132765 0.99998123 -0.30937809] [ 0. 0. 0. 1. ]] SLAMing on 37.166502481 meters 0.11490360474341735 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.31 [[ 9.99973783e-01 3.76579107e-03 -6.18491149e-03 1.24407733e+00] [-3.76979647e-03 9.99992692e-01 -6.36076829e-04 -7.91751054e-03] [ 6.18247096e-03 6.59376010e-04 9.99980671e-01 -3.09315061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.196502481 meters 0.11861719571893269 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.31 [[ 9.99971785e-01 3.71826584e-03 -6.52722057e-03 1.24461173e+00] [-3.71900175e-03 9.99993079e-01 -1.00611747e-04 -9.92967995e-03] [ 6.52680130e-03 1.24883653e-04 9.99978692e-01 -3.09349002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.226502481 meters 0.11751882144171089 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.31 [[ 9.99970991e-01 3.67489348e-03 -6.67176341e-03 1.24497577e+00] [-3.67519566e-03 9.99993246e-01 -3.30323249e-05 -1.03221105e-02] [ 6.67159695e-03 5.75514025e-05 9.99977743e-01 -3.09561683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.256502481 meters 0.11827016063032203 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.01, Z:-0.31 [[ 9.99971205e-01 3.35281798e-03 -6.80786370e-03 1.24569183e+00] [-3.35581813e-03 9.99994277e-01 -4.29312926e-04 -9.74815417e-03] [ 6.80638533e-03 4.52146516e-04 9.99976734e-01 -3.10335840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.286502481 meters 0.12011888875650871 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.01, Z:-0.31 [[ 0.9999732 0.00242269 -0.00690821 1.24721996] [-0.00243436 0.99999562 -0.00168168 -0.00749762] [ 0.00690411 0.00169845 0.99997472 -0.3123784 ] [ 0. 0. 0. 1. ]] SLAMing on 37.316502481 meters 0.11948356779807169 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.01, Z:-0.31 [[ 0.99997399 0.00190579 -0.00695674 1.24789611] [-0.00192321 0.99999503 -0.002498 -0.00586844] [ 0.00695195 0.00251132 0.99997268 -0.31327045] [ 0. 0. 0. 1. ]] SLAMing on 37.346502481 meters 0.12068291662106617 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.00, Z:-0.31 [[ 0.99997484 0.00150992 -0.00693143 1.24796287] [-0.00153238 0.99999359 -0.00323651 -0.00412995] [ 0.0069265 0.00324705 0.99997074 -0.31338473] [ 0. 0. 0. 1. ]] SLAMing on 37.376502481 meters 0.12230063930694693 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.00, Z:-0.31 [[ 9.99975558e-01 8.79298974e-04 -6.93616080e-03 1.24798355e+00] [-9.11222818e-04 9.99989002e-01 -4.60070686e-03 -5.53478439e-04] [ 6.93203911e-03 4.60691480e-03 9.99965361e-01 -3.13384372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.406502481 meters 0.12141307848002418 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.00, Z:-0.31 [[ 9.99962439e-01 4.97412918e-03 -7.09774143e-03 1.24827313e+00] [-4.97832574e-03 9.99987443e-01 -5.73708416e-04 -2.28074204e-04] [ 7.09479860e-03 6.09021736e-04 9.99974646e-01 -3.13371982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.436502481 meters 0.12141307848002418 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.00, Z:-0.31 [[ 9.99962439e-01 4.97412918e-03 -7.09774143e-03 1.24827313e+00] [-4.97832574e-03 9.99987443e-01 -5.73708416e-04 -2.28074204e-04] [ 7.09479860e-03 6.09021736e-04 9.99974646e-01 -3.13371982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.466502481 meters 0.12198869150489115 Centerline is valid? [False, False] Translation: X:1.25, Y:0.00, Z:-0.31 [[ 0.99996732 0.00413593 -0.00694576 1.24838961] [-0.00415274 0.99998848 -0.00240642 0.00458926] [ 0.00693573 0.00243518 0.99997298 -0.31389933] [ 0. 0. 0. 1. ]] SLAMing on 37.496502481 meters 0.12277969631976342 Centerline is valid? [False, False] Translation: X:1.25, Y:0.01, Z:-0.31 [[ 0.99996997 0.00335602 -0.00698494 1.24910586] [-0.00338244 0.99998716 -0.00377371 0.00766238] [ 0.00697218 0.00379722 0.99996848 -0.31485972] [ 0. 0. 0. 1. ]] SLAMing on 37.526502481 meters 0.122784709129122 Centerline is valid? [False, False] Translation: X:1.25, Y:0.01, Z:-0.32 [[ 9.99951587e-01 6.80041227e-03 -7.11182475e-03 1.25003173e+00] [-6.80757018e-03 9.99976345e-01 -9.82756990e-04 1.09279251e-02] [ 7.10497337e-03 1.03112366e-03 9.99974228e-01 -3.15856598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.556502481 meters 0.12304421930321298 Centerline is valid? [False, False] Translation: X:1.25, Y:0.01, Z:-0.32 [[ 0.99995404 0.00629261 -0.00723326 1.25058011] [-0.00630646 0.99997832 -0.0018938 0.01289104] [ 0.00722118 0.00193933 0.99997205 -0.31633638] [ 0. 0. 0. 1. ]] SLAMing on 37.586502481 meters 0.12089679752283772 Centerline is valid? [False, False] Translation: X:1.25, Y:0.02, Z:-0.32 [[ 0.999958 0.00537082 -0.00742603 1.25162983] [-0.00539737 0.9999791 -0.0035605 0.01635015] [ 0.00740676 0.00360043 0.99996609 -0.31739505] [ 0. 0. 0. 1. ]] SLAMing on 37.616502481 meters 0.12103999824457339 Centerline is valid? [False, False] Translation: X:1.25, Y:0.02, Z:-0.32 [[ 9.99932250e-01 8.62637342e-03 -7.81538051e-03 1.25368458e+00] [-8.63229707e-03 9.99962479e-01 -7.24531350e-04 1.85790727e-02] [ 7.80883719e-03 7.91946950e-04 9.99969197e-01 -3.19373178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.646502481 meters 0.12087597294205515 Centerline is valid? [False, False] Translation: X:1.25, Y:0.02, Z:-0.32 [[ 0.99993578 0.00794123 -0.00808553 1.25483481] [-0.00795654 0.99996661 -0.00186262 0.02075247] [ 0.00807047 0.00192683 0.99996558 -0.32039797] [ 0. 0. 0. 1. ]] SLAMing on 37.676502481 meters 0.11980221574530411 Centerline is valid? [False, False] Translation: X:1.26, Y:0.02, Z:-0.32 [[ 0.9999386 0.00750834 -0.0081495 1.25528118] [-0.00753095 0.99996787 -0.00274634 0.02275043] [ 0.00812862 0.00280755 0.99996302 -0.3208404 ] [ 0. 0. 0. 1. ]] SLAMing on 37.706502481 meters 0.11857872893601053 Centerline is valid? [False, False] Translation: X:1.26, Y:0.03, Z:-0.32 [[ 0.99994276 0.00689831 -0.00817896 1.25560508] [-0.00693471 0.99996614 -0.00443012 0.02688739] [ 0.00814812 0.00448658 0.99995674 -0.32113386] [ 0. 0. 0. 1. ]] SLAMing on 37.736502481 meters 0.11857563745859286 Centerline is valid? [False, False] Translation: X:1.26, Y:0.03, Z:-0.32 [[ 9.99993034e-01 1.70646758e-03 -3.31955527e-03 1.26195108e+00] [-1.70913568e-03 9.99998219e-01 -8.01082161e-04 2.94143048e-02] [ 3.31818233e-03 8.06750151e-04 9.99994169e-01 -3.19954739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.766502481 meters 0.11760240610582444 Centerline is valid? [False, False] Translation: X:1.26, Y:0.03, Z:-0.32 [[ 9.99993442e-01 1.07699192e-03 -3.45788692e-03 1.26281020e+00] [-1.08413556e-03 9.99997281e-01 -2.06468904e-03 3.21064870e-02] [ 3.45565386e-03 2.06842432e-03 9.99991890e-01 -3.20870223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.796502481 meters 0.11474667145686845 Centerline is valid? [False, False] Translation: X:1.26, Y:0.03, Z:-0.32 [[ 0.99998176 0.00468898 -0.00380794 1.26444988] [-0.00468393 0.99998814 0.0013353 0.03318174] [ 0.00381416 -0.00131744 0.99999186 -0.32237808] [ 0. 0. 0. 1. ]] SLAMing on 37.826502481 meters 0.11442315130612839 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:-0.32 [[ 9.99983588e-01 4.19860078e-03 -3.89807597e-03 1.26518462e+00] [-4.19656006e-03 9.99991053e-01 5.31552294e-04 3.47378840e-02] [ 3.90027287e-03 -5.15185060e-04 9.99992261e-01 -3.23259986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.856502481 meters 0.11641469328496397 Centerline is valid? [False, False] Translation: X:1.27, Y:0.04, Z:-0.32 [[ 9.99984244e-01 3.91554185e-03 -4.02240814e-03 1.26573575e+00] [-3.91511484e-03 9.99992329e-01 1.14026366e-04 3.53824654e-02] [ 4.02282376e-03 -9.82763799e-05 9.99991904e-01 -3.23723189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.886502481 meters 0.11741314646242959 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:-0.32 [[ 9.99983496e-01 4.05240430e-03 -4.07252475e-03 1.26546668e+00] [-4.05075575e-03 9.99991710e-01 4.12964199e-04 3.45893973e-02] [ 4.07416448e-03 -3.96460580e-04 9.99991622e-01 -3.23188374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.916502481 meters 0.11603028909874391 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:-0.32 [[ 9.99983630e-01 3.94993138e-03 -4.13981490e-03 1.26569772e+00] [-3.94849281e-03 9.99992141e-01 3.55611302e-04 3.45547407e-02] [ 4.14118701e-03 -3.39259451e-04 9.99991368e-01 -3.23397712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.946502481 meters 0.11852168336822944 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:-0.32 [[ 9.99982786e-01 3.71053192e-03 -4.54539194e-03 1.26673260e+00] [-3.70783140e-03 9.99992945e-01 6.02405699e-04 3.32206387e-02] [ 4.54759511e-03 -5.85541782e-04 9.99989488e-01 -3.24138392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.976502481 meters 0.1210564418044948 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:-0.32 [[ 9.99980058e-01 3.39593804e-03 -5.32450348e-03 1.26838844e+00] [-3.39053064e-03 9.99993728e-01 1.02426535e-03 3.07969757e-02] [ 5.32794842e-03 -1.00619203e-03 9.99985300e-01 -3.24940329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.006502481 meters 0.12193280229092474 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:-0.33 [[ 9.99979771e-01 3.27988987e-03 -5.44978001e-03 1.26878598e+00] [-3.27473407e-03 9.99994182e-01 9.54709707e-04 3.06886224e-02] [ 5.45287965e-03 -9.36843814e-04 9.99984694e-01 -3.25231923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.036502481 meters 0.1194627246824543 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:-0.33 [[ 9.99980250e-01 2.92345652e-03 -5.56355453e-03 1.26912216e+00] [-2.92163327e-03 9.99995676e-01 3.35811974e-04 3.20171913e-02] [ 5.56451221e-03 -3.19550675e-04 9.99984467e-01 -3.25452246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.066502481 meters 0.11821316120157009 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:-0.33 [[ 9.99980311e-01 2.70133660e-03 -5.66403450e-03 1.26942752e+00] [-2.70150362e-03 9.99996351e-01 -2.18363326e-05 3.27217556e-02] [ 5.66395484e-03 3.71373123e-05 9.99983959e-01 -3.25621406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.096502481 meters 0.12093676775787164 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:-0.33 [[ 9.99980227e-01 2.45575137e-03 -5.78924036e-03 1.26994855e+00] [-2.45800892e-03 9.99996906e-01 -3.82873340e-04 3.31881105e-02] [ 5.78828221e-03 3.97095774e-04 9.99983169e-01 -3.26018478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.126502481 meters 0.11847944265388043 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:-0.33 [[ 9.99979829e-01 2.24797093e-03 -5.94037434e-03 1.27048607e+00] [-2.25214672e-03 9.99997221e-01 -6.96354656e-04 3.35967470e-02] [ 5.93879245e-03 7.09719204e-04 9.99982113e-01 -3.26377432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.156502481 meters 0.12116207577296872 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:-0.33 [[ 9.99979460e-01 2.03249540e-03 -6.07847453e-03 1.27104146e+00] [-2.03960691e-03 9.99997243e-01 -1.16398091e-03 3.44468691e-02] [ 6.07609198e-03 1.17635470e-03 9.99980848e-01 -3.26779647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.186502481 meters 0.116745838632649 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:-0.33 [[ 0.99997911 0.00189781 -0.00617923 1.27129466] [-0.00190655 0.99999719 -0.0014087 0.03492801] [ 0.00617654 0.00142045 0.99997992 -0.32684755] [ 0. 0. 0. 1. ]] SLAMing on 38.216502481 meters 0.12037494765928136 Centerline is valid? [False, False] Translation: X:1.27, Y:0.04, Z:-0.33 [[ 0.99997988 0.00192359 -0.00604483 1.27107898] [-0.00193282 0.99999697 -0.00152208 0.03530123] [ 0.00604189 0.00153373 0.99998057 -0.32673788] [ 0. 0. 0. 1. ]] SLAMing on 38.246502481 meters 0.11571368793705412 Centerline is valid? [False, False] Translation: X:1.27, Y:0.04, Z:-0.33 [[ 0.9999797 0.00176548 -0.00612218 1.27158047] [-0.00177586 0.99999699 -0.00169105 0.03542034] [ 0.00611918 0.00170188 0.99997983 -0.32728383] [ 0. 0. 0. 1. ]] SLAMing on 38.276502481 meters 0.11907516286257774 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:-0.33 [[ 0.99997966 0.00179954 -0.00611917 1.27215317] [-0.00180879 0.99999723 -0.00150763 0.0348318 ] [ 0.00611644 0.00151866 0.99998014 -0.32816483] [ 0. 0. 0. 1. ]] SLAMing on 38.306502481 meters 0.11545903388509365 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:-0.33 [[ 0.99997822 0.00182286 -0.00634325 1.27282592] [-0.00183103 0.9999975 -0.00128237 0.03380317] [ 0.0063409 0.00129396 0.99997906 -0.32857748] [ 0. 0. 0. 1. ]] SLAMing on 38.336502481 meters 0.11533006196120187 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:-0.33 [[ 9.99975607e-01 2.19960206e-03 -6.62932697e-03 1.27318170e+00] [-2.20198766e-03 9.99997513e-01 -3.52577755e-04 3.08605479e-02] [ 6.62853495e-03 3.67166850e-04 9.99977964e-01 -3.28335199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.366502481 meters 0.11432557158496168 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:-0.33 [[ 9.99974643e-01 2.42685907e-03 -6.69498177e-03 1.27308483e+00] [-2.42611038e-03 9.99997050e-01 1.19947031e-04 2.96495772e-02] [ 6.69525311e-03 -1.03701225e-04 9.99977581e-01 -3.27980656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.396502481 meters 0.11538143470012248 Centerline is valid? [False, False] Translation: X:1.27, Y:0.03, Z:-0.33 [[ 0.99997091 0.00281928 -0.00708748 1.27367297] [-0.00280904 0.999995 0.00145384 0.02550748] [ 0.00709154 -0.00143388 0.99997383 -0.32789456] [ 0. 0. 0. 1. ]] SLAMing on 38.426502481 meters 0.11667277641337132 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:-0.33 [[ 0.99996717 0.00233356 -0.00775926 1.27595182] [-0.00231896 0.99999553 0.00188962 0.02089191] [ 0.00776364 -0.00187157 0.99996811 -0.3296193 ] [ 0. 0. 0. 1. ]] SLAMing on 38.456502481 meters 0.11722212506105258 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:-0.33 [[ 0.99996499 0.00238996 -0.00801901 1.27674131] [-0.00237084 0.99999433 0.00239216 0.01909249] [ 0.00802469 -0.00237306 0.99996499 -0.33019848] [ 0. 0. 0. 1. ]] SLAMing on 38.486502481 meters 0.11685961746905954 Centerline is valid? [False, False] Translation: X:1.28, Y:0.02, Z:-0.33 [[ 0.99996156 0.00188646 -0.00856225 1.27897097] [-0.00186324 0.99999457 0.00271878 0.01564189] [ 0.00856733 -0.00270272 0.99995965 -0.33215045] [ 0. 0. 0. 1. ]] SLAMing on 38.516502481 meters 0.11743243146232547 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:-0.33 [[ 0.99995882 0.00201555 -0.00884842 1.27965172] [-0.00198535 0.99999218 0.00341984 0.0133009 ] [ 0.00885524 -0.00340214 0.999955 -0.33246341] [ 0. 0. 0. 1. ]] SLAMing on 38.546502481 meters 0.11859650839765155 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:-0.33 [[ 9.99958349e-01 -1.77725845e-03 -8.95216127e-03 1.27967185e+00] [ 1.78106683e-03 9.99998327e-01 4.17459447e-04 9.91226463e-03] [ 8.95140436e-03 -4.33386457e-04 9.99959841e-01 -3.32218444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.576502481 meters 0.11706210332188517 Centerline is valid? [False, False] Translation: X:1.28, Y:0.01, Z:-0.33 [[ 0.99995841 -0.00138593 -0.00901426 1.27954914] [ 0.00139771 0.99999818 0.00130024 0.0077485 ] [ 0.00901244 -0.00131278 0.99995853 -0.33187839] [ 0. 0. 0. 1. ]] SLAMing on 38.606502481 meters 0.11830314874651461 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:-0.33 [[ 9.99952660e-01 -1.15866576e-03 -9.66105343e-03 1.28053280e+00] [ 1.18311487e-03 9.99996111e-01 2.52535620e-03 3.61687748e-03] [ 9.65808981e-03 -2.53666678e-03 9.99950142e-01 -3.31840480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.636502481 meters 0.11804619119844888 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:-0.33 [[ 9.99951086e-01 -1.10986871e-03 -9.82818130e-03 1.28104004e+00] [ 1.13770033e-03 9.99995358e-01 2.82668070e-03 2.42959441e-03] [ 9.82499843e-03 -2.83772396e-03 9.99947707e-01 -3.32161399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.666502481 meters 0.11846749772253663 Centerline is valid? [False, False] Translation: X:1.28, Y:0.00, Z:-0.33 [[ 9.99948830e-01 -1.02392540e-03 -1.00642854e-02 1.28168963e+00] [ 1.05655579e-03 9.99994201e-01 3.23741402e-03 9.66946698e-04] [ 1.00609122e-02 -3.24788184e-03 9.99944113e-01 -3.32540649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.696502481 meters 0.1179345957956291 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.00, Z:-0.33 [[ 9.99946199e-01 -8.25038150e-04 -1.03401262e-02 1.28227045e+00] [ 8.65568398e-04 9.99991958e-01 3.91584337e-03 -1.25793914e-03] [ 1.03368123e-02 -3.92458278e-03 9.99938872e-01 -3.32660135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.726502481 meters 0.11771250435474154 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.00, Z:-0.33 [[ 9.99944983e-01 -6.47191526e-04 -1.04695832e-02 1.28255634e+00] [ 6.93110597e-04 9.99990155e-01 4.38291658e-03 -2.73414065e-03] [ 1.04666435e-02 -4.38993203e-03 9.99935587e-01 -3.32702746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.756502481 meters 0.11969859856724438 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.01, Z:-0.34 [[ 9.99982651e-01 6.67884738e-04 5.85247248e-03 1.28200148e+00] [-6.87149108e-04 9.99994351e-01 3.29027131e-03 -5.36723573e-03] [-5.85024190e-03 -3.29423575e-03 9.99977461e-01 -3.39495201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.786502481 meters 0.1174955681344619 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.01, Z:-0.34 [[ 9.99983244e-01 5.76407137e-04 5.76009384e-03 1.28243563e+00] [-5.95127139e-04 9.99994546e-01 3.24876190e-03 -5.56944256e-03] [-5.75818981e-03 -3.25213545e-03 9.99978133e-01 -3.39917086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.816502481 meters 0.11790323758625512 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.01, Z:-0.34 [[ 9.99984052e-01 3.65131280e-04 5.63589661e-03 1.28317947e+00] [-3.82094900e-04 9.99995400e-01 3.00914067e-03 -5.40604625e-03] [-5.63477195e-03 -3.01124612e-03 9.99979591e-01 -3.40725264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.846502481 meters 0.11722667942309098 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.01, Z:-0.34 [[ 9.99985139e-01 1.92568203e-04 5.44837656e-03 1.28383969e+00] [-2.07915779e-04 9.99996012e-01 2.81648205e-03 -5.37056022e-03] [-5.44781246e-03 -2.81757300e-03 9.99981191e-01 -3.41240467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.876502481 meters 0.11615813008173333 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.01, Z:-0.34 [[ 9.99986636e-01 6.15460132e-05 5.16960540e-03 1.28471840e+00] [-7.56634210e-05 9.99996269e-01 2.73069705e-03 -5.73678188e-03] [-5.16941805e-03 -2.73105171e-03 9.99982909e-01 -3.41856725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.906502481 meters 0.11609000832488778 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.01, Z:-0.34 [[ 9.99987787e-01 -2.40914428e-04 4.93630649e-03 1.28560804e+00] [ 2.29551387e-04 9.99997323e-01 2.30236900e-03 -5.18905243e-03] [-4.93684795e-03 -2.30120774e-03 9.99985166e-01 -3.42632816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.936502481 meters 0.11524682108857938 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.34 [[ 9.99987898e-01 -6.99956319e-04 4.86963703e-03 1.28639541e+00] [ 6.92718581e-04 9.99998653e-01 1.48782725e-03 -3.56032576e-03] [-4.87067189e-03 -1.48443595e-03 9.99987036e-01 -3.43686232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.966502481 meters 0.11525462731913605 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.34 [[ 9.99988224e-01 -9.06431966e-04 4.76759198e-03 1.28673884e+00] [ 9.01063080e-04 9.99998958e-01 1.12814864e-03 -2.89427734e-03] [-4.76860960e-03 -1.12383945e-03 9.99987999e-01 -3.43926648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.996502481 meters 0.11513207478043594 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.34 [[ 9.99988898e-01 -9.41384734e-04 4.61710817e-03 1.28691656e+00] [ 9.36663041e-04 9.99999036e-01 1.02470720e-03 -2.86424695e-03] [-4.61806836e-03 -1.02037115e-03 9.99988816e-01 -3.43723920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.026502481 meters 0.11496250344237566 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.34 [[ 9.99989876e-01 -9.34550685e-04 4.40167056e-03 1.28722484e+00] [ 9.29769931e-04 9.99998976e-01 1.08804386e-03 -3.33719259e-03] [-4.40268288e-03 -1.08394031e-03 9.99989721e-01 -3.43564016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.056502481 meters 0.11514757738621063 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.34 [[ 9.99990672e-01 -1.02930269e-03 4.19476099e-03 1.28748530e+00] [ 1.02537983e-03 9.99999035e-01 9.37222194e-04 -3.17636063e-03] [-4.19572162e-03 -9.32912228e-04 9.99990763e-01 -3.43394435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.086502481 meters 0.1160860546063445 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.34 [[ 0.99998941 0.00265191 0.00376227 1.28897872] [-0.00266949 0.9999855 0.00467717 -0.00273458] [-0.00374981 -0.00468717 0.99998198 -0.34470764] [ 0. 0. 0. 1. ]] SLAMing on 39.116502481 meters 0.11604415168712921 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.35 [[ 0.99999063 0.00233171 0.00364619 1.28956169] [-0.00234708 0.99998836 0.00421532 -0.001927 ] [-0.00363631 -0.00422384 0.99998447 -0.34535614] [ 0. 0. 0. 1. ]] SLAMing on 39.146502481 meters 0.11710217275303553 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.35 [[ 0.99999184 0.00202746 0.00349316 1.2902115 ] [-0.00204146 0.99998987 0.00401051 -0.00194754] [-0.003485 -0.00401761 0.99998586 -0.34603987] [ 0. 0. 0. 1. ]] SLAMing on 39.176502481 meters 0.11857394252274547 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.35 [[ 0.99999368 0.00185248 0.00303353 1.29103434] [-0.00186561 0.99998888 0.00433212 -0.00361726] [-0.00302547 -0.00433775 0.99998602 -0.34619789] [ 0. 0. 0. 1. ]] SLAMing on 39.206502481 meters 0.11771595400131199 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.35 [[ 0.99999413 0.0018835 0.0028639 1.29134903] [-0.00189666 0.99998761 0.00460179 -0.00465488] [-0.0028552 -0.0046072 0.99998531 -0.3462341 ] [ 0. 0. 0. 1. ]] SLAMing on 39.236502481 meters 0.12062145067035127 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.35 [[ 0.99999469 0.00170271 0.00277715 1.29155773] [-0.00171482 0.99998901 0.00436415 -0.00420076] [-0.00276969 -0.00436889 0.99998662 -0.34636537] [ 0. 0. 0. 1. ]] SLAMing on 39.266502481 meters 0.1188403112097177 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.35 [[ 0.99999544 0.00136958 0.00269135 1.29201423] [-0.00137987 0.99999173 0.00382439 -0.00305138] [-0.00268609 -0.00382809 0.99998907 -0.34687619] [ 0. 0. 0. 1. ]] SLAMing on 39.296502481 meters 0.11975906722086252 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.35 [[ 9.99996064e-01 1.13869133e-03 2.56420518e-03 1.29258134e+00] [-1.14777355e-03 9.99993064e-01 3.54324341e-03 -2.78164254e-03] [-2.56015273e-03 -3.54617259e-03 9.99990435e-01 -3.47400835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.326502481 meters 0.11889656978910927 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.35 [[ 9.99996374e-01 1.13678371e-03 2.44108192e-03 1.29292555e+00] [-1.14573877e-03 9.99992608e-01 3.67021922e-03 -3.43719570e-03] [-2.43689163e-03 -3.67300276e-03 9.99990285e-01 -3.47553384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.356502481 meters 0.11889656978910927 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.35 [[ 9.99996374e-01 1.13678371e-03 2.44108192e-03 1.29292555e+00] [-1.14573877e-03 9.99992608e-01 3.67021922e-03 -3.43719570e-03] [-2.43689163e-03 -3.67300276e-03 9.99990285e-01 -3.47553384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.386502481 meters 0.11896615726694765 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.35 [[ 9.99996640e-01 1.20430347e-03 2.29563613e-03 1.29329011e+00] [-1.21333774e-03 9.99991510e-01 3.93808635e-03 -4.40744714e-03] [-2.29087398e-03 -3.94085850e-03 9.99989611e-01 -3.47695239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.416502481 meters 0.11886662015405658 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.35 [[ 9.99997147e-01 1.00351702e-03 2.16768835e-03 1.29384963e+00] [-1.01148645e-03 9.99992723e-01 3.67850164e-03 -4.09300000e-03] [-2.16398113e-03 -3.68068373e-03 9.99990885e-01 -3.48241915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.446502481 meters 0.11642892204994992 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.00, Z:-0.35 [[ 9.99997659e-01 8.88800791e-04 1.97291124e-03 1.29461934e+00] [-8.96093382e-04 9.99992759e-01 3.69855920e-03 -4.63553426e-03] [-1.96960967e-03 -3.70031845e-03 9.99991214e-01 -3.48901224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.476502481 meters 0.1160884126763725 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.01, Z:-0.35 [[ 9.99997985e-01 9.17768941e-04 1.78535034e-03 1.29512050e+00] [-9.24784139e-04 9.99991840e-01 3.93246269e-03 -5.63284491e-03] [-1.78172668e-03 -3.93410583e-03 9.99990674e-01 -3.49163756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.506502481 meters 0.1177569953506562 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.01, Z:-0.35 [[ 0.99999814 0.00132247 0.00140456 1.29575238] [-0.00132945 0.99998671 0.00498176 -0.00897577] [-0.00139795 -0.00498362 0.9999866 -0.34907494] [ 0. 0. 0. 1. ]] SLAMing on 39.536502481 meters 0.11623530893317283 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.01, Z:-0.35 [[ 9.99998350e-01 1.37851577e-03 1.18307770e-03 1.29627259e+00] [-1.38469338e-03 9.99985329e-01 5.23681076e-03 -1.00449114e-02] [-1.17584131e-03 -5.23844032e-03 9.99985588e-01 -3.49253276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.566502481 meters 0.11538285974532053 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.01, Z:-0.35 [[ 9.99998722e-01 1.25393421e-03 9.92277399e-04 1.29707026e+00] [-1.25913845e-03 9.99985365e-01 5.26161929e-03 -1.06742845e-02] [-9.85665153e-04 -5.26286198e-03 9.99985665e-01 -3.49990644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.596502481 meters 0.1153268951023268 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.01, Z:-0.35 [[ 9.99999160e-01 1.00194129e-03 8.22462393e-04 1.29778391e+00] [-1.00600804e-03 9.99987197e-01 4.95917622e-03 -1.03640701e-02] [-8.17483060e-04 -4.95999946e-03 9.99987365e-01 -3.50680987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.626502481 meters 0.11611374437466826 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.01, Z:-0.35 [[ 9.99999545e-01 7.31931062e-04 6.11584979e-04 1.29881430e+00] [-7.34845460e-04 9.99988312e-01 4.77876204e-03 -1.06537064e-02] [-6.08080106e-04 -4.77920929e-03 9.99988395e-01 -3.51729883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.656502481 meters 0.11560512831345733 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.01, Z:-0.35 [[ 9.99999637e-01 8.21106410e-04 2.26896486e-04 1.29956761e+00] [-8.22329170e-04 9.99984851e-01 5.44257434e-03 -1.30584577e-02] [-2.22424116e-04 -5.44275895e-03 9.99985163e-01 -3.51880704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.686502481 meters 0.115891387763896 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.01, Z:-0.35 [[ 9.99999659e-01 8.25545868e-04 -7.17512800e-06 1.29994626e+00] [-8.25491889e-04 9.99983572e-01 5.67220112e-03 -1.40052982e-02] [ 1.18576723e-05 -5.67219326e-03 9.99983913e-01 -3.51824179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.716502481 meters 0.1174798781509258 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.02, Z:-0.35 [[ 9.99999581e-01 8.76839178e-04 -2.63735083e-04 1.30012349e+00] [-8.75218330e-04 9.99981107e-01 6.08432039e-03 -1.53244934e-02] [ 2.69065071e-04 -6.08408702e-03 9.99981456e-01 -3.51459164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.746502481 meters 0.11813654626772853 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.02, Z:-0.35 [[ 9.99999655e-01 7.55678091e-04 -3.45350138e-04 1.30044619e+00] [-7.53592674e-04 9.99981720e-01 5.99931277e-03 -1.53687800e-02] [ 3.49877374e-04 -5.99905045e-03 9.99981944e-01 -3.51772706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.776502481 meters 0.1185170029543923 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.02, Z:-0.35 [[ 9.99999666e-01 6.07532540e-04 -5.46516389e-04 1.30107023e+00] [-6.04216298e-04 9.99981529e-01 6.04780213e-03 -1.59054719e-02] [ 5.50180531e-04 -6.04746989e-03 9.99981563e-01 -3.52275927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.806502481 meters 0.11840001365069688 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.02, Z:-0.35 [[ 9.99999586e-01 4.47969654e-04 -7.92344927e-04 1.30178650e+00] [-4.43240107e-04 9.99982146e-01 5.95918911e-03 -1.61791130e-02] [ 7.95000316e-04 -5.95883544e-03 9.99981930e-01 -3.52752040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.836502481 meters 0.11882939321279597 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.02, Z:-0.35 [[ 9.99999297e-01 3.40456140e-04 -1.13604860e-03 1.30274057e+00] [-3.33489373e-04 9.99981174e-01 6.12701950e-03 -1.73366925e-02] [ 1.13811319e-03 -6.12663633e-03 9.99980584e-01 -3.53327324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.866502481 meters 0.11928650578302594 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.02, Z:-0.35 [[ 9.99999025e-01 2.60215794e-04 -1.37172450e-03 1.30347445e+00] [-2.51635197e-04 9.99980426e-01 6.25180097e-03 -1.82612852e-02] [ 1.37332447e-03 -6.25144970e-03 9.99979516e-01 -3.53822055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.896502481 meters 0.11929261714640912 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.02, Z:-0.35 [[ 9.99998808e-01 7.89791905e-05 -1.54218991e-03 1.30404417e+00] [-6.96951562e-05 9.99981882e-01 6.01915911e-03 -1.80104536e-02] [ 1.54263735e-03 -6.01904445e-03 9.99980696e-01 -3.54258091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.926502481 meters 0.11976808100199575 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.02, Z:-0.36 [[ 9.99998450e-01 -3.32935356e-04 -1.72883023e-03 1.30492887e+00] [ 3.42328999e-04 9.99985166e-01 5.43607482e-03 -1.70511534e-02] [ 1.72699472e-03 -5.43665823e-03 9.99983730e-01 -3.55165855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.956502481 meters 0.11998864150891687 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.02, Z:-0.36 [[ 9.99998119e-01 -5.81009625e-04 -1.85063506e-03 1.30548016e+00] [ 5.90380848e-04 9.99986987e-01 5.06727282e-03 -1.64429041e-02] [ 1.84766684e-03 -5.06835587e-03 9.99985449e-01 -3.55705632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.986502481 meters 0.12003581758863523 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.02, Z:-0.36 [[ 9.99997579e-01 -8.18341937e-04 -2.04267001e-03 1.30620479e+00] [ 8.28080026e-04 9.99988276e-01 4.77104866e-03 -1.61481134e-02] [ 2.03874171e-03 -4.77272860e-03 9.99986532e-01 -3.56301470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.016502481 meters 0.11945546103183398 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.02, Z:-0.36 [[ 9.99997141e-01 -9.53645009e-04 -2.19305453e-03 1.30665635e+00] [ 9.63709826e-04 9.99988988e-01 4.59293765e-03 -1.60339472e-02] [ 2.18865034e-03 -4.59503798e-03 9.99987048e-01 -3.56564446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.046502481 meters 0.11683500083369323 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.02, Z:-0.36 [[ 9.99996156e-01 -1.21557497e-03 -2.49204006e-03 1.30738029e+00] [ 1.22601787e-03 9.99990457e-01 4.19326626e-03 -1.55309226e-02] [ 2.48691904e-03 -4.19630543e-03 9.99988103e-01 -3.56869817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.076502481 meters 0.12059683674747325 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:-0.36 [[ 0.99999547 -0.00156567 -0.00257238 1.3078593 ] [ 0.00157489 0.99999233 0.00358711 -0.01427649] [ 0.00256674 -0.00359114 0.99999026 -0.35739391] [ 0. 0. 0. 1. ]] SLAMing on 40.106502481 meters 0.11838868166294986 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:-0.36 [[ 0.9999953 -0.00169273 -0.00255462 1.30788829] [ 0.00170117 0.9999931 0.00330343 -0.01347331] [ 0.00254901 -0.00330776 0.99999128 -0.35750624] [ 0. 0. 0. 1. ]] SLAMing on 40.136502481 meters 0.11783045056924489 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:-0.36 [[ 0.99999428 -0.00213279 -0.00262601 1.30834477] [ 0.0021392 0.99999474 0.00243884 -0.01144616] [ 0.0026208 -0.00244445 0.99999358 -0.35804773] [ 0. 0. 0. 1. ]] SLAMing on 40.166502481 meters 0.11866961317077579 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:-0.36 [[ 0.99999329 -0.00238867 -0.0027782 1.30879691] [ 0.00239418 0.99999517 0.00198261 -0.01055259] [ 0.00277345 -0.00198925 0.99999418 -0.35835095] [ 0. 0. 0. 1. ]] SLAMing on 40.196502481 meters 0.11803922050217819 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:-0.36 [[ 0.99999332 -0.0024933 -0.00267108 1.30841225] [ 0.00249729 0.99999577 0.00148962 -0.00894799] [ 0.00266735 -0.00149628 0.99999532 -0.3580492 ] [ 0. 0. 0. 1. ]] SLAMing on 40.226502481 meters 0.11696058478625876 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:-0.36 [[ 0.99999439 0.00154135 -0.00297428 1.30902883] [-0.00152504 0.99998384 0.00547589 -0.00862362] [ 0.00298268 -0.00547132 0.99998058 -0.35825755] [ 0. 0. 0. 1. ]] SLAMing on 40.256502481 meters 0.11564787843887038 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.01, Z:-0.36 [[ 9.99994587e-01 1.10153913e-03 -3.10051155e-03 1.30965168e+00] [-1.08691130e-03 9.99988291e-01 4.71561229e-03 -7.08494202e-03] [ 3.10566968e-03 -4.71221678e-03 9.99984075e-01 -3.58875230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.286502481 meters 0.11610601559504752 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.00, Z:-0.36 [[ 0.99998458 0.00402543 0.00382516 1.32077976] [-0.00401985 0.99999085 -0.00146619 -0.00323894] [-0.00383103 0.00145079 0.99999161 -0.3621869 ] [ 0. 0. 0. 1. ]] SLAMing on 40.316502481 meters 0.11507637232922731 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.00, Z:-0.36 [[ 0.99998496 0.00384953 0.0039078 1.32065346] [-0.00384163 0.99999057 -0.00202608 -0.00157947] [-0.00391556 0.00201103 0.99999031 -0.36222715] [ 0. 0. 0. 1. ]] SLAMing on 40.346502481 meters 0.12180201940219293 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:-0.36 [[ 0.99998838 0.00306663 0.00372025 1.32179369] [-0.00305353 0.99998913 -0.00352333 0.0015529 ] [-0.00373101 0.00351193 0.99998687 -0.36354871] [ 0. 0. 0. 1. ]] SLAMing on 40.376502481 meters 0.1135658159231207 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:-0.36 [[ 0.99999045 0.00274384 0.00340113 1.32284759] [-0.0027302 0.99998823 -0.00401051 0.002095 ] [-0.0034121 0.00400118 0.99998617 -0.36435832] [ 0. 0. 0. 1. ]] SLAMing on 40.406502481 meters 0.11420795476192772 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:-0.36 [[ 0.99999128 0.002632 0.00324314 1.323326 ] [-0.00261857 0.99998801 -0.0041382 0.00212518] [-0.00325399 0.00412968 0.99998618 -0.36466835] [ 0. 0. 0. 1. ]] SLAMing on 40.436502481 meters 0.11392442953443746 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:-0.36 [[ 0.99999187 0.00255227 0.00312331 1.32362699] [-0.00253899 0.99998775 -0.00424927 0.00225677] [-0.00313411 0.00424131 0.99998609 -0.36482549] [ 0. 0. 0. 1. ]] SLAMing on 40.466502481 meters 0.11375888214217976 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:-0.36 [[ 9.99971205e-01 6.95954926e-03 3.02553943e-03 1.32365524e+00] [-6.96052886e-03 9.99975726e-01 3.13367976e-04 1.56811565e-03] [-3.02328509e-03 -3.34418307e-04 9.99995374e-01 -3.64542739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.496502481 meters 0.1125823804298682 Centerline is valid? [False, False] Translation: X:1.32, Y:0.00, Z:-0.37 [[ 9.99974248e-01 6.59154453e-03 2.83795772e-03 1.32434957e+00] [-6.59060128e-03 9.99978223e-01 -3.41594001e-04 2.87410355e-03] [-2.84014755e-03 3.22881357e-04 9.99995915e-01 -3.65135451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.526502481 meters 0.11202270329759025 Centerline is valid? [False, False] Translation: X:1.33, Y:0.00, Z:-0.37 [[ 0.99998093 0.00577732 0.00218081 1.32652395] [-0.00577368 0.99998193 -0.00167205 0.00493325] [-0.00219043 0.00165943 0.99999622 -0.36697247] [ 0. 0. 0. 1. ]] SLAMing on 40.556502481 meters 0.10975474815087338 Centerline is valid? [False, False] Translation: X:1.33, Y:0.01, Z:-0.37 [[ 0.99998328 0.00546145 0.00189986 1.32739442] [-0.00545735 0.99998278 -0.00215664 0.0056366 ] [-0.0019116 0.00214623 0.99999587 -0.36757142] [ 0. 0. 0. 1. ]] SLAMing on 40.586502481 meters 0.10961572226837278 Centerline is valid? [False, False] Translation: X:1.33, Y:0.01, Z:-0.37 [[ 0.99998551 0.00517244 0.00148985 1.32846329] [-0.00516855 0.99998326 -0.00260199 0.00605628] [-0.00150328 0.00259426 0.9999955 -0.36812352] [ 0. 0. 0. 1. ]] SLAMing on 40.616502481 meters 0.10916717280798066 Centerline is valid? [False, False] Translation: X:1.33, Y:0.01, Z:-0.37 [[ 0.99998638 0.00503972 0.00135481 1.32887141] [-0.00503597 0.99998351 -0.00275937 0.00617455] [-0.0013687 0.00275251 0.99999528 -0.36838932] [ 0. 0. 0. 1. ]] SLAMing on 40.646502481 meters 0.110368284962645 Centerline is valid? [False, False] Translation: X:1.33, Y:0.01, Z:-0.37 [[ 9.99987450e-01 4.83058336e-03 1.32832989e-03 1.32891478e+00] [-4.82632970e-03 9.99983275e-01 -3.18703834e-03 7.49104116e-03] [-1.34370293e-03 3.18058738e-03 9.99994039e-01 -3.68450017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.676502481 meters 0.11091385833941715 Centerline is valid? [False, False] Translation: X:1.33, Y:0.01, Z:-0.37 [[ 9.99989061e-01 4.53092518e-03 1.16107746e-03 1.32937222e+00] [-4.52662568e-03 9.99982986e-01 -3.67927697e-03 8.57596520e-03] [-1.17772823e-03 3.67398096e-03 9.99992557e-01 -3.68749432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.706502481 meters 0.11134274870975062 Centerline is valid? [False, False] Translation: X:1.33, Y:0.01, Z:-0.37 [[ 9.99989229e-01 4.56485260e-03 8.39453785e-04 1.32964189e+00] [-4.56195207e-03 9.99983728e-01 -3.42531095e-03 7.65730999e-03] [-8.55076165e-04 3.42144451e-03 9.99993781e-01 -3.68360143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.736502481 meters 0.11189744155957514 Centerline is valid? [False, False] Translation: X:1.33, Y:0.01, Z:-0.37 [[ 9.99988537e-01 4.74560356e-03 6.35818353e-04 1.32965728e+00] [-4.74367255e-03 9.99984234e-01 -3.00489425e-03 6.50820253e-03] [-6.50068366e-04 3.00184369e-03 9.99995283e-01 -3.67856665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.766502481 meters 0.11320424261193046 Centerline is valid? [False, False] Translation: X:1.33, Y:0.01, Z:-0.37 [[ 9.99988545e-01 4.76968271e-03 3.98778238e-04 1.32980718e+00] [-4.76865944e-03 9.99985433e-01 -2.52875262e-03 5.18904794e-03] [-4.10833776e-04 2.52682202e-03 9.99996723e-01 -3.67570872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.796502481 meters 0.11605797672710672 Centerline is valid? [False, False] Translation: X:1.33, Y:0.01, Z:-0.37 [[ 9.99989406e-01 4.57052174e-03 5.46484435e-04 1.32999921e+00] [-4.56903318e-03 9.99985931e-01 -2.69479568e-03 5.79772391e-03] [-5.58793369e-04 2.69227023e-03 9.99996220e-01 -3.68346606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.826502481 meters 0.11610501021408244 Centerline is valid? [False, False] Translation: X:1.34, Y:0.01, Z:-0.37 [[ 9.99999887e-01 -4.42402279e-04 1.72788731e-04 1.34122275e+00] [ 4.42375454e-04 9.99999890e-01 1.55255998e-04 6.25201385e-03] [-1.72857398e-04 -1.55179543e-04 9.99999973e-01 -3.68334013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.856502481 meters 0.11789090360349044 Centerline is valid? [False, False] Translation: X:1.34, Y:0.00, Z:-0.37 [[ 9.99999996e-01 9.00747403e-05 2.84450670e-05 1.34056770e+00] [-9.01086226e-05 9.99999284e-01 1.19340075e-03 3.81465267e-03] [-2.83375514e-05 -1.19340331e-03 9.99999287e-01 -3.66936043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.886502481 meters 0.11528689232184261 Centerline is valid? [False, False] Translation: X:1.34, Y:0.00, Z:-0.37 [[ 9.99999953e-01 1.36269957e-04 -2.75604156e-04 1.34100069e+00] [-1.35899117e-04 9.99999086e-01 1.34512484e-03 3.01285755e-03] [ 2.75787204e-04 -1.34508732e-03 9.99999057e-01 -3.66739357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.916502481 meters 0.11403722250744328 Centerline is valid? [False, False] Translation: X:1.34, Y:0.00, Z:-0.37 [[ 9.99999971e-01 -9.01537346e-05 -2.24476183e-04 1.34128651e+00] [ 9.02838670e-05 9.99999828e-01 5.79773061e-04 4.91800850e-03] [ 2.24423876e-04 -5.79793311e-04 9.99999807e-01 -3.67295867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.946502481 meters 0.11339103372044688 Centerline is valid? [False, False] Translation: X:1.34, Y:0.01, Z:-0.37 [[ 9.99992472e-01 3.85531220e-03 -4.39862444e-04 1.34211123e+00] [-3.85338875e-03 9.99983361e-01 4.29296952e-03 5.94355248e-03] [ 4.56405863e-04 -4.29124224e-03 9.99990688e-01 -3.67945526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.976502481 meters 0.11219739440689773 Centerline is valid? [False, False] Translation: X:1.34, Y:0.01, Z:-0.37 [[ 9.99994936e-01 3.12076170e-03 -6.22916453e-04 1.34327263e+00] [-3.11896909e-03 9.99991051e-01 2.85828654e-03 8.84272514e-03] [ 6.31830910e-04 -2.85632921e-03 9.99995721e-01 -3.69320488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.006502481 meters 0.1104258880992585 Centerline is valid? [False, False] Translation: X:1.34, Y:0.01, Z:-0.37 [[ 9.99996253e-01 2.56096158e-03 -9.67103500e-04 1.34478767e+00] [-2.55951172e-03 9.99995603e-01 1.49744639e-03 1.15427669e-02] [ 9.70934150e-04 -1.49496547e-03 9.99998411e-01 -3.70909303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.036502481 meters 0.10950753691168484 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.37 [[ 9.99996804e-01 2.27389168e-03 -1.10548628e-03 1.34534463e+00] [-2.27285139e-03 9.99996974e-01 9.41374997e-04 1.26591223e-02] [ 1.10762352e-03 -9.38859382e-04 9.99998946e-01 -3.71390975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.066502481 meters 0.1089339918473065 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.37 [[ 9.99997397e-01 1.99634249e-03 -1.10498704e-03 1.34565714e+00] [-1.99604951e-03 9.99997972e-01 2.66180235e-04 1.41579603e-02] [ 1.10551618e-03 -2.63973933e-04 9.99999354e-01 -3.71802432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.096502481 meters 0.10837475705064943 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.37 [[ 9.99997326e-01 1.98928994e-03 -1.17900595e-03 1.34562935e+00] [-1.98916010e-03 9.99998015e-01 1.11281841e-04 1.46723370e-02] [ 1.17922498e-03 -1.08936311e-04 9.99999299e-01 -3.71533424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.126502481 meters 0.10840038230462987 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.37 [[ 9.99997251e-01 1.93648207e-03 -1.32199541e-03 1.34592402e+00] [-1.93638502e-03 9.99998122e-01 7.46817156e-05 1.45827031e-02] [ 1.32213755e-03 -7.21216182e-05 9.99999123e-01 -3.71595001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.156502481 meters 0.10863952636134971 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.37 [[ 9.99996563e-01 2.06313219e-03 -1.61799475e-03 1.34622620e+00] [-2.06227586e-03 9.99997733e-01 5.30740428e-04 1.31481757e-02] [ 1.61908607e-03 -5.27401852e-04 9.99998550e-01 -3.71262485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.186502481 meters 0.10894465596054347 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.37 [[ 9.99996293e-01 2.03885986e-03 -1.80460683e-03 1.34662924e+00] [-2.03764509e-03 9.99997696e-01 6.74732980e-04 1.24309725e-02] [ 1.80597836e-03 -6.71053331e-04 9.99998144e-01 -3.71395908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.216502481 meters 0.10883250897885571 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.37 [[ 0.99999547 0.00238523 -0.00183631 1.34633087] [-0.00238249 0.99999605 0.00149374 0.01056488] [ 0.00183986 -0.00148936 0.9999972 -0.37088425] [ 0. 0. 0. 1. ]] SLAMing on 41.246502481 meters 0.10883250897885571 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.37 [[ 0.99999547 0.00238523 -0.00183631 1.34633087] [-0.00238249 0.99999605 0.00149374 0.01056488] [ 0.00183986 -0.00148936 0.9999972 -0.37088425] [ 0. 0. 0. 1. ]] SLAMing on 41.276502481 meters 0.1106910331424848 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.37 [[ 0.99999518 0.0023814 -0.00199123 1.34667176] [-0.00237815 0.99999584 0.00163184 0.00989395] [ 0.00199511 -0.0016271 0.99999669 -0.37100252] [ 0. 0. 0. 1. ]] SLAMing on 41.306502481 meters 0.11164237484071975 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.37 [[ 0.99999428 0.00242851 -0.00235576 1.34729858] [-0.00242336 0.99999468 0.00218386 0.00790083] [ 0.00236105 -0.00217814 0.99999484 -0.37105722] [ 0. 0. 0. 1. ]] SLAMing on 41.336502481 meters 0.11221953802099197 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.37 [[ 0.99999408 0.00237383 -0.00249091 1.34767298] [-0.00236816 0.9999946 0.00227701 0.00731131] [ 0.0024963 -0.0022711 0.99999431 -0.37128421] [ 0. 0. 0. 1. ]] SLAMing on 41.366502481 meters 0.11117373390958875 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.37 [[ 0.99999452 0.00207183 -0.00258101 1.34818295] [-0.00206704 0.99999614 0.00185509 0.00812172] [ 0.00258484 -0.00184975 0.99999495 -0.37190172] [ 0. 0. 0. 1. ]] SLAMing on 41.396502481 meters 0.1103727606708899 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.37 [[ 9.99994970e-01 1.81304897e-03 -2.60254738e-03 1.34847946e+00] [-1.80953466e-03 9.99997449e-01 1.35205235e-03 9.35597703e-03] [ 2.60499208e-03 -1.34733615e-03 9.99995699e-01 -3.72327403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.426502481 meters 0.11260744381241045 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.37 [[ 9.99995153e-01 1.24628426e-03 -2.85307234e-03 1.34924142e+00] [-1.24589455e-03 9.99999214e-01 1.38367338e-04 1.18579478e-02] [ 2.85324254e-03 -1.34812040e-04 9.99995920e-01 -3.72855040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.456502481 meters 0.1092732067710714 Centerline is valid? [False, False] Translation: X:1.35, Y:0.01, Z:-0.37 [[ 9.99994640e-01 1.03802402e-03 -3.10537367e-03 1.34965827e+00] [-1.03899760e-03 9.99999412e-01 -3.11916576e-04 1.27380927e-02] [ 3.10504807e-03 3.15141380e-04 9.99995130e-01 -3.72760534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.486502481 meters 0.10850376253069417 Centerline is valid? [False, False] Translation: X:1.35, Y:0.02, Z:-0.37 [[ 9.99995151e-01 8.26218913e-04 -3.00251771e-03 1.34909140e+00] [-8.30324185e-04 9.99998722e-01 -1.36628730e-03 1.57339693e-02] [ 3.00138502e-03 1.36877374e-03 9.99994559e-01 -3.71984755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.516502481 meters 0.10801695013210692 Centerline is valid? [False, False] Translation: X:1.35, Y:0.02, Z:-0.37 [[ 9.99995635e-01 6.87441940e-04 -2.87363908e-03 1.34877080e+00] [-6.93127349e-04 9.99997804e-01 -1.97794254e-03 1.76616441e-02] [ 2.87227305e-03 1.97992570e-03 9.99993915e-01 -3.71812439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.546502481 meters 0.10753353278036995 Centerline is valid? [False, False] Translation: X:1.35, Y:0.02, Z:-0.37 [[ 9.99985530e-01 4.42088802e-03 -3.06516683e-03 1.34957409e+00] [-4.41704279e-03 9.99989451e-01 1.26012924e-03 1.99262964e-02] [ 3.07070538e-03 -1.24657203e-03 9.99994508e-01 -3.72530797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.576502481 meters 0.10674654623774515 Centerline is valid? [False, False] Translation: X:1.35, Y:0.02, Z:-0.37 [[ 9.99986869e-01 4.04613440e-03 -3.14497144e-03 1.35003262e+00] [-4.04458779e-03 9.99991697e-01 4.97977489e-04 2.17188450e-02] [ 3.14696021e-03 -4.85250837e-04 9.99994931e-01 -3.73048351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.606502481 meters 0.106422844414677 Centerline is valid? [False, False] Translation: X:1.35, Y:0.02, Z:-0.38 [[ 9.99988811e-01 3.19213472e-03 -3.49126257e-03 1.35189979e+00] [-3.19483047e-03 9.99994602e-01 -7.66837646e-04 2.37988187e-02] [ 3.48879588e-03 7.77983058e-04 9.99993612e-01 -3.75043658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.636502481 meters 0.1069247180697339 Centerline is valid? [False, False] Translation: X:1.35, Y:0.02, Z:-0.38 [[ 9.99989577e-01 2.78640957e-03 -3.61679609e-03 1.35260948e+00] [-2.79112831e-03 9.99995259e-01 -1.30028482e-03 2.46527103e-02] [ 3.61315582e-03 1.31036621e-03 9.99992614e-01 -3.75830222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.666502481 meters 0.10676690905816627 Centerline is valid? [False, False] Translation: X:1.35, Y:0.03, Z:-0.38 [[ 0.99998959 0.00270277 -0.00367756 1.35268727] [-0.00270806 0.99999531 -0.00143393 0.02504792] [ 0.00367366 0.00144388 0.99999221 -0.3758285 ] [ 0. 0. 0. 1. ]] SLAMing on 41.696502481 meters 0.10747832603454031 Centerline is valid? [False, False] Translation: X:1.35, Y:0.03, Z:-0.38 [[ 0.99998957 0.00251978 -0.00380857 1.35308249] [-0.0025261 0.99999544 -0.0016557 0.02534761] [ 0.00380439 0.00166531 0.99999138 -0.3761358 ] [ 0. 0. 0. 1. ]] SLAMing on 41.726502481 meters 0.10892088351707656 Centerline is valid? [False, False] Translation: X:1.35, Y:0.02, Z:-0.38 [[ 0.99998817 0.00212185 -0.00437618 1.35446771] [-0.00212983 0.99999608 -0.00181895 0.02482419] [ 0.0043723 0.00182824 0.99998877 -0.37688856] [ 0. 0. 0. 1. ]] SLAMing on 41.756502481 meters 0.10907490844094168 Centerline is valid? [False, False] Translation: X:1.35, Y:0.02, Z:-0.38 [[ 0.99998725 0.00233767 -0.00447556 1.35443036] [-0.00234383 0.99999631 -0.00137094 0.02377196] [ 0.00447234 0.00138141 0.99998904 -0.37660259] [ 0. 0. 0. 1. ]] SLAMing on 41.786502481 meters 0.10986628039052998 Centerline is valid? [False, False] Translation: X:1.36, Y:0.02, Z:-0.38 [[ 0.99999438 -0.00299409 0.00151083 1.36370984] [ 0.00299127 0.99999379 0.00186506 0.02222062] [-0.00151641 -0.00186053 0.99999712 -0.37844223] [ 0. 0. 0. 1. ]] SLAMing on 41.816502481 meters 0.11086676628124946 Centerline is valid? [False, False] Translation: X:1.36, Y:0.02, Z:-0.38 [[ 0.99999437 -0.00294009 0.00161781 1.363079 ] [ 0.00293714 0.99999402 0.00182515 0.0228016 ] [-0.00162316 -0.00182039 0.99999703 -0.3777788 ] [ 0. 0. 0. 1. ]] SLAMing on 41.846502481 meters 0.11096530630991555 Centerline is valid? [False, False] Translation: X:1.36, Y:0.02, Z:-0.38 [[ 9.99993726e-01 -3.23928294e-03 1.43345614e-03 1.36342792e+00] [ 3.23748597e-03 9.99993973e-01 1.25414212e-03 2.41677950e-02] [-1.43751002e-03 -1.24949346e-03 9.99998186e-01 -3.77865902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.876502481 meters 0.1119156142307519 Centerline is valid? [False, False] Translation: X:1.36, Y:0.03, Z:-0.38 [[ 9.99998852e-01 5.30865065e-04 1.41895222e-03 1.36343715e+00] [-5.37171326e-04 9.99989965e-01 4.44762784e-03 2.70781471e-02] [-1.41657689e-03 -4.44838496e-03 9.99989103e-01 -3.77881642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.906502481 meters 0.11152917991192081 Centerline is valid? [False, False] Translation: X:1.36, Y:0.03, Z:-0.38 [[ 9.99999098e-01 5.48699761e-06 1.34333732e-03 1.36387875e+00] [-1.00418441e-05 9.99994251e-01 3.39071127e-03 2.95685488e-02] [-1.34331099e-03 -3.39072170e-03 9.99993349e-01 -3.78362979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.936502481 meters 0.11031552421251099 Centerline is valid? [False, False] Translation: X:1.36, Y:0.03, Z:-0.38 [[ 9.99998889e-01 -4.58113974e-04 1.41882806e-03 1.36363542e+00] [ 4.55079023e-04 9.99997610e-01 2.13863960e-03 3.29785902e-02] [-1.41980441e-03 -2.13799154e-03 9.99996707e-01 -3.78093220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.966502481 meters 0.11177679347013272 Centerline is valid? [False, False] Translation: X:1.36, Y:0.03, Z:-0.38 [[ 9.99998757e-01 -8.83840152e-04 1.30588820e-03 1.36398220e+00] [ 8.82164777e-04 9.99998788e-01 1.28295862e-03 3.49411699e-02] [-1.30702055e-03 -1.28180501e-03 9.99998324e-01 -3.78309440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.996502481 meters 0.11006800144382725 Centerline is valid? [False, False] Translation: X:1.36, Y:0.04, Z:-0.38 [[ 9.99995094e-01 2.96258290e-03 1.01712990e-03 1.36484419e+00] [-2.96750362e-03 9.99983734e-01 4.87091181e-03 3.59820118e-02] [-1.00268287e-03 -4.87390625e-03 9.99987620e-01 -3.78840366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.026502481 meters 0.10880944377475656 Centerline is valid? [False, False] Translation: X:1.37, Y:0.04, Z:-0.38 [[ 9.99997080e-01 2.23334045e-03 9.22805929e-04 1.36566427e+00] [-2.23645961e-03 9.99991743e-01 3.39299219e-03 3.92774610e-02] [-9.15220602e-04 -3.39504611e-03 9.99993818e-01 -3.79896236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.056502481 meters 0.10913224523373403 Centerline is valid? [False, False] Translation: X:1.37, Y:0.04, Z:-0.38 [[ 9.99997929e-01 1.83476313e-03 8.80568371e-04 1.36604874e+00] [-1.83709169e-03 9.99994799e-01 2.65089565e-03 4.09894773e-02] [-8.75700025e-04 -2.65250785e-03 9.99996099e-01 -3.80371879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.086502481 meters 0.10864133227248295 Centerline is valid? [False, False] Translation: X:1.37, Y:0.04, Z:-0.38 [[ 9.99999002e-01 1.16887422e-03 7.94006266e-04 1.36673345e+00] [-1.16999944e-03 9.99998310e-01 1.41815751e-03 4.37143621e-02] [-7.92347277e-04 -1.41908508e-03 9.99998679e-01 -3.81221249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.116502481 meters 0.10872921638811414 Centerline is valid? [False, False] Translation: X:1.37, Y:0.04, Z:-0.38 [[ 9.99999422e-01 8.47005267e-04 6.62748341e-04 1.36734782e+00] [-8.47627422e-04 9.99999200e-01 9.39031580e-04 4.45140506e-02] [-6.61952446e-04 -9.39592801e-04 9.99999339e-01 -3.81815406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.146502481 meters 0.10867014370386248 Centerline is valid? [False, False] Translation: X:1.37, Y:0.04, Z:-0.38 [[ 9.99999460e-01 8.56430295e-04 5.88935418e-04 1.36760843e+00] [-8.57054899e-04 9.99999070e-01 1.06113191e-03 4.39535941e-02] [-5.88026085e-04 -1.06163609e-03 9.99999264e-01 -3.82008977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.176502481 meters 0.10919097103396816 Centerline is valid? [False, False] Translation: X:1.37, Y:0.04, Z:-0.38 [[ 9.99999580e-01 7.88882830e-04 4.65506749e-04 1.36799647e+00] [-7.89400872e-04 9.99999068e-01 1.11372330e-03 4.34722085e-02] [-4.64627718e-04 -1.11409030e-03 9.99999271e-01 -3.82262186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.206502481 meters 0.10972639163286278 Centerline is valid? [False, False] Translation: X:1.37, Y:0.04, Z:-0.38 [[ 9.99999758e-01 6.55103632e-04 2.34049394e-04 1.36865925e+00] [-6.55363703e-04 9.99999166e-01 1.11283657e-03 4.30239336e-02] [-2.33320176e-04 -1.11298969e-03 9.99999353e-01 -3.82728907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.236502481 meters 0.10952188201182951 Centerline is valid? [False, False] Translation: X:1.37, Y:0.04, Z:-0.38 [[ 9.99999916e-01 3.76578546e-04 1.62725512e-04 1.36908182e+00] [-3.76690379e-04 9.99999693e-01 6.87764041e-04 4.38658886e-02] [-1.62466465e-04 -6.87825280e-04 9.99999750e-01 -3.83209511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.266502480999996 meters 0.1102644732830932 Centerline is valid? [False, False] Translation: X:1.37, Y:0.04, Z:-0.38 [[ 9.99999920e-01 3.43390978e-04 2.05491634e-04 1.36884363e+00] [-3.43497664e-04 9.99999806e-01 5.19366754e-04 4.46260244e-02] [-2.05313248e-04 -5.19437298e-04 9.99999844e-01 -3.82970609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.296502481 meters 0.11015085301458727 Centerline is valid? [False, False] Translation: X:1.37, Y:0.04, Z:-0.38 [[ 9.99999973e-01 2.07430639e-04 1.01134432e-04 1.36917680e+00] [-2.07466618e-04 9.99999915e-01 3.55867239e-04 4.47569547e-02] [-1.01060606e-04 -3.55888211e-04 9.99999932e-01 -3.83199630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.326502481 meters 0.11066768497740723 Centerline is valid? [False, False] Translation: X:1.37, Y:0.05, Z:-0.38 [[ 9.99999999e-01 -4.32035400e-05 1.17276910e-05 1.36950106e+00] [ 4.32041420e-05 9.99999998e-01 -5.13411631e-05 4.55593851e-02] [-1.17254729e-05 5.13416697e-05 9.99999999e-01 -3.83484216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.356502481 meters 0.11120227880375598 Centerline is valid? [False, False] Translation: X:1.37, Y:0.05, Z:-0.38 [[ 9.99999967e-01 -2.17489246e-04 -1.38486488e-04 1.36991195e+00] [ 2.17451156e-04 9.99999939e-01 -2.74998258e-04 4.58288461e-02] [ 1.38546289e-04 2.74968135e-04 9.99999953e-01 -3.83723606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.386502481 meters 0.11160718715866434 Centerline is valid? [False, False] Translation: X:1.37, Y:0.04, Z:-0.38 [[ 9.99999965e-01 -6.81200601e-05 -2.57125260e-04 1.36999782e+00] [ 6.82040043e-05 9.99999944e-01 3.26477168e-04 4.42170767e-02] [ 2.57103006e-04 -3.26494693e-04 9.99999914e-01 -3.83571923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.416502481 meters 0.11241851541025139 Centerline is valid? [False, False] Translation: X:1.37, Y:0.04, Z:-0.38 [[ 9.99999975e-01 -1.07898282e-04 -1.96613518e-04 1.37000596e+00] [ 1.08005817e-04 9.99999845e-01 5.47003964e-04 4.35452606e-02] [ 1.96554467e-04 -5.47025185e-04 9.99999831e-01 -3.83801710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.446502481 meters 0.11404576706961256 Centerline is valid? [False, False] Translation: X:1.37, Y:0.04, Z:-0.38 [[ 9.99999869e-01 -4.33102953e-04 -2.71838071e-04 1.37052389e+00] [ 4.33131920e-04 9.99999901e-01 1.06510313e-04 4.43004069e-02] [ 2.71791914e-04 -1.06628041e-04 9.99999957e-01 -3.84436281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.476502481 meters 0.11437403598784252 Centerline is valid? [False, False] Translation: X:1.37, Y:0.05, Z:-0.39 [[ 9.99999589e-01 -9.05695289e-04 -2.83584636e-05 1.37052855e+00] [ 9.05668303e-04 9.99999150e-01 -9.37592300e-04 4.72659991e-02] [ 2.92076124e-05 9.37566231e-04 9.99999560e-01 -3.85074583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.506502481 meters 0.11487995345264675 Centerline is valid? [False, False] Translation: X:1.37, Y:0.05, Z:-0.39 [[ 9.99999122e-01 -1.31567557e-03 -1.55004721e-04 1.37115546e+00] [ 1.31541672e-03 9.99997760e-01 -1.65839316e-03 4.86734596e-02] [ 1.57186281e-04 1.65818781e-03 9.99998613e-01 -3.85708455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.536502481 meters 0.11393157225093328 Centerline is valid? [False, False] Translation: X:1.37, Y:0.05, Z:-0.39 [[ 9.99996462e-01 2.62858175e-03 -4.07251969e-04 1.37176075e+00] [-2.62771027e-03 9.99994288e-01 2.12584143e-03 4.92674007e-02] [ 4.12837590e-04 -2.12476377e-03 9.99997657e-01 -3.85986962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.566502481 meters 0.11387925498489644 Centerline is valid? [False, False] Translation: X:1.37, Y:0.05, Z:-0.39 [[ 9.99997408e-01 2.21135497e-03 -5.42451245e-04 1.37228620e+00] [-2.21061985e-03 9.99996643e-01 1.35206845e-03 5.09013445e-02] [ 5.45439327e-04 -1.35086579e-03 9.99998939e-01 -3.86440746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.596502481 meters 0.11295541672314315 Centerline is valid? [False, False] Translation: X:1.37, Y:0.05, Z:-0.39 [[ 9.99998439e-01 1.72597577e-03 -3.77801005e-04 1.37213127e+00] [-1.72594457e-03 9.99998507e-01 8.28927567e-05 5.42010627e-02] [ 3.77943512e-04 -8.22405637e-05 9.99999925e-01 -3.86585905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.626502481 meters 0.11280952176463753 Centerline is valid? [False, False] Translation: X:1.37, Y:0.06, Z:-0.39 [[ 9.99999003e-01 1.33667787e-03 -4.54293814e-04 1.37250581e+00] [-1.33697405e-03 9.99998894e-01 -6.52277892e-04 5.58030481e-02] [ 4.53421426e-04 6.52884621e-04 9.99999684e-01 -3.86945044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.656502481 meters 0.11234553675927204 Centerline is valid? [False, False] Translation: X:1.37, Y:0.06, Z:-0.39 [[ 9.99999198e-01 1.23013457e-03 -3.02519303e-04 1.37221826e+00] [-1.23046537e-03 9.99998643e-01 -1.09574086e-03 5.72117806e-02] [ 3.01170983e-04 1.09611222e-03 9.99999354e-01 -3.86865599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.686502481 meters 0.11248002428136437 Centerline is valid? [False, False] Translation: X:1.37, Y:0.06, Z:-0.39 [[ 9.99999442e-01 9.50393262e-04 -4.61234598e-04 1.37277181e+00] [-9.51103387e-04 9.99998359e-01 -1.54184750e-03 5.79761477e-02] [ 4.59768480e-04 1.54228532e-03 9.99998705e-01 -3.87298171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.716502481 meters 0.11253056280809842 Centerline is valid? [False, False] Translation: X:1.37, Y:0.06, Z:-0.39 [[ 9.99999674e-01 4.83158638e-04 -6.47067409e-04 1.37360276e+00] [-4.84717482e-04 9.99996976e-01 -2.41110496e-03 5.97713846e-02] [ 6.45900506e-04 2.41141782e-03 9.99996884e-01 -3.88159737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.746502481 meters 0.11238340902879879 Centerline is valid? [False, False] Translation: X:1.37, Y:0.06, Z:-0.39 [[ 9.99988813e-01 4.64928022e-03 -8.70384028e-04 1.37418350e+00] [-4.64766496e-03 9.99987491e-01 1.84872159e-03 5.95020402e-02] [ 8.78968365e-04 -1.84465566e-03 9.99997912e-01 -3.88489824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.776502481 meters 0.11142448959537567 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:-0.39 [[ 9.99992313e-01 3.76632735e-03 -1.09067668e-03 1.37564959e+00] [-3.76588050e-03 9.99992824e-01 4.11468002e-04 6.21015204e-02] [ 1.09221858e-03 -4.07357481e-04 9.99999321e-01 -3.90191544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.806502481 meters 0.1124040927061394 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:-0.39 [[ 9.99992469e-01 3.59669153e-03 -1.45789594e-03 1.37666628e+00] [-3.59618520e-03 9.99993473e-01 3.49770683e-04 6.14372456e-02] [ 1.45914444e-03 -3.44525185e-04 9.99998876e-01 -3.90779868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.836502481 meters 0.11062912069204132 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:-0.39 [[ 9.99992575e-01 3.55729369e-03 -1.48183872e-03 1.37669777e+00] [-3.55690566e-03 9.99993639e-01 2.64412332e-04 6.16470935e-02] [ 1.48276988e-03 -2.59139608e-04 9.99998867e-01 -3.90738027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.866502481 meters 0.1105305877950219 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:-0.39 [[ 9.99993458e-01 3.25246499e-03 -1.58270442e-03 1.37710059e+00] [-3.25289429e-03 9.99994673e-01 -2.68742920e-04 6.27180489e-02] [ 1.58182191e-03 2.73889532e-04 9.99998711e-01 -3.91090020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.896502481 meters 0.11003498059360702 Centerline is valid? [False, False] Translation: X:1.38, Y:0.07, Z:-0.39 [[ 9.99994816e-01 2.84487505e-03 -1.50820970e-03 1.37721987e+00] [-2.84664727e-03 9.99995259e-01 -1.17420924e-03 6.50944533e-02] [ 1.50486207e-03 1.17849649e-03 9.99998173e-01 -3.91478629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.926502481 meters 0.11106671764553923 Centerline is valid? [False, False] Translation: X:1.38, Y:0.07, Z:-0.39 [[ 0.99999562 0.00248102 -0.0016151 1.37775404] [-0.00248386 0.99999536 -0.00176279 0.06619318] [ 0.00161072 0.0017668 0.99999714 -0.39200788] [ 0. 0. 0. 1. ]] SLAMing on 42.956502481 meters 0.11048305974602356 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:-0.39 [[ 0.999995 0.00255264 -0.00186585 1.37831137] [-0.00255529 0.99999573 -0.0014172 0.06490616] [ 0.00186222 0.00142196 0.99999726 -0.39223205] [ 0. 0. 0. 1. ]] SLAMing on 42.986502481 meters 0.11042471685359195 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:-0.39 [[ 9.99994489e-01 2.53411087e-03 -2.14490304e-03 1.37904591e+00] [-2.53662065e-03 9.99996100e-01 -1.16819944e-03 6.36808787e-02] [ 2.14193433e-03 1.17363381e-03 9.99997017e-01 -3.92637138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.016502480999996 meters 0.11119621655388462 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:-0.39 [[ 9.99993363e-01 2.63131772e-03 -2.52003069e-03 1.37968886e+00] [-2.63287330e-03 9.99996345e-01 -6.14168195e-04 6.18232926e-02] [ 2.51840541e-03 6.20799041e-04 9.99996636e-01 -3.92711993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.046502481 meters 0.11168898591177977 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:-0.39 [[ 9.99993343e-01 2.65928137e-03 -2.49831663e-03 1.37952319e+00] [-2.66081632e-03 9.99996273e-01 -6.11272059e-04 6.19980302e-02] [ 2.49668178e-03 6.17915551e-04 9.99996692e-01 -3.92513542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.076502481 meters 0.11186952849796317 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:-0.39 [[ 9.99993667e-01 2.55279030e-03 -2.47959121e-03 1.37941424e+00] [-2.55502286e-03 9.99996333e-01 -8.97626619e-04 6.30103485e-02] [ 2.47729067e-03 9.03956347e-04 9.99996523e-01 -3.92397725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.106502481 meters 0.11147988264026014 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:-0.39 [[ 9.99992829e-01 2.64913580e-03 -2.70625420e-03 1.37964881e+00] [-2.65102628e-03 9.99996244e-01 -6.95214306e-04 6.23450125e-02] [ 2.70440232e-03 7.02383672e-04 9.99996096e-01 -3.92118259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.136502481 meters 0.11127762988242333 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:-0.39 [[ 9.99992131e-01 2.61544338e-03 -2.98273006e-03 1.38022020e+00] [-2.61730982e-03 9.99996381e-01 -6.22020245e-04 6.17505546e-02] [ 2.98109241e-03 6.29822079e-04 9.99995358e-01 -3.92217386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.166502481 meters 0.11062580655484364 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:-0.39 [[ 9.99991714e-01 2.57031844e-03 -3.15679550e-03 1.38063411e+00] [-2.57233060e-03 9.99996491e-01 -6.33509871e-04 6.14871257e-02] [ 3.15515610e-03 6.41624943e-04 9.99994817e-01 -3.92348640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.196502481 meters 0.11062580655484364 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:-0.39 [[ 9.99991714e-01 2.57031844e-03 -3.15679550e-03 1.38063411e+00] [-2.57233060e-03 9.99996491e-01 -6.33509871e-04 6.14871257e-02] [ 3.15515610e-03 6.41624943e-04 9.99994817e-01 -3.92348640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.226502481 meters 0.11117108722589564 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:-0.39 [[ 9.99991994e-01 2.27330015e-03 -3.29299284e-03 1.38123121e+00] [-2.27683382e-03 9.99996836e-01 -1.06973643e-03 6.22091947e-02] [ 3.29055058e-03 1.07722547e-03 9.99994006e-01 -3.92908854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.256502481 meters 0.10990687303037051 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:-0.39 [[ 9.99991428e-01 2.28687461e-03 -3.45170534e-03 1.38178964e+00] [-2.28989382e-03 9.99996999e-01 -8.71001721e-04 6.14659778e-02] [ 3.44970311e-03 8.78898293e-04 9.99993664e-01 -3.93364603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.286502481 meters 0.11011021839873779 Centerline is valid? [False, False] Translation: X:1.39, Y:0.06, Z:-0.39 [[ 0.99999069 -0.00295621 -0.00314466 1.39302418] [ 0.00296324 0.99999311 0.00223447 0.06119076] [ 0.00313803 -0.00224376 0.99999256 -0.39369406] [ 0. 0. 0. 1. ]] SLAMing on 43.316502481 meters 0.1103919505286949 Centerline is valid? [False, False] Translation: X:1.39, Y:0.06, Z:-0.39 [[ 0.99999162 -0.00247133 -0.00326323 1.39297784] [ 0.00248176 0.99999181 0.00319635 0.0589562 ] [ 0.0032553 -0.00320442 0.99998957 -0.39330997] [ 0. 0. 0. 1. ]] SLAMing on 43.346502481 meters 0.111540075151834 Centerline is valid? [False, False] Translation: X:1.40, Y:0.06, Z:-0.40 [[ 9.99991228e-01 4.12776463e-03 7.10818917e-04 1.40274455e+00] [-4.12633747e-03 9.99989491e-01 -1.99767361e-03 5.78442867e-02] [-7.19057374e-04 1.99472301e-03 9.99997752e-01 -3.96054406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.376502481 meters 0.11059144841028833 Centerline is valid? [False, False] Translation: X:1.40, Y:0.06, Z:-0.40 [[ 9.99991124e-01 4.18894717e-03 4.52313401e-04 1.40329528e+00] [-4.18818261e-03 9.99989821e-01 -1.67825653e-03 5.66921211e-02] [-4.59338925e-04 1.67634727e-03 9.99998489e-01 -3.96224481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.406502481 meters 0.11044858463081286 Centerline is valid? [False, False] Translation: X:1.40, Y:0.06, Z:-0.40 [[ 9.99991221e-01 4.18435357e-03 2.21737475e-04 1.40380205e+00] [-4.18400876e-03 9.99990071e-01 -1.53333044e-03 5.59958704e-02] [-2.28151270e-04 1.53238923e-03 9.99998800e-01 -3.96383661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.436502481 meters 0.1108577246471624 Centerline is valid? [False, False] Translation: X:1.40, Y:0.05, Z:-0.40 [[ 9.99990405e-01 4.38022067e-03 6.68035480e-05 1.40407949e+00] [-4.38014938e-03 9.99989874e-01 -1.03236588e-03 5.46665282e-02] [-7.13248619e-05 1.03206336e-03 9.99999465e-01 -3.96447621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.466502481 meters 0.11114411021332296 Centerline is valid? [False, False] Translation: X:1.40, Y:0.05, Z:-0.40 [[ 9.99991007e-01 4.23972983e-03 -1.04945558e-04 1.40442113e+00] [-4.23985464e-03 9.99990269e-01 -1.21916829e-03 5.49941956e-02] [ 9.97755923e-05 1.21960228e-03 9.99999251e-01 -3.96551154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.496502481 meters 0.1128483530314395 Centerline is valid? [False, False] Translation: X:1.40, Y:0.05, Z:-0.40 [[ 9.99991163e-01 4.19064305e-03 -3.34162155e-04 1.40476656e+00] [-4.19100672e-03 9.99990618e-01 -1.09513053e-03 5.44884897e-02] [ 3.29569719e-04 1.09652133e-03 9.99999345e-01 -3.96519763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.526502481 meters 0.11294185418762613 Centerline is valid? [False, False] Translation: X:1.41, Y:0.05, Z:-0.40 [[ 9.99990719e-01 4.27028029e-03 -5.71047118e-04 1.40509875e+00] [-4.27071698e-03 9.99990587e-01 -7.65710613e-04 5.34040689e-02] [ 5.67771944e-04 7.68142287e-04 9.99999544e-01 -3.96409188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.556502481 meters 0.11345241588964015 Centerline is valid? [False, False] Translation: X:1.41, Y:0.05, Z:-0.40 [[ 9.99990278e-01 4.26880525e-03 -1.10478368e-03 1.40600683e+00] [-4.26887717e-03 9.99990886e-01 -6.27482053e-05 5.09185472e-02] [ 1.10450575e-03 6.74637811e-05 9.99999388e-01 -3.96567465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.586502481 meters 0.11388279820282744 Centerline is valid? [False, False] Translation: X:1.41, Y:0.05, Z:-0.40 [[ 9.99990654e-01 4.08594617e-03 -1.41319827e-03 1.40694442e+00] [-4.08606306e-03 9.99991649e-01 -7.98389798e-05 5.03794643e-02] [ 1.41286025e-03 8.56126509e-05 9.99998998e-01 -3.97291421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.616502481 meters 0.11327131370416339 Centerline is valid? [False, False] Translation: X:1.41, Y:0.05, Z:-0.40 [[ 9.99992255e-01 3.55861094e-03 -1.68090729e-03 1.40832630e+00] [-3.55963206e-03 9.99993482e-01 -6.04883609e-04 5.07796390e-02] [ 1.67874378e-03 6.10862336e-04 9.99998404e-01 -3.98798305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.646502481 meters 0.11478088351335015 Centerline is valid? [False, False] Translation: X:1.41, Y:0.05, Z:-0.40 [[ 9.99992484e-01 3.42386868e-03 -1.81913483e-03 1.40858801e+00] [-3.42531171e-03 9.99993821e-01 -7.90728492e-04 5.10972276e-02] [ 1.81641624e-03 7.96953652e-04 9.99998033e-01 -3.98844519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.676502481 meters 0.1148672937437671 Centerline is valid? [False, False] Translation: X:1.41, Y:0.05, Z:-0.40 [[ 9.99992265e-01 3.47055523e-03 -1.85050047e-03 1.40817945e+00] [-3.47205240e-03 9.99993647e-01 -8.06465225e-04 5.13784970e-02] [ 1.84768983e-03 8.12884022e-04 9.99997963e-01 -3.98101017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.706502481 meters 0.11375782943324701 Centerline is valid? [False, False] Translation: X:1.41, Y:0.05, Z:-0.40 [[ 9.99992758e-01 3.26312718e-03 -1.95854788e-03 1.40847124e+00] [-3.26538259e-03 9.99994008e-01 -1.14948094e-03 5.20897512e-02] [ 1.95478525e-03 1.15586803e-03 9.99997421e-01 -3.98249776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.736502481 meters 0.1140834923721286 Centerline is valid? [False, False] Translation: X:1.41, Y:0.05, Z:-0.40 [[ 0.99999399 0.00274169 -0.00212185 1.4092003 ] [-0.0027461 0.99999407 -0.00207691 0.05399605] [ 0.00211615 0.00208272 0.99999559 -0.39895692] [ 0. 0. 0. 1. ]] SLAMing on 43.766502480999996 meters 0.11397243794371055 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:-0.40 [[ 0.99999466 0.00232892 -0.00229127 1.40996471] [-0.00233534 0.99999335 -0.00280285 0.05536662] [ 0.00228473 0.00280818 0.99999345 -0.39967387] [ 0. 0. 0. 1. ]] SLAMing on 43.796502481 meters 0.11345461215092348 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:-0.40 [[ 0.99999502 0.00217745 -0.00228625 1.41002829] [-0.00218473 0.99999254 -0.00318615 0.05641668] [ 0.0022793 0.00319113 0.99999231 -0.39974823] [ 0. 0. 0. 1. ]] SLAMing on 43.826502481 meters 0.11277230261035723 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:-0.40 [[ 9.99976327e-01 6.39264782e-03 -2.54551632e-03 1.41043335e+00] [-6.38995950e-03 9.99979019e-01 1.06283822e-03 5.60246491e-02] [ 2.55225727e-03 -1.04654732e-03 9.99996195e-01 -3.99632352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.856502481 meters 0.11258898985967881 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:-0.40 [[ 9.99978184e-01 6.06397891e-03 -2.61897432e-03 1.41078517e+00] [-6.06286834e-03 9.99981527e-01 4.31779174e-04 5.74363543e-02] [ 2.62154424e-03 -4.15891258e-04 9.99996477e-01 -3.99960131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.886502481 meters 0.11060232104106485 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:-0.40 [[ 9.99981526e-01 5.54665573e-03 -2.48627204e-03 1.41096041e+00] [-5.54899989e-03 9.99984165e-01 -9.36934785e-04 6.08576890e-02] [ 2.48103581e-03 9.50713799e-04 9.99996470e-01 -4.00535112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.916502481 meters 0.11038181496434493 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:-0.40 [[ 0.99998327 0.00517884 -0.00257782 1.41141035] [-0.00518301 0.99998527 -0.0016124 0.06229126] [ 0.00256943 0.00162573 0.99999538 -0.40096419] [ 0. 0. 0. 1. ]] SLAMing on 43.946502481 meters 0.10975547012131441 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:-0.40 [[ 0.99998417 0.00486912 -0.00281853 1.4120419 ] [-0.00487511 0.99998587 -0.00212142 0.06306409] [ 0.00280816 0.00213512 0.99999378 -0.40127409] [ 0. 0. 0. 1. ]] SLAMing on 43.976502481 meters 0.10983509786700295 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:-0.40 [[ 0.99998478 0.00461785 -0.00301938 1.41284221] [-0.0046252 0.99998635 -0.00243227 0.06327459] [ 0.00300811 0.0024462 0.99999248 -0.4019783 ] [ 0. 0. 0. 1. ]] SLAMing on 44.006502481 meters 0.10960328166728822 Centerline is valid? [False, False] Translation: X:1.41, Y:0.06, Z:-0.40 [[ 0.9999868 0.00418579 -0.00298073 1.41360644] [-0.00419498 0.99998645 -0.00308367 0.0645032 ] [ 0.00296778 0.00309613 0.9999908 -0.40329342] [ 0. 0. 0. 1. ]] SLAMing on 44.036502481 meters 0.10982473795591824 Centerline is valid? [False, False] Translation: X:1.41, Y:0.07, Z:-0.40 [[ 0.99998811 0.00380009 -0.00305715 1.41414977] [-0.00381145 0.99998582 -0.00371999 0.06579163] [ 0.00304297 0.0037316 0.99998841 -0.40395469] [ 0. 0. 0. 1. ]] SLAMing on 44.066502481 meters 0.11039607959594452 Centerline is valid? [False, False] Translation: X:1.41, Y:0.07, Z:-0.40 [[ 0.99998914 0.00346611 -0.00311547 1.41421354] [-0.00347975 0.99998433 -0.00438476 0.06752442] [ 0.00310023 0.00439555 0.99998553 -0.40393635] [ 0. 0. 0. 1. ]] SLAMing on 44.096502481 meters 0.11107932067945638 Centerline is valid? [False, False] Translation: X:1.41, Y:0.07, Z:-0.40 [[ 0.99998948 0.00329339 -0.00319269 1.41437694] [-0.00330831 0.99998358 -0.00467939 0.06820128] [ 0.00317723 0.0046899 0.99998395 -0.40399189] [ 0. 0. 0. 1. ]] SLAMing on 44.126502481 meters 0.11250592313153453 Centerline is valid? [False, False] Translation: X:1.41, Y:0.07, Z:-0.40 [[ 0.99999019 0.00315094 -0.0031128 1.41412469] [-0.00316649 0.99998246 -0.00500449 0.06925563] [ 0.00309698 0.0050143 0.99998263 -0.40387024] [ 0. 0. 0. 1. ]] SLAMing on 44.156502481 meters 0.1136921193745421 Centerline is valid? [False, False] Translation: X:1.41, Y:0.07, Z:-0.40 [[ 0.99999018 0.00286381 -0.00338221 1.41453509] [-0.00288173 0.99998177 -0.00530577 0.06961293] [ 0.00336695 0.00531546 0.9999802 -0.40391318] [ 0. 0. 0. 1. ]] SLAMing on 44.186502481 meters 0.11467433838879217 Centerline is valid? [False, False] Translation: X:1.41, Y:0.07, Z:-0.40 [[ 0.99999006 0.00268337 -0.00356221 1.41492947] [-0.00270305 0.99998105 -0.00553152 0.06989629] [ 0.0035473 0.00554109 0.99997836 -0.40407849] [ 0. 0. 0. 1. ]] SLAMing on 44.216502481 meters 0.11517309786172655 Centerline is valid? [False, False] Translation: X:1.42, Y:0.07, Z:-0.40 [[ 0.99998998 0.00248281 -0.00372457 1.41538116] [-0.00250438 0.99998005 -0.00579899 0.07032767] [ 0.00371009 0.00580826 0.99997625 -0.40437439] [ 0. 0. 0. 1. ]] SLAMing on 44.246502481 meters 0.1158191998847263 Centerline is valid? [False, False] Translation: X:1.42, Y:0.07, Z:-0.41 [[ 0.9999907 0.00189975 -0.00387296 1.41607505] [-0.00192608 0.99997499 -0.00680492 0.07245563] [ 0.00385994 0.00681231 0.99996935 -0.4050926 ] [ 0. 0. 0. 1. ]] SLAMing on 44.276502481 meters 0.11524475002960592 Centerline is valid? [False, False] Translation: X:1.42, Y:0.07, Z:-0.41 [[ 0.99997662 0.00554308 -0.00400447 1.41671326] [-0.00555785 0.99997776 -0.00368564 0.07497429] [ 0.00398395 0.00370781 0.99998519 -0.40572492] [ 0. 0. 0. 1. ]] SLAMing on 44.306502481 meters 0.116791629102271 Centerline is valid? [False, False] Translation: X:1.42, Y:0.08, Z:-0.41 [[ 0.99997958 0.00488714 -0.0041184 1.41736858] [-0.00490714 0.99997615 -0.00486008 0.07759234] [ 0.00409455 0.00488019 0.99997971 -0.4064087 ] [ 0. 0. 0. 1. ]] SLAMing on 44.336502481 meters 0.11486814739882037 Centerline is valid? [False, False] Translation: X:1.42, Y:0.08, Z:-0.41 [[ 0.99998164 0.00428319 -0.00428642 1.4181273 ] [-0.00430848 0.99997327 -0.00590744 0.07987412] [ 0.004261 0.0059258 0.99997336 -0.40713543] [ 0. 0. 0. 1. ]] SLAMing on 44.366502481 meters 0.11894275555062485 Centerline is valid? [False, False] Translation: X:1.42, Y:0.08, Z:-0.41 [[ 0.99998361 0.00369335 -0.00437373 1.41848167] [-0.00372447 0.99996766 -0.0071286 0.08273974] [ 0.00434726 0.00714477 0.99996503 -0.40743224] [ 0. 0. 0. 1. ]] SLAMing on 44.396502481 meters 0.11927489658025582 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:-0.41 [[ 9.99998805e-01 -4.79724345e-05 1.54493593e-03 1.42657588e+00] [ 5.13101763e-05 9.99997665e-01 -2.16047309e-03 8.19097504e-02] [-1.54482868e-03 2.16054978e-03 9.99996473e-01 -4.07855432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.426502481 meters 0.12045996052758001 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:-0.41 [[ 9.99998791e-01 -1.78481751e-04 1.54500008e-03 1.42641893e+00] [ 1.82435284e-04 9.99996709e-01 -2.55915789e-03 8.30890715e-02] [-1.54453823e-03 2.55943666e-03 9.99995532e-01 -4.07647295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.456502481 meters 0.1176046110233813 Centerline is valid? [False, False] Translation: X:1.43, Y:0.08, Z:-0.41 [[ 9.99992290e-01 3.74790455e-03 1.17155366e-03 1.42747430e+00] [-3.74957257e-03 9.99991955e-01 1.42482223e-03 8.31900097e-02] [-1.16620413e-03 -1.42920408e-03 9.99998299e-01 -4.08379206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.486502481 meters 0.12194177142428109 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:-0.41 [[ 9.99996594e-01 2.43037328e-03 9.51251854e-04 1.42952076e+00] [-2.42962689e-03 9.99996740e-01 -7.85008370e-04 8.79391903e-02] [-9.53156617e-04 7.82694509e-04 9.99999239e-01 -4.10920891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.516502480999996 meters 0.11889275555725978 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:-0.41 [[ 9.99997873e-01 1.86871923e-03 8.72661059e-04 1.43002684e+00] [-1.86709021e-03 9.99996520e-01 -1.86382815e-03 9.03389038e-02] [-8.76140993e-04 1.86219485e-03 9.99997882e-01 -4.11499153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.546502481 meters 0.11680790366522213 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:-0.41 [[ 9.99998500e-01 1.58442105e-03 7.00288927e-04 1.43043466e+00] [-1.58275917e-03 9.99995945e-01 -2.36735085e-03 9.13128463e-02] [-7.04036969e-04 2.36623891e-03 9.99996953e-01 -4.11637042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.576502481 meters 0.11622354513670802 Centerline is valid? [False, False] Translation: X:1.43, Y:0.09, Z:-0.41 [[ 9.99984900e-01 5.46960243e-03 5.31584021e-04 1.43066974e+00] [-5.47023545e-03 9.99984322e-01 1.19674011e-03 9.27349339e-02] [-5.25029994e-04 -1.19962993e-03 9.99999143e-01 -4.11529378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.606502481 meters 0.11636157010925116 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.41 [[ 9.99989423e-01 4.58068962e-03 4.13324007e-04 1.43160722e+00] [-4.58052930e-03 9.99989434e-01 -3.88007700e-04 9.62211554e-02] [-4.15096983e-04 3.86110354e-04 9.99999839e-01 -4.12643136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.636502481 meters 0.11760849638890992 Centerline is valid? [False, False] Translation: X:1.43, Y:0.10, Z:-0.41 [[ 9.99993298e-01 3.65135727e-03 2.67926676e-04 1.43257686e+00] [-3.65079895e-03 9.99991223e-01 -2.05555941e-03 9.99362813e-02] [-2.75429906e-04 2.05456749e-03 9.99997851e-01 -4.13744353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.666502481 meters 0.11734579930211127 Centerline is valid? [False, False] Translation: X:1.43, Y:0.11, Z:-0.41 [[ 9.99996514e-01 2.60844345e-03 4.10495241e-04 1.43306425e+00] [-2.60666471e-03 9.99987462e-01 -4.27562128e-03 1.05505926e-01] [-4.21642811e-04 4.27453635e-03 9.99990775e-01 -4.14778119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.696502481 meters 0.11731522051170695 Centerline is valid? [False, False] Translation: X:1.43, Y:0.11, Z:-0.41 [[ 9.99998051e-01 1.94480508e-03 3.41012501e-04 1.43322676e+00] [-1.94280807e-03 9.99981513e-01 -5.76178436e-03 1.09141860e-01] [-3.52211745e-04 5.76111060e-03 9.99983343e-01 -4.14803254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.726502481 meters 0.11766529261186219 Centerline is valid? [False, False] Translation: X:1.43, Y:0.11, Z:-0.41 [[ 9.99998755e-01 1.57066388e-03 1.52372203e-04 1.43357852e+00] [-1.56964335e-03 9.99977765e-01 -6.48125064e-03 1.10792483e-01] [-1.62548681e-04 6.48100340e-03 9.99978985e-01 -4.14828888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.756502481 meters 0.11901188085096616 Centerline is valid? [False, False] Translation: X:1.43, Y:0.11, Z:-0.41 [[ 9.99986214e-01 5.24945361e-03 -1.19434728e-04 1.43384756e+00] [-5.24980826e-03 9.99981121e-01 -3.19321260e-03 1.12699200e-01] [ 1.02669852e-04 3.19379559e-03 9.99994895e-01 -4.14577129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.786502481 meters 0.11957867976066508 Centerline is valid? [False, False] Translation: X:1.43, Y:0.12, Z:-0.41 [[ 9.99989453e-01 4.58362842e-03 -2.90088470e-04 1.43433376e+00] [-4.58487013e-03 9.99979654e-01 -4.43524584e-03 1.15640453e-01] [ 2.69753049e-04 4.43652908e-03 9.99990122e-01 -4.14868373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.816502481 meters 0.12053633927978107 Centerline is valid? [False, False] Translation: X:1.43, Y:0.12, Z:-0.41 [[ 9.99966769e-01 8.14374666e-03 -3.75217211e-04 1.43436685e+00] [-8.14434858e-03 9.99965503e-01 -1.63161240e-03 1.19408520e-01] [ 3.61916829e-04 1.63461407e-03 9.99998599e-01 -4.14587898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.846502481 meters 0.12125078778095956 Centerline is valid? [False, False] Translation: X:1.43, Y:0.12, Z:-0.42 [[ 9.99971536e-01 7.52731218e-03 -5.17276475e-04 1.43491209e+00] [-7.52871225e-03 9.99967849e-01 -2.76019716e-03 1.21943323e-01] [ 4.96482978e-04 2.76401302e-03 9.99996057e-01 -4.15028533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.876502481 meters 0.12222109559015848 Centerline is valid? [False, False] Translation: X:1.44, Y:0.13, Z:-0.42 [[ 9.99979627e-01 6.33488393e-03 -7.83918171e-04 1.43642126e+00] [-6.33852487e-03 9.99968712e-01 -4.73264489e-03 1.25870237e-01] [ 7.53912888e-04 4.73751736e-03 9.99988494e-01 -4.16602853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.906502481 meters 0.12270107871729488 Centerline is valid? [False, False] Translation: X:1.44, Y:0.13, Z:-0.42 [[ 9.99982394e-01 5.85912888e-03 -9.39018555e-04 1.43692935e+00] [-5.86427903e-03 9.99967242e-01 -5.57906562e-03 1.27785634e-01] [ 9.06299330e-04 5.58447406e-03 9.99983996e-01 -4.16953735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.936502481 meters 0.1206723101405603 Centerline is valid? [False, False] Translation: X:1.44, Y:0.13, Z:-0.42 [[ 9.99987094e-01 4.97015151e-03 -1.05296420e-03 1.43744386e+00] [-4.97770132e-03 9.99961016e-01 -7.29305441e-03 1.31852674e-01] [ 1.01667556e-03 7.29820163e-03 9.99972851e-01 -4.17421578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.966502481 meters 0.11975385694571061 Centerline is valid? [False, False] Translation: X:1.44, Y:0.13, Z:-0.42 [[ 9.99989080e-01 4.51481897e-03 -1.20645940e-03 1.43794861e+00] [-4.52445734e-03 9.99956883e-01 -8.10938131e-03 1.33696926e-01] [ 1.16979499e-03 8.11475133e-03 9.99966391e-01 -4.17783031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.996502481 meters 0.12050402407260963 Centerline is valid? [False, False] Translation: X:1.44, Y:0.14, Z:-0.42 [[ 0.99996531 0.00819622 -0.00148154 1.43904186] [-0.0082031 0.99995531 -0.00469943 0.13520756] [ 0.00144296 0.00471142 0.99998786 -0.41867992] [ 0. 0. 0. 1. ]] SLAMing on 45.026502481 meters 0.1206760898452372 Centerline is valid? [False, False] Translation: X:1.44, Y:0.14, Z:-0.42 [[ 0.99996929 0.00764488 -0.00172761 1.43983659] [-0.00765449 0.99995487 -0.00562749 0.13717037] [ 0.00168451 0.00564054 0.99998267 -0.41924911] [ 0. 0. 0. 1. ]] SLAMing on 45.056502481 meters 0.12123317379254238 Centerline is valid? [False, False] Translation: X:1.44, Y:0.14, Z:-0.42 [[ 0.999974 0.00695678 -0.00189837 1.44028012] [-0.00697009 0.99995052 -0.00709786 0.14076134] [ 0.0018489 0.0071109 0.99997301 -0.41944342] [ 0. 0. 0. 1. ]] SLAMing on 45.086502481 meters 0.12123317379254238 Centerline is valid? [False, False] Translation: X:1.44, Y:0.14, Z:-0.42 [[ 0.999974 0.00695678 -0.00189837 1.44028012] [-0.00697009 0.99995052 -0.00709786 0.14076134] [ 0.0018489 0.0071109 0.99997301 -0.41944342] [ 0. 0. 0. 1. ]] SLAMing on 45.116502481 meters 0.12026024874778836 Centerline is valid? [False, False] Translation: X:1.44, Y:0.14, Z:-0.42 [[ 0.99997699 0.00643781 -0.00214067 1.44077124] [-0.0064549 0.99994657 -0.00807388 0.14304785] [ 0.00208857 0.00808751 0.99996511 -0.41955321] [ 0. 0. 0. 1. ]] SLAMing on 45.146502481 meters 0.12123094865389442 Centerline is valid? [False, False] Translation: X:1.44, Y:0.15, Z:-0.42 [[ 9.99989117e-01 -1.62656127e-03 4.37270845e-03 1.44129336e+00] [ 1.62955830e-03 9.99998440e-01 -6.81919344e-04 1.46445350e-01] [-4.37159244e-03 6.89037506e-04 9.99990207e-01 -4.21296487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.176502481 meters 0.12039207909784387 Centerline is valid? [False, False] Translation: X:1.44, Y:0.15, Z:-0.42 [[ 0.99998987 0.00176527 0.0041415 1.44259875] [-0.00177446 0.99999597 0.00221558 0.14902202] [-0.00413757 -0.00222291 0.99998897 -0.42264037] [ 0. 0. 0. 1. ]] SLAMing on 45.206502481 meters 0.12052716889307202 Centerline is valid? [False, False] Translation: X:1.44, Y:0.15, Z:-0.42 [[ 9.99991567e-01 9.93440398e-04 3.98484308e-03 1.44338317e+00] [-9.96827021e-04 9.99999144e-01 8.47979883e-04 1.52070776e-01] [-3.98399725e-03 -8.51944931e-04 9.99991701e-01 -4.23416059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.236502481 meters 0.12093656468104831 Centerline is valid? [False, False] Translation: X:1.44, Y:0.16, Z:-0.42 [[ 9.99991140e-01 4.72507701e-05 4.20924684e-03 1.44334118e+00] [-4.16082325e-05 9.99999101e-01 -1.34058750e-03 1.58061428e-01] [-4.20930640e-03 1.34040049e-03 9.99990242e-01 -4.23780276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.266502480999996 meters 0.12124135470290787 Centerline is valid? [False, False] Translation: X:1.44, Y:0.16, Z:-0.42 [[ 9.99991610e-01 -4.45512156e-04 4.07213818e-03 1.44361162e+00] [ 4.54778336e-04 9.99997309e-01 -2.27486457e-03 1.60378492e-01] [-4.07111375e-03 2.27669740e-03 9.99989121e-01 -4.23810075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.296502481 meters 0.12176698573001388 Centerline is valid? [False, False] Translation: X:1.44, Y:0.16, Z:-0.42 [[ 9.99991480e-01 -8.64667748e-04 4.03645829e-03 1.44359424e+00] [ 8.77227161e-04 9.99994777e-01 -3.11076053e-03 1.62459907e-01] [-4.03374743e-03 3.11427491e-03 9.99987015e-01 -4.23653955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.326502481 meters 0.12138667024755119 Centerline is valid? [False, False] Translation: X:1.44, Y:0.17, Z:-0.42 [[ 9.99988409e-01 2.60980754e-03 4.04596170e-03 1.44330191e+00] [-2.60904627e-03 9.99996578e-01 -1.93421888e-04 1.65392274e-01] [-4.04645265e-03 1.82863545e-04 9.99991796e-01 -4.23195539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.356502481 meters 0.12244021676162836 Centerline is valid? [False, False] Translation: X:1.44, Y:0.17, Z:-0.42 [[ 9.99991313e-01 1.20216093e-03 3.99115917e-03 1.44408636e+00] [-1.19136133e-03 9.99995626e-01 -2.70715727e-03 1.71922248e-01] [-3.99439615e-03 2.70237884e-03 9.99988371e-01 -4.24118625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.386502481 meters 0.12351254724996003 Centerline is valid? [False, False] Translation: X:1.44, Y:0.17, Z:-0.43 [[ 9.99992505e-01 4.19992117e-04 3.84881316e-03 1.44494793e+00] [-4.04471148e-04 9.99991787e-01 -4.03255496e-03 1.74904683e-01] [-3.85047520e-03 4.03096800e-03 9.99984462e-01 -4.25002731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.416502481 meters 0.12528007968158963 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:-0.43 [[ 0.9999909 0.00292167 0.00310982 1.44750324] [-0.00291523 0.9999936 -0.00207574 0.17836707] [-0.00311586 0.00206665 0.99999301 -0.42706913] [ 0. 0. 0. 1. ]] SLAMing on 45.446502481 meters 0.12366573635990408 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:-0.43 [[ 0.99999295 0.00225639 0.00300073 1.4481451 ] [-0.00224676 0.99999233 -0.00320685 0.18083962] [-0.00300794 0.00320008 0.99999036 -0.42771153] [ 0. 0. 0. 1. ]] SLAMing on 45.476502481 meters 0.12391646047560739 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:-0.43 [[ 9.99994636e-01 1.38180571e-03 2.96968435e-03 1.44849761e+00] [-1.36729225e-03 9.99987140e-01 -4.88369198e-03 1.84944719e-01] [-2.97639447e-03 4.87960535e-03 9.99983665e-01 -4.28081403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.506502481 meters 0.12986516653126237 Centerline is valid? [False, False] Translation: X:1.45, Y:0.19, Z:-0.43 [[ 9.99995558e-01 7.02777067e-04 2.89643035e-03 1.44890694e+00] [-6.85078987e-04 9.99981119e-01 -6.10677666e-03 1.87908653e-01] [-2.90066736e-03 6.10476525e-03 9.99977159e-01 -4.28456113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.536502481 meters 0.1254947554507008 Centerline is valid? [False, False] Translation: X:1.45, Y:0.19, Z:-0.43 [[ 0.99999 0.00352904 0.00274648 1.44962509] [-0.00351695 0.99998416 -0.00439512 0.19449508] [-0.00276195 0.00438542 0.99998657 -0.42897128] [ 0. 0. 0. 1. ]] SLAMing on 45.566502481 meters 0.12579191859920075 Centerline is valid? [False, False] Translation: X:1.45, Y:0.20, Z:-0.43 [[ 9.99969470e-01 7.30778124e-03 2.76674944e-03 1.44984160e+00] [-7.30495962e-03 9.99972789e-01 -1.02856829e-03 1.96753471e-01] [-2.77419070e-03 1.00832590e-03 9.99995644e-01 -4.29236682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.596502481 meters 0.12585428970021098 Centerline is valid? [False, False] Translation: X:1.45, Y:0.20, Z:-0.43 [[ 0.99997738 0.0061955 0.00261838 1.45036513] [-0.00618709 0.99997572 -0.00320706 0.2021412 ] [-0.00263818 0.00319079 0.99999143 -0.42950627] [ 0. 0. 0. 1. ]] SLAMing on 45.626502481 meters 0.12618223574655998 Centerline is valid? [False, False] Translation: X:1.45, Y:0.20, Z:-0.43 [[ 0.99997974 0.00590573 0.00237667 1.45087449] [-0.00589698 0.99997586 -0.00367504 0.20310686] [-0.00239832 0.00366095 0.99999042 -0.42962192] [ 0. 0. 0. 1. ]] SLAMing on 45.656502481 meters 0.12576452503242946 Centerline is valid? [False, False] Translation: X:1.45, Y:0.21, Z:-0.43 [[ 0.99998399 0.00516287 0.00231664 1.45152144] [-0.00515115 0.99997405 -0.00503674 0.20635328] [-0.00234258 0.00502473 0.99998463 -0.4303697 ] [ 0. 0. 0. 1. ]] SLAMing on 45.686502481 meters 0.1276776293784465 Centerline is valid? [False, False] Translation: X:1.45, Y:0.21, Z:-0.43 [[ 0.99998781 0.00444059 0.00215893 1.45240602] [-0.00442689 0.99997032 -0.00630577 0.20941894] [-0.00218687 0.00629614 0.99997779 -0.43119814] [ 0. 0. 0. 1. ]] SLAMing on 45.716502481 meters 0.12690251082444487 Centerline is valid? [False, False] Translation: X:1.45, Y:0.21, Z:-0.43 [[ 0.9999697 0.00759279 0.00171456 1.45421534] [-0.00758652 0.99996463 -0.00363189 0.212481 ] [-0.00174208 0.00361877 0.99999193 -0.43270565] [ 0. 0. 0. 1. ]] SLAMing on 45.746502481 meters 0.12779305704659905 Centerline is valid? [False, False] Translation: X:1.45, Y:0.22, Z:-0.43 [[ 0.99997564 0.00680763 0.00154257 1.45460432] [-0.00679963 0.99996371 -0.00513197 0.21620544] [-0.00157745 0.00512135 0.99998564 -0.43279846] [ 0. 0. 0. 1. ]] SLAMing on 45.776502481 meters 0.12863811890773422 Centerline is valid? [False, False] Translation: X:1.46, Y:0.22, Z:-0.43 [[ 9.99980709e-01 6.07225093e-03 1.30762361e-03 1.45514113e+00] [-6.06365484e-03 9.99960617e-01 -6.48040292e-03 2.19555503e-01] [-1.34692274e-03 6.47234893e-03 9.99978147e-01 -4.32970307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.806502481 meters 0.12570503970363586 Centerline is valid? [False, False] Translation: X:1.46, Y:0.22, Z:-0.43 [[ 9.99950368e-01 9.87976992e-03 1.28510971e-03 1.45546081e+00] [-9.87581736e-03 9.99946592e-01 -3.04648165e-03 2.21556751e-01] [-1.31513961e-03 3.03363894e-03 9.99994534e-01 -4.33266365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.836502481 meters 0.1281089374070371 Centerline is valid? [False, False] Translation: X:1.46, Y:0.23, Z:-0.43 [[ 9.99960764e-01 8.77808814e-03 1.19007104e-03 1.45587011e+00] [-8.77145731e-03 9.99946585e-01 -5.46699721e-03 2.27787689e-01] [-1.23799726e-03 5.45634405e-03 9.99984348e-01 -4.33363569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.866502481 meters 0.12549201398589452 Centerline is valid? [False, False] Translation: X:1.46, Y:0.23, Z:-0.43 [[ 0.99998669 0.00283459 0.00431 1.46177928] [-0.00282664 0.9999943 -0.00184899 0.23242468] [-0.00431522 0.00183678 0.999989 -0.43016737] [ 0. 0. 0. 1. ]] SLAMing on 45.896502481 meters 0.12803643296086445 Centerline is valid? [False, False] Translation: X:1.46, Y:0.24, Z:-0.43 [[ 0.99998894 0.00218339 0.00416554 1.46230759] [-0.00217071 0.99999301 -0.00304575 0.2352663 ] [-0.00417216 0.00303668 0.99998669 -0.4305228 ] [ 0. 0. 0. 1. ]] SLAMing on 45.926502481 meters 0.1282496653597147 Centerline is valid? [False, False] Translation: X:1.46, Y:0.24, Z:-0.43 [[ 0.99999059 0.00158451 0.00403762 1.46275556] [-0.00156773 0.99999014 -0.00415586 0.23799467] [-0.00404416 0.00414949 0.99998321 -0.43081008] [ 0. 0. 0. 1. ]] SLAMing on 45.956502481 meters 0.12785056722339935 Centerline is valid? [False, False] Translation: X:1.46, Y:0.24, Z:-0.43 [[ 0.99998087 0.00481023 0.00388764 1.46360572] [-0.00480366 0.99998702 -0.00169698 0.24218942] [-0.00389576 0.00167828 0.999991 -0.43157078] [ 0. 0. 0. 1. ]] SLAMing on 45.986502481 meters 0.12371791916511113 Centerline is valid? [False, False] Translation: X:1.47, Y:0.25, Z:-0.43 [[ 0.9999871 0.00387743 0.00328242 1.46531755] [-0.00386507 0.99998546 -0.00376173 0.2476617 ] [-0.00329695 0.00374899 0.99998754 -0.43267696] [ 0. 0. 0. 1. ]] SLAMing on 46.016502480999996 meters 0.12143050177104915 Centerline is valid? [False, False] Translation: X:1.47, Y:0.25, Z:-0.43 [[ 0.99998956 0.00342742 0.0030227 1.46589349] [-0.00341342 0.99998348 -0.00462487 0.249763 ] [-0.0030385 0.0046145 0.99998474 -0.43286394] [ 0. 0. 0. 1. ]] SLAMing on 46.046502481 meters 0.12211844830024537 Centerline is valid? [False, False] Translation: X:1.47, Y:0.25, Z:-0.43 [[ 9.99970080e-01 7.14419696e-03 2.96656799e-03 1.46643922e+00] [-7.14029512e-03 9.99973632e-01 -1.32378588e-03 2.51929549e-01] [-2.97594715e-03 1.30256410e-03 9.99994724e-01 -4.33429064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.076502481 meters 0.12340695789211456 Centerline is valid? [False, False] Translation: X:1.47, Y:0.25, Z:-0.43 [[ 0.99997483 0.00652346 0.00278965 1.46680881] [-0.00651669 0.99997582 -0.00242737 0.25461338] [-0.00280542 0.00240913 0.99999316 -0.43350045] [ 0. 0. 0. 1. ]] SLAMing on 46.106502481 meters 0.12134786558250645 Centerline is valid? [False, False] Translation: X:1.47, Y:0.26, Z:-0.43 [[ 0.99998019 0.00570493 0.0026582 1.46718299] [-0.00569438 0.99997595 -0.00396004 0.25866609] [-0.00268072 0.00394483 0.99998863 -0.43363415] [ 0. 0. 0. 1. ]] SLAMing on 46.136502481 meters 0.12493054500303419 Centerline is valid? [False, False] Translation: X:1.47, Y:0.26, Z:-0.43 [[ 0.99998238 0.0053842 0.00250092 1.46773494] [-0.00537298 0.99997556 -0.00447266 0.25980646] [-0.00252494 0.00445915 0.99998687 -0.43402538] [ 0. 0. 0. 1. ]] SLAMing on 46.166502481 meters 0.12804543901350388 Centerline is valid? [False, False] Translation: X:1.47, Y:0.26, Z:-0.43 [[ 0.99998569 0.00492384 0.00209321 1.46894024] [-0.00491351 0.99997587 -0.00491042 0.26017731] [-0.00211734 0.00490007 0.99998575 -0.43494475] [ 0. 0. 0. 1. ]] SLAMing on 46.196502481 meters 0.13132970057922452 Centerline is valid? [False, False] Translation: X:1.48, Y:0.26, Z:-0.43 [[ 9.99999082e-01 1.12533934e-04 -1.35006189e-03 1.47981743e+00] [-1.14453488e-04 9.99998983e-01 -1.42183410e-03 2.62268164e-01] [ 1.34990052e-03 1.42198732e-03 9.99998078e-01 -4.32799725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.226502481 meters 0.1272911460973855 Centerline is valid? [False, False] Translation: X:1.48, Y:0.26, Z:-0.43 [[ 9.99998873e-01 -3.41785797e-04 -1.46188642e-03 1.48030605e+00] [ 3.38599598e-04 9.99997568e-01 -2.17920446e-03 2.64418333e-01] [ 1.46262769e-03 2.17870701e-03 9.99996557e-01 -4.33160104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.256502481 meters 0.135866587637075 Centerline is valid? [False, False] Translation: X:1.48, Y:0.27, Z:-0.43 [[ 9.99998549e-01 -7.79822172e-04 -1.51426257e-03 1.48063956e+00] [ 7.75360713e-04 9.99995364e-01 -2.94464677e-03 2.66543857e-01] [ 1.51655186e-03 2.94346839e-03 9.99994518e-01 -4.33429891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.286502481 meters 0.1335778698254864 Centerline is valid? [False, False] Translation: X:1.48, Y:0.27, Z:-0.43 [[ 9.99998149e-01 -1.24942841e-03 -1.46298122e-03 1.48064142e+00] [ 1.24384867e-03 9.99991973e-01 -3.80867270e-03 2.68859735e-01] [ 1.46772814e-03 3.80684593e-03 9.99991677e-01 -4.33463043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.316502481 meters 0.1350854821802946 Centerline is valid? [False, False] Translation: X:1.48, Y:0.27, Z:-0.43 [[ 9.99997910e-01 -1.39211608e-03 -1.49702938e-03 1.48090855e+00] [ 1.38602374e-03 9.99990786e-01 -4.06298155e-03 2.69469402e-01] [ 1.50267173e-03 4.06089814e-03 9.99990625e-01 -4.33736935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.346502481 meters 0.13820804555970265 Centerline is valid? [False, False] Translation: X:1.48, Y:0.27, Z:-0.43 [[ 9.99996271e-01 -2.29898135e-03 -1.47384689e-03 1.48102889e+00] [ 2.29049150e-03 9.99980924e-01 -5.73636807e-03 2.73945094e-01] [ 1.48700657e-03 5.73297085e-03 9.99982461e-01 -4.33778164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.376502481 meters 0.14155347569402488 Centerline is valid? [False, False] Translation: X:1.48, Y:0.28, Z:-0.43 [[ 9.99998411e-01 7.66308036e-04 -1.60973289e-03 1.48155982e+00] [-7.72097494e-04 9.99993226e-01 -3.59899624e-03 2.79567105e-01] [ 1.60696405e-03 3.60023339e-03 9.99992228e-01 -4.33962081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.406502481 meters 0.13720515083825977 Centerline is valid? [False, False] Translation: X:1.48, Y:0.28, Z:-0.43 [[ 9.99998436e-01 -1.48067908e-05 -1.76862459e-03 1.48222671e+00] [ 5.91096985e-06 9.99987351e-01 -5.02969538e-03 2.83316580e-01] [ 1.76867669e-03 5.02967706e-03 9.99985787e-01 -4.34393215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.436502481 meters 0.1434085004132913 Centerline is valid? [False, False] Translation: X:1.50, Y:0.29, Z:-0.44 [[ 9.99983890e-01 -3.28089786e-03 -4.63193670e-03 1.49608751e+00] [ 3.27556389e-03 9.99993964e-01 -1.15868135e-03 2.90441651e-01] [ 4.63571026e-03 1.14349048e-03 9.99988601e-01 -4.36014604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.466502481 meters 0.14243425439254093 Centerline is valid? [False, False] Translation: X:1.50, Y:0.29, Z:-0.44 [[ 9.99984310e-01 -1.80509043e-03 -5.30295311e-03 1.49922094e+00] [ 1.80578313e-03 9.99998362e-01 1.25841771e-04 2.92191267e-01] [ 5.30271727e-03 -1.35415780e-04 9.99985931e-01 -4.38657575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.496502481 meters 0.13671610714837987 Centerline is valid? [False, False] Translation: X:1.50, Y:0.30, Z:-0.44 [[ 9.99982220e-01 -2.43315585e-03 -5.44419610e-03 1.49990367e+00] [ 2.42744997e-03 9.99996498e-01 -1.05442848e-03 2.95214770e-01] [ 5.44674262e-03 1.04119422e-03 9.99984624e-01 -4.39212992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.526502481 meters 0.14289843116602094 Centerline is valid? [False, False] Translation: X:1.50, Y:0.30, Z:-0.44 [[ 9.99984698e-01 5.97965585e-04 -5.49971186e-03 1.50068245e+00] [-5.92602921e-04 9.99999347e-01 9.76658741e-04 3.00575160e-01] [ 5.50029228e-03 -9.73384651e-04 9.99984400e-01 -4.40022367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.556502481 meters 0.13424797590717671 Centerline is valid? [False, False] Translation: X:1.50, Y:0.31, Z:-0.44 [[ 9.99982317e-01 -2.26074627e-04 -5.94253770e-03 1.50212201e+00] [ 2.21711851e-04 9.99999705e-01 -7.34808907e-04 3.05466692e-01] [ 5.94270207e-03 7.33478383e-04 9.99982073e-01 -4.41001262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.586502481 meters 0.1359150009201956 Centerline is valid? [False, False] Translation: X:1.50, Y:0.31, Z:-0.44 [[ 9.99975918e-01 2.32024748e-03 -6.54066558e-03 1.50402741e+00] [-2.31994680e-03 9.99997307e-01 5.35582653e-05 3.14443034e-01] [ 6.54077224e-03 -3.83829793e-05 9.99978608e-01 -4.42249716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.616502481 meters 0.1292166302818572 Centerline is valid? [False, False] Translation: X:1.50, Y:0.32, Z:-0.44 [[ 9.99963932e-01 5.12666255e-03 -6.77146550e-03 1.50468815e+00] [-5.11831674e-03 9.99986121e-01 1.24925189e-03 3.21846150e-01] [ 6.77777601e-03 -1.21454833e-03 9.99976293e-01 -4.42363141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.646502481 meters 0.12906029821928638 Centerline is valid? [False, False] Translation: X:1.51, Y:0.33, Z:-0.44 [[ 9.99965552e-01 4.29939938e-03 -7.10000012e-03 1.50546787e+00] [-4.30262145e-03 9.99990647e-01 -4.38600228e-04 3.25968522e-01] [ 7.09804800e-03 4.69133732e-04 9.99974698e-01 -4.42622679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.676502481 meters 0.12505477402054388 Centerline is valid? [False, False] Translation: X:1.52, Y:0.33, Z:-0.44 [[ 9.99995987e-01 -1.47272050e-03 -2.42025653e-03 1.51556528e+00] [ 1.47899610e-03 9.99995544e-01 2.59320708e-03 3.32169499e-01] [ 2.41642667e-03 -2.59677622e-03 9.99993709e-01 -4.44705578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.706502481 meters 0.12425772606457884 Centerline is valid? [False, False] Translation: X:1.52, Y:0.34, Z:-0.45 [[ 9.99994260e-01 -2.07000660e-03 -2.68251840e-03 1.51647054e+00] [ 2.07361119e-03 9.99996950e-01 1.34164809e-03 3.35616021e-01] [ 2.67973300e-03 -1.34720289e-03 9.99995502e-01 -4.45358272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.736502481 meters 0.12411849855789338 Centerline is valid? [False, False] Translation: X:1.52, Y:0.34, Z:-0.45 [[ 9.99995586e-01 6.86367354e-04 -2.89092963e-03 1.51768938e+00] [-6.77730434e-04 9.99995308e-01 2.98751332e-03 3.42384197e-01] [ 2.89296660e-03 -2.98554086e-03 9.99991359e-01 -4.46423419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.766502480999996 meters 0.12712502481893814 Centerline is valid? [False, False] Translation: X:1.52, Y:0.35, Z:-0.45 [[ 9.99995236e-01 4.65079841e-05 -3.08651458e-03 1.51839211e+00] [-4.10050592e-05 9.99998410e-01 1.78293222e-03 3.45688381e-01] [ 3.08659259e-03 -1.78279717e-03 9.99993647e-01 -4.46891256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.796502481 meters 0.124033388375893 Centerline is valid? [False, False] Translation: X:1.52, Y:0.35, Z:-0.45 [[ 9.99993524e-01 -8.41540713e-04 -3.49922884e-03 1.51963908e+00] [ 8.41350924e-04 9.99999645e-01 -5.57091760e-05 3.50857132e-01] [ 3.49927448e-03 5.27647358e-05 9.99993876e-01 -4.47689689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.826502481 meters 0.12428996190355061 Centerline is valid? [False, False] Translation: X:1.52, Y:0.35, Z:-0.45 [[ 9.99992508e-01 -1.22091505e-03 -3.67332750e-03 1.52031102e+00] [ 1.21793242e-03 9.99998927e-01 -8.14096446e-04 3.53098414e-01] [ 3.67431750e-03 8.09616482e-04 9.99992922e-01 -4.48171527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.856502481 meters 0.124689150465821 Centerline is valid? [False, False] Translation: X:1.52, Y:0.36, Z:-0.45 [[ 0.99999064 -0.00204229 -0.00381454 1.52078374] [ 0.00203309 0.99999502 -0.00241187 0.35765372] [ 0.00381945 0.0024041 0.99998982 -0.44841227] [ 0. 0. 0. 1. ]] SLAMing on 46.886502481 meters 0.126109896407337 Centerline is valid? [False, False] Translation: X:1.52, Y:0.36, Z:-0.45 [[ 0.99998938 -0.00236551 -0.00395567 1.52130629] [ 0.00235355 0.99999265 -0.0030256 0.35946005] [ 0.0039628 0.00301626 0.9999876 -0.44874088] [ 0. 0. 0. 1. ]] SLAMing on 46.916502481 meters 0.12642832328642803 Centerline is valid? [False, False] Translation: X:1.52, Y:0.36, Z:-0.45 [[ 0.99998681 -0.00304351 -0.00413777 1.52182965] [ 0.00302561 0.99998607 -0.00432431 0.36320263] [ 0.00415087 0.00431174 0.99998209 -0.44894302] [ 0. 0. 0. 1. ]] SLAMing on 46.946502481 meters 0.12792884384676811 Centerline is valid? [False, False] Translation: X:1.52, Y:0.37, Z:-0.45 [[ 0.99998474 -0.00344263 -0.00432104 1.52246996] [ 0.00342062 0.99998119 -0.0050915 0.36548995] [ 0.00433849 0.00507665 0.9999777 -0.44934911] [ 0. 0. 0. 1. ]] SLAMing on 46.976502481 meters 0.12792884384676811 Centerline is valid? [False, False] Translation: X:1.52, Y:0.37, Z:-0.45 [[ 0.99998474 -0.00344263 -0.00432104 1.52246996] [ 0.00342062 0.99998119 -0.0050915 0.36548995] [ 0.00433849 0.00507665 0.9999777 -0.44934911] [ 0. 0. 0. 1. ]] SLAMing on 47.006502481 meters 0.12784423269511994 Centerline is valid? [False, False] Translation: X:1.52, Y:0.37, Z:-0.45 [[ 9.99990312e-01 -1.19372259e-04 -4.40016672e-03 1.52333551e+00] [ 1.08105429e-04 9.99996716e-01 -2.56069496e-03 3.69972203e-01] [ 4.40045794e-03 2.56019447e-03 9.99987041e-01 -4.50278509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.036502481 meters 0.1285768649962843 Centerline is valid? [False, False] Translation: X:1.53, Y:0.37, Z:-0.45 [[ 9.99986506e-01 7.96636641e-04 -5.13355451e-03 1.52640718e+00] [-8.08818656e-04 9.99996861e-01 -2.37137859e-03 3.74986603e-01] [ 5.13164927e-03 2.37549870e-03 9.99984011e-01 -4.52707100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.066502481 meters 0.1279814268155446 Centerline is valid? [False, False] Translation: X:1.53, Y:0.38, Z:-0.45 [[ 9.99985681e-01 4.31581873e-04 -5.33391764e-03 1.52720630e+00] [-4.48397930e-04 9.99994932e-01 -3.15187181e-03 3.77246877e-01] [ 5.33253032e-03 3.15421839e-03 9.99980807e-01 -4.53318735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.096502481 meters 0.12818205378166916 Centerline is valid? [False, False] Translation: X:1.53, Y:0.38, Z:-0.46 [[ 0.99998262 0.00174696 -0.00563067 1.52938414] [-0.0017618 0.99999499 -0.0026312 0.38190115] [ 0.00562605 0.00264107 0.99998069 -0.45536207] [ 0. 0. 0. 1. ]] SLAMing on 47.126502481 meters 0.12677159552013692 Centerline is valid? [False, False] Translation: X:1.53, Y:0.39, Z:-0.46 [[ 9.99981104e-01 1.18894114e-03 -6.03140500e-03 1.53028793e+00] [-1.21246435e-03 9.99991668e-01 -3.89796468e-03 3.85649072e-01] [ 6.02672030e-03 3.90520388e-03 9.99974214e-01 -4.55674091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.156502481 meters 0.12575029916197047 Centerline is valid? [False, False] Translation: X:1.53, Y:0.39, Z:-0.46 [[ 0.99997201 0.00390411 -0.00638226 1.53129124] [-0.00392099 0.99998884 -0.00263433 0.39380771] [ 0.0063719 0.00265929 0.99997616 -0.45606147] [ 0. 0. 0. 1. ]] SLAMing on 47.186502481 meters 0.12497040544738058 Centerline is valid? [False, False] Translation: X:1.54, Y:0.40, Z:-0.46 [[ 0.99998842 -0.0025558 -0.00407892 1.54064714] [ 0.00256244 0.9999954 0.00162287 0.39767109] [ 0.00407475 -0.00163331 0.99999036 -0.45606998] [ 0. 0. 0. 1. ]] SLAMing on 47.216502481 meters 0.1240983801811614 Centerline is valid? [False, False] Translation: X:1.54, Y:0.40, Z:-0.46 [[ 9.99984721e-01 -2.46796443e-03 -4.94640658e-03 1.54291693e+00] [ 2.47172360e-03 9.99996661e-01 7.54011075e-04 4.03198504e-01] [ 4.94452919e-03 -7.66225705e-04 9.99987482e-01 -4.57291197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.246502481 meters 0.12445057008298806 Centerline is valid? [False, False] Translation: X:1.54, Y:0.41, Z:-0.46 [[ 9.99982161e-01 -2.94199298e-03 -5.19827493e-03 1.54364914e+00] [ 2.94087749e-03 9.99995651e-01 -2.22218460e-04 4.06116177e-01] [ 5.19890609e-03 2.06927007e-04 9.99986464e-01 -4.57640154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.276502481 meters 0.12515373178610645 Centerline is valid? [False, False] Translation: X:1.54, Y:0.41, Z:-0.46 [[ 9.99985930e-01 5.28965038e-04 -5.27827022e-03 1.54407776e+00] [-5.15913810e-04 9.99996807e-01 2.47368877e-03 4.10428346e-01] [ 5.27956186e-03 -2.47093083e-03 9.99983010e-01 -4.57960826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.306502481 meters 0.1259111931626222 Centerline is valid? [False, False] Translation: X:1.54, Y:0.41, Z:-0.46 [[ 9.99985434e-01 8.60764586e-05 -5.39662656e-03 1.54465545e+00] [-7.73743017e-05 9.99998697e-01 1.61270596e-03 4.12937159e-01] [ 5.39675834e-03 -1.61226491e-03 9.99984138e-01 -4.58406776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.336502481 meters 0.12322085724484057 Centerline is valid? [False, False] Translation: X:1.55, Y:0.42, Z:-0.46 [[ 9.99983797e-01 -7.55847202e-04 -5.64212729e-03 1.54547746e+00] [ 7.55500911e-04 9.99999713e-01 -6.35069683e-05 4.17947174e-01] [ 5.64217367e-03 5.92433070e-05 9.99984081e-01 -4.58878187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.366502481 meters 0.12372920922782103 Centerline is valid? [False, False] Translation: X:1.55, Y:0.42, Z:-0.46 [[ 9.99982786e-01 -1.21139986e-03 -5.74113976e-03 1.54599725e+00] [ 1.20592362e-03 9.99998815e-01 -9.57225640e-04 4.20691474e-01] [ 5.74229254e-03 9.50285786e-04 9.99983061e-01 -4.59243797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.396502481 meters 0.12296409577790814 Centerline is valid? [False, False] Translation: X:1.55, Y:0.43, Z:-0.46 [[ 0.99997887 -0.00231082 -0.00607558 1.54690451] [ 0.00229287 0.99999299 -0.00295872 0.42749401] [ 0.00608237 0.00294472 0.99997717 -0.45954604] [ 0. 0. 0. 1. ]] SLAMing on 47.426502481 meters 0.13136207186710877 Centerline is valid? [False, False] Translation: X:1.55, Y:0.43, Z:-0.47 [[ 9.99967545e-01 -8.02004302e-04 8.01654462e-03 1.55055484e+00] [ 8.30449449e-04 9.99993369e-01 -3.54560651e-03 4.30762710e-01] [-8.01364788e-03 3.55214877e-03 9.99961581e-01 -4.65711964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.456502481 meters 0.12513233677427069 Centerline is valid? [False, False] Translation: X:1.55, Y:0.44, Z:-0.47 [[ 9.99973816e-01 5.03536216e-04 7.21903672e-03 1.55298731e+00] [-4.82530912e-04 9.99995646e-01 -2.91115668e-03 4.36441995e-01] [-7.22047116e-03 2.90759704e-03 9.99969705e-01 -4.67137707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.486502481 meters 0.12675420036577204 Centerline is valid? [False, False] Translation: X:1.55, Y:0.44, Z:-0.47 [[ 9.99975930e-01 -7.12635808e-04 6.90151348e-03 1.55378659e+00] [ 7.47920540e-04 9.99986657e-01 -5.11137724e-03 4.43416244e-01] [-6.89777885e-03 5.11641600e-03 9.99963121e-01 -4.67294044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.516502480999996 meters 0.12707235877843223 Centerline is valid? [False, False] Translation: X:1.55, Y:0.45, Z:-0.47 [[ 9.99976756e-01 -1.14411586e-03 6.72146457e-03 1.55448500e+00] [ 1.18461273e-03 9.99981153e-01 -6.02411859e-03 4.46285469e-01] [-6.71444560e-03 6.03194090e-03 9.99959265e-01 -4.67755974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.546502481 meters 0.12859088157868268 Centerline is valid? [False, False] Translation: X:1.56, Y:0.45, Z:-0.47 [[ 9.99982792e-01 4.69702057e-04 5.84757800e-03 1.55752060e+00] [-4.39409532e-04 9.99986484e-01 -5.18056161e-03 4.52132741e-01] [-5.84993229e-03 5.17790298e-03 9.99969483e-01 -4.69885798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.576502481 meters 0.12928525939542185 Centerline is valid? [False, False] Translation: X:1.56, Y:0.46, Z:-0.47 [[ 9.99984133e-01 -3.02145481e-05 5.63318737e-03 1.55835325e+00] [ 6.53284585e-05 9.99980571e-01 -6.23332024e-03 4.55547507e-01] [-5.63288958e-03 6.23358934e-03 9.99964706e-01 -4.70404155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.606502481 meters 0.13056292790663038 Centerline is valid? [False, False] Translation: X:1.56, Y:0.46, Z:-0.47 [[ 0.99998644 0.00184223 0.0048715 1.56095227] [-0.00181777 0.99998574 -0.00502224 0.46070947] [-0.00488068 0.00501331 0.99997552 -0.47214247] [ 0. 0. 0. 1. ]] SLAMing on 47.636502481 meters 0.13204497177576002 Centerline is valid? [False, False] Translation: X:1.56, Y:0.47, Z:-0.47 [[ 9.99989477e-01 9.75440485e-04 4.48275105e-03 1.56174964e+00] [-9.44766160e-04 9.99976162e-01 -6.83977639e-03 4.66260224e-01] [-4.48931598e-03 6.83546926e-03 9.99966561e-01 -4.72177518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.666502481 meters 0.12772838538170542 Centerline is valid? [False, False] Translation: X:1.56, Y:0.47, Z:-0.47 [[ 9.99991215e-01 5.08212710e-04 4.16072037e-03 1.56249704e+00] [-4.75459643e-04 9.99968925e-01 -7.86917820e-03 4.69577968e-01] [-4.16459029e-03 7.86713082e-03 9.99960381e-01 -4.72347197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.696502481 meters 0.133696652493014 Centerline is valid? [False, False] Translation: X:1.57, Y:0.47, Z:-0.47 [[ 0.99999308 0.00187755 0.00321289 1.565499 ] [-0.00185611 0.99997608 -0.00666354 0.47270246] [-0.00322532 0.00665753 0.99997264 -0.47433891] [ 0. 0. 0. 1. ]] SLAMing on 47.726502481 meters 0.13401337293598115 Centerline is valid? [False, False] Translation: X:1.57, Y:0.48, Z:-0.48 [[ 0.99999244 0.00329345 0.00206747 1.56913417] [-0.00328132 0.99997755 -0.00584213 0.47798583] [-0.00208666 0.0058353 0.9999808 -0.47674888] [ 0. 0. 0. 1. ]] SLAMing on 47.756502481 meters 0.134600433069019 Centerline is valid? [False, False] Translation: X:1.57, Y:0.48, Z:-0.48 [[ 0.99999322 0.00316416 0.0018823 1.56985199] [-0.00315239 0.99997568 -0.0062217 0.4795203 ] [-0.00190194 0.00621572 0.99997887 -0.47727704] [ 0. 0. 0. 1. ]] SLAMing on 47.786502481 meters 0.1278361601949316 Centerline is valid? [False, False] Translation: X:1.57, Y:0.48, Z:-0.48 [[ 9.99995346e-01 2.67443100e-03 1.46842711e-03 1.57079505e+00] [-2.66343001e-03 9.99968752e-01 -7.44320772e-03 4.83500807e-01] [-1.48828757e-03 7.43926202e-03 9.99971221e-01 -4.77540097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.816502481 meters 0.12940786318104433 Centerline is valid? [False, False] Translation: X:1.57, Y:0.49, Z:-0.48 [[ 9.99996588e-01 2.34639315e-03 1.14822791e-03 1.57160346e+00] [-2.33681317e-03 9.99963034e-01 -8.27467681e-03 4.86469720e-01] [-1.16760111e-03 8.27196539e-03 9.99965105e-01 -4.77850244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.846502481 meters 0.12917309158919862 Centerline is valid? [False, False] Translation: X:1.57, Y:0.49, Z:-0.48 [[ 9.99982174e-01 5.89477130e-03 9.50616090e-04 1.57214612e+00] [-5.88944981e-03 9.99967494e-01 -5.50681050e-03 4.90925822e-01] [-9.83046578e-04 5.50111373e-03 9.99984386e-01 -4.77887322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.876502481 meters 0.1289330962384886 Centerline is valid? [False, False] Translation: X:1.57, Y:0.49, Z:-0.48 [[ 9.99983506e-01 5.71223442e-03 5.98329746e-04 1.57294053e+00] [-5.70853439e-03 9.99965627e-01 -6.01314493e-03 4.92907843e-01] [-6.32657673e-04 6.00963016e-03 9.99981742e-01 -4.78125753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.906502481 meters 0.1263010361015902 Centerline is valid? [False, False] Translation: X:1.57, Y:0.50, Z:-0.48 [[ 9.99985291e-01 5.41929770e-03 2.20869428e-04 1.57399034e+00] [-5.41763813e-03 9.99961339e-01 -6.92599910e-03 4.96103646e-01] [-2.58394940e-04 6.92470064e-03 9.99975991e-01 -4.78704354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.936502481 meters 0.1287500820842027 Centerline is valid? [False, False] Translation: X:1.59, Y:0.50, Z:-0.48 [[ 9.99999207e-01 -1.10416380e-03 -6.05012749e-04 1.58570119e+00] [ 1.10287423e-03 9.99997128e-01 -2.12767892e-03 4.99898382e-01] [ 6.07360318e-04 2.12700998e-03 9.99997553e-01 -4.79557766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.966502481 meters 0.12438692455474357 Centerline is valid? [False, False] Translation: X:1.59, Y:0.50, Z:-0.48 [[ 9.99998806e-01 -1.20996361e-03 -9.61134083e-04 1.58676620e+00] [ 1.20750093e-03 9.99995997e-01 -2.55872583e-03 5.01877110e-01] [ 9.64226201e-04 2.55756221e-03 9.99996265e-01 -4.80191751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.996502481 meters 0.12404155453853144 Centerline is valid? [False, False] Translation: X:1.59, Y:0.51, Z:-0.48 [[ 9.99998029e-01 -9.55797905e-04 -1.74015241e-03 1.58924463e+00] [ 9.50756387e-04 9.99995355e-01 -2.89569626e-03 5.05798246e-01] [ 1.74291203e-03 2.89403609e-03 9.99994293e-01 -4.81767663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.026502481 meters 0.12380431046111447 Centerline is valid? [False, False] Translation: X:1.59, Y:0.51, Z:-0.48 [[ 9.99997156e-01 -1.21014361e-03 -2.05510224e-03 1.58992711e+00] [ 1.20288583e-03 9.99993049e-01 -3.52916521e-03 5.07974842e-01] [ 2.05935875e-03 3.52668312e-03 9.99991661e-01 -4.81934417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.056502481 meters 0.12322703714101925 Centerline is valid? [False, False] Translation: X:1.59, Y:0.51, Z:-0.48 [[ 9.99995277e-01 -4.69058875e-04 -3.03754230e-03 1.59268316e+00] [ 4.58527589e-04 9.99993885e-01 -3.46681086e-03 5.12863312e-01] [ 3.03914987e-03 3.46540168e-03 9.99989377e-01 -4.83540246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.086502481 meters 0.12326975358742778 Centerline is valid? [False, False] Translation: X:1.59, Y:0.52, Z:-0.48 [[ 9.99993985e-01 -6.97536685e-04 -3.39764528e-03 1.59355401e+00] [ 6.83495019e-04 9.99991229e-01 -4.13217331e-03 5.15352293e-01] [ 3.40049782e-03 4.12982618e-03 9.99985690e-01 -4.83870535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.116502481 meters 0.12321334708706222 Centerline is valid? [False, False] Translation: X:1.60, Y:0.52, Z:-0.49 [[ 9.99991544e-01 -2.19365157e-04 -4.10648328e-03 1.59631597e+00] [ 2.02298323e-04 9.99991343e-01 -4.15602468e-03 5.19345189e-01] [ 4.10735942e-03 4.15515881e-03 9.99982932e-01 -4.86003910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.146502481 meters 0.12326807383331136 Centerline is valid? [False, False] Translation: X:1.60, Y:0.52, Z:-0.49 [[ 9.99990506e-01 -3.73084559e-04 -4.34156332e-03 1.59708377e+00] [ 3.53191915e-04 9.99989441e-01 -4.58177306e-03 5.21104385e-01] [ 4.34322686e-03 4.58019615e-03 9.99980079e-01 -4.86446378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.176502481 meters 0.12125527216162664 Centerline is valid? [False, False] Translation: X:1.60, Y:0.52, Z:-0.49 [[ 9.99989239e-01 -6.63899602e-04 -4.59149226e-03 1.59765622e+00] [ 6.39780397e-04 9.99986001e-01 -5.25249614e-03 5.23362827e-01] [ 4.59491511e-03 5.24950207e-03 9.99975664e-01 -4.86539922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.206502481 meters 0.12336639322815729 Centerline is valid? [False, False] Translation: X:1.60, Y:0.52, Z:-0.49 [[ 9.99988933e-01 -7.55250125e-04 -4.64373431e-03 1.59792903e+00] [ 7.29884145e-04 9.99984819e-01 -5.46168037e-03 5.24204831e-01] [ 4.64778875e-03 5.45823054e-03 9.99974303e-01 -4.86721331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.236502481 meters 0.12532687802926845 Centerline is valid? [False, False] Translation: X:1.60, Y:0.53, Z:-0.49 [[ 9.99988207e-01 -8.40632236e-04 -4.78321428e-03 1.59835710e+00] [ 8.13489740e-04 9.99983574e-01 -5.67364942e-03 5.25171072e-01] [ 4.78790516e-03 5.66969142e-03 9.99972465e-01 -4.86906284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.266502480999996 meters 0.12575557523745295 Centerline is valid? [False, False] Translation: X:1.60, Y:0.53, Z:-0.49 [[ 9.99986300e-01 -1.32337677e-03 -5.06435624e-03 1.59873989e+00] [ 1.29024177e-03 9.99977779e-01 -6.54046865e-03 5.28079535e-01] [ 5.07289921e-03 6.53384481e-03 9.99965787e-01 -4.86546970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.296502481 meters 0.12687277654281998 Centerline is valid? [False, False] Translation: X:1.60, Y:0.53, Z:-0.49 [[ 9.99985725e-01 -1.31411393e-03 -5.17912418e-03 1.59914238e+00] [ 1.28000860e-03 9.99977513e-01 -6.58297720e-03 5.28531272e-01] [ 5.18765850e-03 6.57625391e-03 9.99964920e-01 -4.86782949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.326502481 meters 0.13136372081241188 Centerline is valid? [False, False] Translation: X:1.60, Y:0.53, Z:-0.49 [[ 9.99985728e-01 -1.36044772e-03 -5.16652160e-03 1.59965030e+00] [ 1.32590575e-03 9.99976788e-01 -6.68328124e-03 5.29096423e-01] [ 5.17549393e-03 6.67633553e-03 9.99964320e-01 -4.87477242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.356502481 meters 0.13206804877212022 Centerline is valid? [False, False] Translation: X:1.60, Y:0.53, Z:-0.49 [[ 9.99985274e-01 -1.44836856e-03 -5.23001669e-03 1.60006037e+00] [ 1.41220122e-03 9.99975112e-01 -6.91242333e-03 5.30074828e-01] [ 5.23989826e-03 6.90493571e-03 9.99962432e-01 -4.87821500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.386502481 meters 0.13371305901453712 Centerline is valid? [False, False] Translation: X:1.60, Y:0.53, Z:-0.49 [[ 9.99981093e-01 -3.41776344e-06 -6.14920039e-03 1.60287430e+00] [-3.26751676e-05 9.99982774e-01 -5.86942238e-03 5.34964266e-01] [ 6.14911452e-03 5.86951234e-03 9.99963868e-01 -4.89452584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.416502481 meters 0.13375443373175722 Centerline is valid? [False, False] Translation: X:1.60, Y:0.54, Z:-0.49 [[ 9.99978191e-01 -4.50446638e-04 -6.58903334e-03 1.60378381e+00] [ 4.05082657e-04 9.99976220e-01 -6.88448546e-03 5.38341598e-01] [ 6.59197774e-03 6.88166621e-03 9.99954593e-01 -4.89527927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.446502481 meters 0.13159016934060563 Centerline is valid? [False, False] Translation: X:1.60, Y:0.54, Z:-0.49 [[ 0.99997191 0.00285579 -0.0069298 1.60423917] [-0.00288758 0.99998534 -0.00458137 0.54390264] [ 0.00691661 0.00460126 0.99996549 -0.48903785] [ 0. 0. 0. 1. ]] SLAMing on 48.476502481 meters 0.13086195210586363 Centerline is valid? [False, False] Translation: X:1.61, Y:0.55, Z:-0.49 [[ 0.99996911 0.00237307 -0.00749279 1.60521936] [-0.00241624 0.9999805 -0.00575839 0.54781105] [ 0.00747898 0.00577631 0.99995535 -0.48893868] [ 0. 0. 0. 1. ]] SLAMing on 48.506502481 meters 0.13003459542429777 Centerline is valid? [False, False] Translation: X:1.61, Y:0.55, Z:-0.49 [[ 0.99995268 0.00563122 -0.007933 1.60590876] [-0.00566086 0.99997706 -0.0037186 0.55379806] [ 0.00791188 0.00376334 0.99996162 -0.48850791] [ 0. 0. 0. 1. ]] SLAMing on 48.536502481 meters 0.1309908621110165 Centerline is valid? [False, False] Translation: X:1.62, Y:0.56, Z:-0.49 [[ 9.99958343e-01 -2.44878354e-03 -8.79293821e-03 1.61712664e+00] [ 2.44074772e-03 9.99996594e-01 -9.24509188e-04 5.62398016e-01] [ 8.79517219e-03 9.03009332e-04 9.99960914e-01 -4.88690929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.566502481 meters 0.12813100418479934 Centerline is valid? [False, False] Translation: X:1.62, Y:0.57, Z:-0.49 [[ 0.99995127 -0.00284364 -0.00945349 1.61856103] [ 0.002823 0.9999936 -0.00219594 0.56703732] [ 0.00945967 0.00216914 0.9999529 -0.48910685] [ 0. 0. 0. 1. ]] SLAMing on 48.596502481 meters 0.12709386221026056 Centerline is valid? [False, False] Translation: X:1.62, Y:0.58, Z:-0.49 [[ 9.99949577e-01 2.49838694e-05 -1.00420556e-02 1.61928249e+00] [-3.25842032e-05 9.99999713e-01 -7.56687499e-04 5.75201647e-01] [ 1.00420338e-02 7.56976557e-04 9.99949291e-01 -4.88366831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.626502481 meters 0.12727071805072432 Centerline is valid? [False, False] Translation: X:1.62, Y:0.58, Z:-0.49 [[ 9.99944951e-01 -5.78918819e-04 -1.04765893e-02 1.61973206e+00] [ 5.57142566e-04 9.99997679e-01 -2.08136240e-03 5.78950131e-01] [ 1.04777699e-02 2.07541087e-03 9.99942953e-01 -4.87783518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.656502481 meters 0.12274365902598149 Centerline is valid? [False, False] Translation: X:1.62, Y:0.59, Z:-0.49 [[ 9.99936102e-01 -1.45009522e-03 -1.12111251e-02 1.62063198e+00] [ 1.40375678e-03 9.99990445e-01 -4.14002030e-03 5.85275707e-01] [ 1.12170214e-02 4.12401807e-03 9.99928583e-01 -4.87119124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.686502481 meters 0.12295625407607039 Centerline is valid? [False, False] Translation: X:1.62, Y:0.59, Z:-0.49 [[ 0.99993082 -0.00171675 -0.01163628 1.62158001] [ 0.00165995 0.99998667 -0.00488924 0.58799134] [ 0.01164452 0.00486959 0.99992034 -0.48733974] [ 0. 0. 0. 1. ]] SLAMing on 48.716502481 meters 0.12129850427188939 Centerline is valid? [False, False] Translation: X:1.62, Y:0.59, Z:-0.49 [[ 0.99992893 0.00184528 -0.01177853 1.62185041] [-0.00187083 0.99999592 -0.00215828 0.59234255] [ 0.0117745 0.00218016 0.9999283 -0.48711757] [ 0. 0. 0. 1. ]] SLAMing on 48.746502481 meters 0.12244813599888493 Centerline is valid? [False, False] Translation: X:1.62, Y:0.60, Z:-0.49 [[ 9.99923944e-01 1.43729232e-03 -1.22490788e-02 1.62268363e+00] [-1.47568654e-03 9.99994025e-01 -3.12599600e-03 5.95550040e-01] [ 1.22445127e-02 3.14383406e-03 9.99920091e-01 -4.87020862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.776502481 meters 0.12238890787816895 Centerline is valid? [False, False] Translation: X:1.63, Y:0.60, Z:-0.49 [[ 0.99997497 0.00567189 -0.00423054 1.63082176] [-0.00569885 0.99996335 -0.00638873 0.60295999] [ 0.00419415 0.00641267 0.99997064 -0.49044001] [ 0. 0. 0. 1. ]] SLAMing on 48.806502481 meters 0.12102624688583975 Centerline is valid? [False, False] Translation: X:1.64, Y:0.61, Z:-0.49 [[ 9.99994455e-01 -1.56518069e-03 -2.93944518e-03 1.63976514e+00] [ 1.56088965e-03 9.99997714e-01 -1.46153795e-03 6.08348921e-01] [ 2.94172603e-03 1.45694169e-03 9.99994612e-01 -4.90586131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.836502481 meters 0.12249595782365418 Centerline is valid? [False, False] Translation: X:1.64, Y:0.61, Z:-0.49 [[ 0.99999273 -0.00179201 -0.00336586 1.64071134] [ 0.00178469 0.99999604 -0.00217649 0.61094153] [ 0.00336974 0.00217047 0.99999197 -0.49080312] [ 0. 0. 0. 1. ]] SLAMing on 48.866502481 meters 0.12249595782365418 Centerline is valid? [False, False] Translation: X:1.64, Y:0.61, Z:-0.49 [[ 0.99999273 -0.00179201 -0.00336586 1.64071134] [ 0.00178469 0.99999604 -0.00217649 0.61094153] [ 0.00336974 0.00217047 0.99999197 -0.49080312] [ 0. 0. 0. 1. ]] SLAMing on 48.896502481 meters 0.12083087509090781 Centerline is valid? [False, False] Translation: X:1.64, Y:0.62, Z:-0.49 [[ 9.99988135e-01 -5.11297326e-04 -4.84433778e-03 1.64435419e+00] [ 5.03328637e-04 9.99998519e-01 -1.64602539e-03 6.16794161e-01] [ 4.84517222e-03 1.64356756e-03 9.99986911e-01 -4.92576447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.926502481 meters 0.12082751074504237 Centerline is valid? [False, False] Translation: X:1.65, Y:0.62, Z:-0.49 [[ 9.99985694e-01 -8.19057213e-04 -5.28598092e-03 1.64517154e+00] [ 8.06023465e-04 9.99996631e-01 -2.46737923e-03 6.19639983e-01] [ 5.28798403e-03 2.46308330e-03 9.99982985e-01 -4.92547639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.956502481 meters 0.12190679400999366 Centerline is valid? [False, False] Translation: X:1.65, Y:0.62, Z:-0.49 [[ 9.99982454e-01 2.55925623e-03 -5.34253505e-03 1.64515165e+00] [-2.55915259e-03 9.99996725e-01 2.62349978e-05 6.24711626e-01] [ 5.34258470e-03 -1.25621751e-05 9.99985728e-01 -4.92052529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.986502481 meters 0.12232987652205106 Centerline is valid? [False, False] Translation: X:1.65, Y:0.63, Z:-0.49 [[ 9.99980999e-01 2.20105256e-03 -5.75819231e-03 1.64592624e+00] [-2.20619038e-03 9.99997174e-01 -8.86064292e-04 6.27823890e-01] [ 5.75622577e-03 8.98751124e-04 9.99983029e-01 -4.91971886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.016502480999996 meters 0.12311691039499803 Centerline is valid? [False, False] Translation: X:1.65, Y:0.63, Z:-0.49 [[ 9.99977506e-01 2.04246003e-03 -6.38873269e-03 1.64781584e+00] [-2.05300527e-03 9.99996540e-01 -1.64447775e-03 6.32953891e-01] [ 6.38535181e-03 1.65755686e-03 9.99978240e-01 -4.92937267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.046502481 meters 0.12299785674040763 Centerline is valid? [False, False] Translation: X:1.65, Y:0.64, Z:-0.49 [[ 0.99997575 0.00178069 -0.00673261 1.64864989] [-0.00179682 0.99999553 -0.00239061 0.63561646] [ 0.00672832 0.00240265 0.99997448 -0.49317727] [ 0. 0. 0. 1. ]] SLAMing on 49.076502481 meters 0.12263226010043399 Centerline is valid? [False, False] Translation: X:1.65, Y:0.64, Z:-0.49 [[ 0.99996141 0.00299042 -0.00826042 1.65238149] [-0.00300992 0.99999271 -0.00234925 0.64340254] [ 0.00825333 0.00237402 0.99996312 -0.49486715] [ 0. 0. 0. 1. ]] SLAMing on 49.106502481 meters 0.12305664373331592 Centerline is valid? [False, False] Translation: X:1.65, Y:0.65, Z:-0.50 [[ 0.99997076 0.00269512 0.00715617 1.65333976] [-0.00268156 0.99999459 -0.00190402 0.65298152] [-0.00716127 0.00188478 0.99997258 -0.50165905] [ 0. 0. 0. 1. ]] SLAMing on 49.136502481 meters 0.12340469953131193 Centerline is valid? [False, False] Translation: X:1.65, Y:0.66, Z:-0.50 [[ 0.99997389 0.00230689 0.00684886 1.65386178] [-0.00228727 0.99999326 -0.00287091 0.65602152] [-0.00685543 0.00285517 0.99997243 -0.50145379] [ 0. 0. 0. 1. ]] SLAMing on 49.166502481 meters 0.12458154194794026 Centerline is valid? [False, False] Translation: X:1.66, Y:0.66, Z:-0.50 [[ 0.99997752 0.00226758 0.00630967 1.65578184] [-0.0022465 0.99999188 -0.00334559 0.66081561] [-0.0063172 0.00333134 0.9999745 -0.50275301] [ 0. 0. 0. 1. ]] SLAMing on 49.196502481 meters 0.12281512112869716 Centerline is valid? [False, False] Translation: X:1.66, Y:0.66, Z:-0.50 [[ 0.99997958 0.00207917 0.00604249 1.65655935] [-0.00205532 0.99999008 -0.00395206 0.66313793] [-0.00605065 0.00393956 0.99997393 -0.50309027] [ 0. 0. 0. 1. ]] SLAMing on 49.226502481 meters 0.12436783668110953 Centerline is valid? [False, False] Translation: X:1.66, Y:0.67, Z:-0.50 [[ 0.99998377 0.00190991 0.0053671 1.65833662] [-0.00188568 0.99998802 -0.00451604 0.66855717] [-0.00537566 0.00450585 0.9999754 -0.50385303] [ 0. 0. 0. 1. ]] SLAMing on 49.256502481 meters 0.12497372260995669 Centerline is valid? [False, False] Translation: X:1.66, Y:0.67, Z:-0.50 [[ 9.99985843e-01 1.54245179e-03 5.09265016e-03 1.65881270e+00] [-1.51512080e-03 9.99984454e-01 -5.36625387e-03 6.71262875e-01] [-5.10084817e-03 5.35846192e-03 9.99972634e-01 -5.03652258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.286502481 meters 0.12496923917911326 Centerline is valid? [False, False] Translation: X:1.67, Y:0.68, Z:-0.50 [[ 9.99995296e-01 -2.71164098e-03 -1.43359407e-03 1.67188611e+00] [ 2.71107209e-03 9.99996246e-01 -3.98622059e-04 6.79146192e-01] [ 1.43466961e-03 3.94733607e-04 9.99998893e-01 -5.02167241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.316502481 meters 0.12779486962022946 Centerline is valid? [False, False] Translation: X:1.67, Y:0.68, Z:-0.50 [[ 9.99994143e-01 -2.98096594e-03 -1.68180923e-03 1.67251671e+00] [ 2.97914460e-03 9.99994974e-01 -1.08443443e-03 6.81625007e-01] [ 1.68503344e-03 1.07941773e-03 9.99997998e-01 -5.02303308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.346502481 meters 0.130578063453535 Centerline is valid? [False, False] Translation: X:1.67, Y:0.69, Z:-0.50 [[ 9.99991939e-01 -3.65056349e-03 -1.67208984e-03 1.67285161e+00] [ 3.64670841e-03 9.99990699e-01 -2.30282238e-03 6.85935984e-01] [ 1.68048089e-03 2.29670619e-03 9.99995951e-01 -5.02640958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.376502481 meters 0.1293153430474905 Centerline is valid? [False, False] Translation: X:1.67, Y:0.69, Z:-0.50 [[ 0.99998832 -0.00452032 -0.001708 1.67299934] [ 0.00451387 0.99998272 -0.00376662 0.69093963] [ 0.001725 0.00375886 0.99999145 -0.50259953] [ 0. 0. 0. 1. ]] SLAMing on 49.406502481 meters 0.13043262046586954 Centerline is valid? [False, False] Translation: X:1.67, Y:0.69, Z:-0.50 [[ 0.99998704 -0.00475031 -0.00182888 1.67354307] [ 0.00474234 0.99997936 -0.00433574 0.69315434] [ 0.00184944 0.00432701 0.99998893 -0.50292995] [ 0. 0. 0. 1. ]] SLAMing on 49.436502481 meters 0.1319446219457149 Centerline is valid? [False, False] Translation: X:1.67, Y:0.70, Z:-0.50 [[ 0.99998398 -0.00525503 -0.00210159 1.67392018] [ 0.00524368 0.99997183 -0.00537039 0.69635132] [ 0.00212976 0.00535928 0.99998337 -0.50255341] [ 0. 0. 0. 1. ]] SLAMing on 49.466502481 meters 0.13310936104341756 Centerline is valid? [False, False] Translation: X:1.68, Y:0.70, Z:-0.50 [[ 0.99998727 -0.00382538 -0.00329053 1.67626688] [ 0.00380981 0.99998159 -0.00472288 0.70413679] [ 0.00330853 0.00471028 0.99998343 -0.50300784] [ 0. 0. 0. 1. ]] SLAMing on 49.496502481 meters 0.13317796609034394 Centerline is valid? [False, False] Translation: X:1.68, Y:0.71, Z:-0.50 [[ 0.99998318 -0.00439994 -0.00377901 1.67744548] [ 0.00437814 0.99997383 -0.00575928 0.71102984] [ 0.00380426 0.00574264 0.99997627 -0.50346063] [ 0. 0. 0. 1. ]] SLAMing on 49.526502481 meters 0.13425091602672753 Centerline is valid? [False, False] Translation: X:1.68, Y:0.71, Z:-0.50 [[ 0.99998076 -0.00474685 -0.00399387 1.67788539] [ 0.00472058 0.99996734 -0.00656012 0.71363717] [ 0.00402488 0.00654114 0.99997051 -0.50337956] [ 0. 0. 0. 1. ]] SLAMing on 49.556502481 meters 0.13467272843010555 Centerline is valid? [False, False] Translation: X:1.68, Y:0.72, Z:-0.50 [[ 9.99991522e-01 -9.32282335e-04 -4.01093735e-03 1.67892475e+00] [ 9.20219538e-04 9.99995052e-01 -3.00827102e-03 7.19264590e-01] [ 4.01372206e-03 3.00455457e-03 9.99987431e-01 -5.04814977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.586502481 meters 0.13440025553415186 Centerline is valid? [False, False] Translation: X:1.68, Y:0.72, Z:-0.51 [[ 9.99987109e-01 -6.17555219e-04 -5.03983482e-03 1.68152025e+00] [ 6.02548919e-04 9.99995383e-01 -2.97851357e-03 7.24615819e-01] [ 5.04165095e-03 2.97543843e-03 9.99982864e-01 -5.06005422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.616502481 meters 0.13410862866202589 Centerline is valid? [False, False] Translation: X:1.68, Y:0.73, Z:-0.51 [[ 9.99983778e-01 2.65430614e-03 -5.03959308e-03 1.68192079e+00] [-2.65537517e-03 9.99996453e-01 -2.05447142e-04 7.32039073e-01] [ 5.03902989e-03 2.18825820e-04 9.99987280e-01 -5.06592949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.646502481 meters 0.13455216511555407 Centerline is valid? [False, False] Translation: X:1.68, Y:0.74, Z:-0.51 [[ 9.99981775e-01 2.30576153e-03 -5.57976213e-03 1.68300429e+00] [-2.31272107e-03 9.99996555e-01 -1.24115173e-03 7.35949434e-01] [ 5.57688111e-03 1.25403354e-03 9.99983663e-01 -5.06601101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.676502481 meters 0.13281744457114875 Centerline is valid? [False, False] Translation: X:1.69, Y:0.75, Z:-0.51 [[ 0.99996829 0.00320561 -0.00728952 1.68648557] [-0.00322026 0.99999282 -0.00199811 0.74524219] [ 0.00728306 0.00202152 0.99997143 -0.50739816] [ 0. 0. 0. 1. ]] SLAMing on 49.706502481 meters 0.129155371310943 Centerline is valid? [False, False] Translation: X:1.70, Y:0.75, Z:-0.51 [[ 0.99995783 0.00887331 -0.00236724 1.69860587] [-0.00888495 0.99994827 -0.00495175 0.75451984] [ 0.00232318 0.00497257 0.99998494 -0.5096479 ] [ 0. 0. 0. 1. ]] SLAMing on 49.736502481 meters 0.12816084459241087 Centerline is valid? [False, False] Translation: X:1.71, Y:0.76, Z:-0.51 [[ 9.99996022e-01 -1.36942946e-03 -2.46600176e-03 1.70704563e+00] [ 1.36635958e-03 9.99998290e-01 -1.24613555e-03 7.61171826e-01] [ 2.46770404e-03 1.24276115e-03 9.99996183e-01 -5.10273874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.766502480999996 meters 0.12639584216043254 Centerline is valid? [False, False] Translation: X:1.71, Y:0.77, Z:-0.51 [[ 0.9999932 0.00238235 -0.0028138 1.70842973] [-0.00237708 0.99999542 0.00187408 0.76760911] [ 0.00281825 -0.00186738 0.99999429 -0.51134563] [ 0. 0. 0. 1. ]] SLAMing on 49.796502481 meters 0.12568790917700406 Centerline is valid? [False, False] Translation: X:1.71, Y:0.77, Z:-0.51 [[ 9.99990906e-01 2.24678807e-03 -3.62495292e-03 1.71005139e+00] [-2.24330213e-03 9.99997018e-01 9.65429205e-04 7.71406691e-01] [ 3.62711122e-03 -9.57288561e-04 9.99992964e-01 -5.11413290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.826502481 meters 0.12592954437002676 Centerline is valid? [False, False] Translation: X:1.71, Y:0.78, Z:-0.51 [[ 9.99981377e-01 2.97983901e-03 -5.32604048e-03 1.71337207e+00] [-2.97841467e-03 9.99995527e-01 2.75340492e-04 7.80179509e-01] [ 5.32683712e-03 -2.59472207e-04 9.99985779e-01 -5.12031233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.856502481 meters 0.12427567457379898 Centerline is valid? [False, False] Translation: X:1.71, Y:0.78, Z:-0.51 [[ 9.99977392e-01 2.81893567e-03 -6.10490489e-03 1.71483471e+00] [-2.82290827e-03 9.99995809e-01 -6.42202212e-04 7.83865458e-01] [ 6.10306898e-03 6.59421280e-04 9.99981159e-01 -5.11924012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.886502481 meters 0.12256655679738958 Centerline is valid? [False, False] Translation: X:1.72, Y:0.79, Z:-0.51 [[ 9.99965515e-01 3.17749780e-03 -7.67278980e-03 1.71754328e+00] [-3.18941562e-03 9.99993726e-01 -1.54152098e-03 7.92422684e-01] [ 7.66784348e-03 1.56593953e-03 9.99969376e-01 -5.11910363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.916502481 meters 0.12064380218194075 Centerline is valid? [False, False] Translation: X:1.72, Y:0.80, Z:-0.51 [[ 0.99996146 0.00273503 -0.0083421 1.71907943] [-0.00275816 0.99999238 -0.00276173 0.79915083] [ 0.00833449 0.00278463 0.99996139 -0.5124303 ] [ 0. 0. 0. 1. ]] SLAMing on 49.946502481 meters 0.12016452948090757 Centerline is valid? [False, False] Translation: X:1.72, Y:0.80, Z:-0.51 [[ 0.99995781 0.00254756 -0.00882569 1.72026226] [-0.00257876 0.99999046 -0.00352477 0.80237237] [ 0.00881663 0.00354738 0.99995484 -0.51269971] [ 0. 0. 0. 1. ]] SLAMing on 49.976502481 meters 0.11951427598687134 Centerline is valid? [False, False] Translation: X:1.72, Y:0.81, Z:-0.51 [[ 0.9999377 0.00359464 -0.01056776 1.72375985] [-0.00363689 0.99998546 -0.00398184 0.81180212] [ 0.01055329 0.00402003 0.99993623 -0.51341004] [ 0. 0. 0. 1. ]] SLAMing on 50.006502481 meters 0.11819659043335212 Centerline is valid? [False, False] Translation: X:1.74, Y:0.82, Z:-0.51 [[ 0.99994371 0.00787459 -0.00711131 1.73651175] [-0.00793625 0.99993078 -0.00868587 0.81704315] [ 0.00704242 0.00874182 0.99993699 -0.51314204] [ 0. 0. 0. 1. ]] SLAMing on 50.036502481 meters 0.1163753054757644 Centerline is valid? [False, False] Translation: X:1.74, Y:0.83, Z:-0.51 [[ 9.99973684e-01 -9.34439196e-04 -7.19437192e-03 1.74342027e+00] [ 9.11286091e-04 9.99994398e-01 -3.22083042e-03 8.28290707e-01] [ 7.19734128e-03 3.21418953e-03 9.99968933e-01 -5.14258267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.066502481 meters 0.11528820403835759 Centerline is valid? [False, False] Translation: X:1.74, Y:0.83, Z:-0.52 [[ 9.99970842e-01 2.60078508e-03 -7.17988093e-03 1.74393374e+00] [-2.60195553e-03 9.99996603e-01 -1.53681032e-04 8.34653824e-01] [ 7.17945685e-03 1.72358281e-04 9.99974213e-01 -5.15098564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.096502481 meters 0.11534942221497367 Centerline is valid? [False, False] Translation: X:1.74, Y:0.84, Z:-0.51 [[ 9.99967796e-01 2.07519237e-03 -7.75242979e-03 1.74458030e+00] [-2.08684735e-03 9.99996704e-01 -1.49561086e-03 8.38947368e-01] [ 7.74930056e-03 1.51174083e-03 9.99968831e-01 -5.14218226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.126502481 meters 0.11529591454025195 Centerline is valid? [False, False] Translation: X:1.75, Y:0.85, Z:-0.51 [[ 0.99995615 0.00193965 -0.00916195 1.74659659] [-0.0019654 0.99999414 -0.00280145 0.84856617] [ 0.00915646 0.00281933 0.9999541 -0.51363268] [ 0. 0. 0. 1. ]] SLAMing on 50.156502481 meters 0.11500361286719771 Centerline is valid? [False, False] Translation: X:1.75, Y:0.85, Z:-0.51 [[ 0.99995409 0.00185261 -0.00940146 1.74752064] [-0.00188303 0.99999302 -0.0032275 0.85090367] [ 0.00939542 0.00324505 0.9999506 -0.51419418] [ 0. 0. 0. 1. ]] SLAMing on 50.186502481 meters 0.11609722807973512 Centerline is valid? [False, False] Translation: X:1.75, Y:0.85, Z:-0.51 [[ 0.99995526 0.00201199 -0.00924252 1.74766909] [-0.00203758 0.99999411 -0.00276041 0.85035819] [ 0.00923691 0.00277912 0.99995348 -0.51497392] [ 0. 0. 0. 1. ]] SLAMing on 50.216502481 meters 0.11846316100238326 Centerline is valid? [False, False] Translation: X:1.76, Y:0.85, Z:-0.52 [[ 9.99984133e-01 -4.18438170e-03 -3.77166359e-03 1.75939768e+00] [ 4.19040363e-03 9.99989956e-01 1.59013804e-03 8.48740730e-01] [ 3.76497196e-03 -1.60591760e-03 9.99991623e-01 -5.17455175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.246502481 meters 0.12038807260775332 Centerline is valid? [False, False] Translation: X:1.76, Y:0.85, Z:-0.52 [[ 0.99998941 -0.00374863 -0.00266892 1.7591231 ] [ 0.0037575 0.99998741 0.00332593 0.84511287] [ 0.00265642 -0.00333592 0.99999091 -0.52055856] [ 0. 0. 0. 1. ]] SLAMing on 50.276502481 meters 0.12111500136452366 Centerline is valid? [False, False] Translation: X:1.76, Y:0.85, Z:-0.52 [[ 9.99965021e-01 -7.70189152e-03 -3.26153575e-03 1.76075273e+00] [ 7.69903924e-03 9.99969969e-01 -8.86175124e-04 8.45583329e-01] [ 3.26826303e-03 8.61033435e-04 9.99994289e-01 -5.21090807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.306502481 meters 0.12010367560173023 Centerline is valid? [False, False] Translation: X:1.76, Y:0.84, Z:-0.52 [[ 9.99968822e-01 -7.38945649e-03 -2.78422042e-03 1.76101655e+00] [ 7.38919302e-03 9.99972694e-01 -1.04903102e-04 8.44563461e-01] [ 2.78491957e-03 8.43266889e-05 9.99996119e-01 -5.23068016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.336502481 meters 0.12160721914515563 Centerline is valid? [False, False] Translation: X:1.76, Y:0.85, Z:-0.52 [[ 9.99966644e-01 -7.56286481e-03 -3.08434062e-03 1.76128177e+00] [ 7.56104754e-03 9.99971235e-01 -6.00425121e-04 8.45874640e-01] [ 3.08879284e-03 5.77084248e-04 9.99995063e-01 -5.22450719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.366502481 meters 0.12102497192252054 Centerline is valid? [False, False] Translation: X:1.76, Y:0.85, Z:-0.52 [[ 0.99999015 -0.00311287 -0.00316273 1.76186978] [ 0.00312524 0.99998745 0.00391588 0.84637416] [ 0.0031505 -0.00392573 0.99998733 -0.52324729] [ 0. 0. 0. 1. ]] SLAMing on 50.396502481 meters 0.11996381473313612 Centerline is valid? [False, False] Translation: X:1.76, Y:0.85, Z:-0.52 [[ 0.99998904 -0.00298785 -0.00360471 1.76289737] [ 0.00300122 0.99998862 0.00370913 0.84740063] [ 0.00359358 -0.00371991 0.99998662 -0.52333878] [ 0. 0. 0. 1. ]] SLAMing on 50.426502481 meters 0.11907591407985794 Centerline is valid? [False, False] Translation: X:1.76, Y:0.85, Z:-0.52 [[ 0.99998657 -0.00291447 -0.00428568 1.76418958] [ 0.00292784 0.99999086 0.00311553 0.84949669] [ 0.00427656 -0.00312804 0.99998596 -0.5230651 ] [ 0. 0. 0. 1. ]] SLAMing on 50.456502481 meters 0.1182571129303282 Centerline is valid? [False, False] Translation: X:1.77, Y:0.85, Z:-0.52 [[ 0.9999847 -0.00269138 -0.00483298 1.76539381] [ 0.00270545 0.99999212 0.00290662 0.85034282] [ 0.00482512 -0.00291965 0.9999841 -0.52305207] [ 0. 0. 0. 1. ]] SLAMing on 50.486502481 meters 0.11827790626768897 Centerline is valid? [False, False] Translation: X:1.77, Y:0.85, Z:-0.52 [[ 0.99998453 -0.00248331 -0.00497672 1.76598998] [ 0.00249881 0.99999204 0.00311106 0.85017254] [ 0.00496895 -0.00312344 0.99998278 -0.52352168] [ 0. 0. 0. 1. ]] SLAMing on 50.516502480999996 meters 0.11783188113563403 Centerline is valid? [False, False] Translation: X:1.77, Y:0.85, Z:-0.52 [[ 0.99998392 -0.00222799 -0.00521458 1.76677322] [ 0.00224495 0.9999922 0.00324851 0.85012725] [ 0.00520731 -0.00326016 0.99998113 -0.52393106] [ 0. 0. 0. 1. ]] SLAMing on 50.546502481 meters 0.11713953574893478 Centerline is valid? [False, False] Translation: X:1.77, Y:0.85, Z:-0.52 [[ 0.99998214 -0.00214002 -0.00558046 1.76739913] [ 0.00215704 0.99999303 0.00304589 0.85058917] [ 0.0055739 -0.00305787 0.99997979 -0.52363795] [ 0. 0. 0. 1. ]] SLAMing on 50.576502481 meters 0.11616901171264526 Centerline is valid? [False, False] Translation: X:1.77, Y:0.85, Z:-0.52 [[ 0.99997834 -0.00217299 -0.00621294 1.76815667] [ 0.00218751 0.99999489 0.00233133 0.85208676] [ 0.00620785 -0.00234487 0.99997798 -0.52264501] [ 0. 0. 0. 1. ]] SLAMing on 50.606502481 meters 0.11501815941658264 Centerline is valid? [False, False] Translation: X:1.77, Y:0.85, Z:-0.52 [[ 0.99997592 -0.00202338 -0.00663884 1.76911126] [ 0.00203818 0.99999545 0.00222286 0.85271526] [ 0.00663432 -0.00223634 0.99997549 -0.52270613] [ 0. 0. 0. 1. ]] SLAMing on 50.636502481 meters 0.11402153515209389 Centerline is valid? [False, False] Translation: X:1.77, Y:0.85, Z:-0.52 [[ 9.99970994e-01 -2.04467198e-03 -7.33690056e-03 1.76988962e+00] [ 2.05594914e-03 9.99996716e-01 1.52983403e-03 8.54141829e-01] [ 7.33374846e-03 -1.54487395e-03 9.99971914e-01 -5.21567415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.666502481 meters 0.11399818751257952 Centerline is valid? [False, False] Translation: X:1.77, Y:0.85, Z:-0.52 [[ 9.99967315e-01 -2.04385614e-03 -7.82253528e-03 1.77041638e+00] [ 2.05240130e-03 9.99997306e-01 1.08450563e-03 8.54938481e-01] [ 7.82029763e-03 -1.10052516e-03 9.99968815e-01 -5.20726110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.696502480999996 meters 0.11312342206952289 Centerline is valid? [False, False] Translation: X:1.77, Y:0.86, Z:-0.52 [[ 9.99959816e-01 -2.20852490e-03 -8.68844555e-03 1.77101355e+00] [ 2.20736059e-03 9.99997553e-01 -1.43593696e-04 8.57156112e-01] [ 8.68874143e-03 1.24409393e-04 9.99962244e-01 -5.18615610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.726502481 meters 0.11239014492713666 Centerline is valid? [False, False] Translation: X:1.77, Y:0.86, Z:-0.52 [[ 9.99955810e-01 -2.29539122e-03 -9.11644780e-03 1.77126931e+00] [ 2.28731946e-03 9.99996983e-01 -8.95734368e-04 8.58341758e-01] [ 9.11847635e-03 8.74842557e-04 9.99958043e-01 -5.17415999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.756502481 meters 0.11227074147899445 Centerline is valid? [False, False] Translation: X:1.77, Y:0.86, Z:-0.52 [[ 9.99952032e-01 -2.17804466e-03 -9.54931064e-03 1.77204212e+00] [ 2.16843803e-03 9.99997133e-01 -1.01624129e-03 8.58811603e-01] [ 9.55149667e-03 9.95485451e-04 9.99953888e-01 -5.17219645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.786502481 meters 0.11227074147899445 Centerline is valid? [False, False] Translation: X:1.77, Y:0.86, Z:-0.52 [[ 9.99952032e-01 -2.17804466e-03 -9.54931064e-03 1.77204212e+00] [ 2.16843803e-03 9.99997133e-01 -1.01624129e-03 8.58811603e-01] [ 9.55149667e-03 9.95485451e-04 9.99953888e-01 -5.17219645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.816502481 meters 0.1119990070858128 Centerline is valid? [False, False] Translation: X:1.77, Y:0.86, Z:-0.52 [[ 9.99945177e-01 -1.91394236e-03 -1.02946048e-02 1.77348438e+00] [ 1.90114633e-03 9.99997408e-01 -1.25262614e-03 8.59833508e-01] [ 1.02969755e-02 1.23298591e-03 9.99946225e-01 -5.17069848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.846502481 meters 0.11190448826414612 Centerline is valid? [False, False] Translation: X:1.77, Y:0.86, Z:-0.52 [[ 9.99940839e-01 -1.70215524e-03 -1.07434224e-02 1.77451442e+00] [ 1.68885167e-03 9.99997796e-01 -1.24725052e-03 8.60204951e-01] [ 1.07455218e-02 1.22903268e-03 9.99941510e-01 -5.17212065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.876502481 meters 0.11179509566239695 Centerline is valid? [False, False] Translation: X:1.78, Y:0.86, Z:-0.52 [[ 9.99933865e-01 -1.60927943e-03 -1.13874904e-02 1.77549162e+00] [ 1.58947946e-03 9.99997210e-01 -1.74758418e-03 8.61401089e-01] [ 1.13902709e-02 1.72936842e-03 9.99933633e-01 -5.16561823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.906502481 meters 0.11184228811751558 Centerline is valid? [False, False] Translation: X:1.78, Y:0.86, Z:-0.52 [[ 9.99927826e-01 -1.55194693e-03 -1.19136511e-02 1.77627533e+00] [ 1.52734675e-03 9.99996683e-01 -2.07369386e-03 8.62274571e-01] [ 1.19168298e-02 2.05534792e-03 9.99926880e-01 -5.16048655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.936502481 meters 0.11179924765821178 Centerline is valid? [False, False] Translation: X:1.78, Y:0.86, Z:-0.52 [[ 9.99922446e-01 -1.11690243e-03 -1.24037921e-02 1.77768143e+00] [ 1.09415398e-03 9.99997707e-01 -1.84062652e-03 8.62146561e-01] [ 1.24058195e-02 1.82691212e-03 9.99921376e-01 -5.16629572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.966502481 meters 0.11175157144652216 Centerline is valid? [False, False] Translation: X:1.78, Y:0.86, Z:-0.52 [[ 9.99921792e-01 -6.70432328e-04 -1.24884361e-02 1.77854010e+00] [ 6.56267291e-04 9.99999137e-01 -1.13831578e-03 8.60864172e-01] [ 1.24891885e-02 1.13003101e-03 9.99921369e-01 -5.17793987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.996502481 meters 0.11195710664892065 Centerline is valid? [False, False] Translation: X:1.78, Y:0.86, Z:-0.52 [[ 9.99917517e-01 -2.61397469e-04 -1.28409861e-02 1.77967068e+00] [ 2.51374300e-04 9.99999663e-01 -7.82168547e-04 8.60268730e-01] [ 1.28411862e-02 7.78876137e-04 9.99917245e-01 -5.18458558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.026502481 meters 0.11244902147820834 Centerline is valid? [False, False] Translation: X:1.78, Y:0.86, Z:-0.52 [[ 9.99902087e-01 -2.06059260e-04 -1.39919038e-02 1.78083277e+00] [ 1.82334297e-04 9.99998544e-01 -1.69687529e-03 8.61852690e-01] [ 1.39922331e-02 1.69415795e-03 9.99900669e-01 -5.16532606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.056502481 meters 0.11293698738539429 Centerline is valid? [False, False] Translation: X:1.79, Y:0.86, Z:-0.52 [[ 0.99992982 0.00440297 -0.01099849 1.79448576] [-0.00446969 0.99997171 -0.00604941 0.86481054] [ 0.01097155 0.00609814 0.99992122 -0.51577111] [ 0. 0. 0. 1. ]] SLAMing on 51.086502481 meters 0.11413552436491793 Centerline is valid? [False, False] Translation: X:1.79, Y:0.87, Z:-0.51 [[ 0.9999243 0.0038817 -0.01167615 1.79427358] [-0.0039723 0.99996211 -0.00774613 0.86830287] [ 0.01164563 0.00779193 0.99990183 -0.51308032] [ 0. 0. 0. 1. ]] SLAMing on 51.116502481 meters 0.11474004721570097 Centerline is valid? [False, False] Translation: X:1.79, Y:0.87, Z:-0.51 [[ 0.999921 0.00378252 -0.01198691 1.79450059] [-0.00388099 0.99995883 -0.00820195 0.86910562] [ 0.01195539 0.00824782 0.99989452 -0.51236006] [ 0. 0. 0. 1. ]] SLAMing on 51.146502481 meters 0.11579194775012137 Centerline is valid? [False, False] Translation: X:1.79, Y:0.87, Z:-0.51 [[ 9.99921473e-01 -7.73561893e-04 -1.25079400e-02 1.79478786e+00] [ 6.04996226e-04 9.99909027e-01 -1.34748649e-02 8.71254101e-01] [ 1.25172257e-02 1.34662396e-02 9.99830975e-01 -5.11123409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.176502481 meters 0.11607683925742532 Centerline is valid? [False, False] Translation: X:1.80, Y:0.87, Z:-0.51 [[ 9.99919153e-01 -4.90392306e-04 -1.27062139e-02 1.79561218e+00] [ 3.23145683e-04 9.99913334e-01 -1.31612964e-02 8.70936088e-01] [ 1.27115670e-02 1.31561264e-02 9.99832652e-01 -5.11796089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.206502481 meters 0.11665667681113935 Centerline is valid? [False, False] Translation: X:1.80, Y:0.87, Z:-0.51 [[ 9.99915358e-01 -2.36989374e-04 -1.30084549e-02 1.79652710e+00] [ 6.90929553e-05 9.99916716e-01 -1.29056472e-02 8.70832727e-01] [ 1.30104300e-02 1.29036561e-02 9.99832098e-01 -5.12339826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.236502481 meters 0.1166398565326702 Centerline is valid? [False, False] Translation: X:1.80, Y:0.87, Z:-0.51 [[ 0.99991179 0.00426819 -0.01257743 1.79597707] [-0.00436827 0.99995894 -0.00794017 0.86870802] [ 0.01254302 0.00799441 0.99988937 -0.51285436] [ 0. 0. 0. 1. ]] SLAMing on 51.266502480999996 meters 0.11640733678341111 Centerline is valid? [False, False] Translation: X:1.81, Y:0.87, Z:-0.52 [[ 9.99975517e-01 -6.33807428e-04 -6.96872554e-03 1.80776506e+00] [ 6.14174780e-04 9.99995838e-01 -2.81903008e-03 8.68631878e-01] [ 6.97048326e-03 2.81468105e-03 9.99971745e-01 -5.15578046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.296502481 meters 0.11577171915206048 Centerline is valid? [False, False] Translation: X:1.81, Y:0.87, Z:-0.52 [[ 9.99975601e-01 1.05268860e-04 -6.98468371e-03 1.80903462e+00] [-1.14898462e-04 9.99999044e-01 -1.37828713e-03 8.66142137e-01] [ 6.98453194e-03 1.37905603e-03 9.99974657e-01 -5.17815465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.326502481 meters 0.11563142380154506 Centerline is valid? [False, False] Translation: X:1.81, Y:0.86, Z:-0.52 [[ 9.99976232e-01 4.55692470e-04 -6.87956706e-03 1.80928150e+00] [-4.59955165e-04 9.99999703e-01 -6.18047223e-04 8.64190461e-01] [ 6.87928338e-03 6.21196825e-04 9.99976145e-01 -5.18642729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.356502481 meters 0.11486774350779515 Centerline is valid? [False, False] Translation: X:1.81, Y:0.87, Z:-0.52 [[ 0.99996368 -0.00399455 -0.00752929 1.80977512] [ 0.00395349 0.99997728 -0.00546049 0.86513205] [ 0.00755093 0.00543052 0.99995675 -0.51734118] [ 0. 0. 0. 1. ]] SLAMing on 51.386502481 meters 0.11450474330036606 Centerline is valid? [False, False] Translation: X:1.81, Y:0.86, Z:-0.52 [[ 0.99996454 -0.00369842 -0.00756633 1.81023082] [ 0.00366135 0.99998126 -0.00490693 0.86397087] [ 0.00758433 0.00487906 0.99995934 -0.51801417] [ 0. 0. 0. 1. ]] SLAMing on 51.416502481 meters 0.11427268302428766 Centerline is valid? [False, False] Translation: X:1.81, Y:0.86, Z:-0.52 [[ 0.99996674 -0.00330635 -0.00745571 1.81060007] [ 0.00327668 0.99998668 -0.00398864 0.86192625] [ 0.0074688 0.00396408 0.99996425 -0.51909708] [ 0. 0. 0. 1. ]] SLAMing on 51.446502480999996 meters 0.11395834594497137 Centerline is valid? [False, False] Translation: X:1.81, Y:0.86, Z:-0.52 [[ 0.99996634 -0.00324794 -0.00753503 1.81070541] [ 0.0032185 0.99998715 -0.0039161 0.86158722] [ 0.00754765 0.00389172 0.99996394 -0.51899644] [ 0. 0. 0. 1. ]] SLAMing on 51.476502481 meters 0.11419392223800946 Centerline is valid? [False, False] Translation: X:1.81, Y:0.86, Z:-0.52 [[ 0.99996437 -0.0033857 -0.00773255 1.81053773] [ 0.00335258 0.99998517 -0.00429172 0.86182027] [ 0.00774696 0.00426564 0.99996089 -0.5180083 ] [ 0. 0. 0. 1. ]] SLAMing on 51.506502481 meters 0.11424908902509709 Centerline is valid? [False, False] Translation: X:1.81, Y:0.86, Z:-0.52 [[ 0.99996407 -0.00317851 -0.00785805 1.81111733] [ 0.00314702 0.99998698 -0.00401668 0.86137535] [ 0.00787071 0.00399181 0.99996106 -0.51851603] [ 0. 0. 0. 1. ]] SLAMing on 51.536502481 meters 0.11397506420181008 Centerline is valid? [False, False] Translation: X:1.81, Y:0.86, Z:-0.52 [[ 0.99996324 -0.00302878 -0.00802117 1.81149384] [ 0.0029978 0.99998801 -0.00387149 0.86095477] [ 0.0080328 0.0038473 0.99996034 -0.51857783] [ 0. 0. 0. 1. ]] SLAMing on 51.566502481 meters 0.11377433930259652 Centerline is valid? [False, False] Translation: X:1.81, Y:0.86, Z:-0.52 [[ 0.99996205 -0.00287872 -0.00822222 1.81185825] [ 0.00284863 0.99998921 -0.00366861 0.86036315] [ 0.00823269 0.00364505 0.99995947 -0.51854097] [ 0. 0. 0. 1. ]] SLAMing on 51.596502481 meters 0.11365224485243479 Centerline is valid? [False, False] Translation: X:1.81, Y:0.86, Z:-0.52 [[ 0.99996079 -0.00284312 -0.00838693 1.81205606] [ 0.00281236 0.99998929 -0.00367692 0.86025506] [ 0.0083973 0.00365319 0.99995807 -0.51833298] [ 0. 0. 0. 1. ]] SLAMing on 51.626502481 meters 0.11356581627060612 Centerline is valid? [False, False] Translation: X:1.81, Y:0.86, Z:-0.52 [[ 0.99995781 -0.0025967 -0.00881111 1.81291678] [ 0.00256561 0.99999045 -0.00353778 0.85991901] [ 0.00882021 0.00351502 0.99995492 -0.51832743] [ 0. 0. 0. 1. ]] SLAMing on 51.656502481 meters 0.11399381998746418 Centerline is valid? [False, False] Translation: X:1.81, Y:0.86, Z:-0.52 [[ 0.99995665 -0.00232025 -0.00901783 1.81359807] [ 0.0022913 0.99999219 -0.00321966 0.85933822] [ 0.00902523 0.00319886 0.99995416 -0.51873988] [ 0. 0. 0. 1. ]] SLAMing on 51.686502481 meters 0.1140060987995904 Centerline is valid? [False, False] Translation: X:1.81, Y:0.86, Z:-0.52 [[ 0.99995232 -0.00236731 -0.00947412 1.81400046] [ 0.00233305 0.99999071 -0.00362573 0.86002503] [ 0.00948261 0.00360346 0.99994855 -0.51789374] [ 0. 0. 0. 1. ]] SLAMing on 51.716502481 meters 0.11428842080856254 Centerline is valid? [False, False] Translation: X:1.81, Y:0.86, Z:-0.52 [[ 0.99994818 -0.00219677 -0.00994 1.81490644] [ 0.00216082 0.99999109 -0.00362644 0.86033836] [ 0.00994787 0.00360477 0.99994402 -0.5178236 ] [ 0. 0. 0. 1. ]] SLAMing on 51.746502481 meters 0.11459696602318195 Centerline is valid? [False, False] Translation: X:1.82, Y:0.86, Z:-0.52 [[ 9.99945691e-01 -1.68810719e-03 -1.02842024e-02 1.81636929e+00] [ 1.65775111e-03 9.99994247e-01 -2.95952920e-03 8.59659767e-01] [ 1.02891393e-02 2.94231983e-03 9.99942737e-01 -5.19071521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.776502481 meters 0.11404198307832737 Centerline is valid? [False, False] Translation: X:1.82, Y:0.86, Z:-0.52 [[ 9.99945648e-01 -1.17528716e-03 -1.03595612e-02 1.81743738e+00] [ 1.15378770e-03 9.99997169e-01 -2.08105698e-03 8.58341682e-01] [ 1.03619777e-02 2.06899114e-03 9.99944173e-01 -5.20583393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.806502481 meters 0.11401324548243397 Centerline is valid? [False, False] Translation: X:1.82, Y:0.86, Z:-0.52 [[ 9.99944171e-01 -7.39314094e-04 -1.05407787e-02 1.81828110e+00] [ 7.24796689e-04 9.99998784e-01 -1.38101478e-03 8.56751480e-01] [ 1.05417869e-02 1.37329776e-03 9.99943491e-01 -5.21378180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.836502481 meters 0.11385014315061048 Centerline is valid? [False, False] Translation: X:1.82, Y:0.86, Z:-0.52 [[ 9.99943358e-01 -5.87701541e-04 -1.06271003e-02 1.81851953e+00] [ 5.75353324e-04 9.99999156e-01 -1.16497535e-03 8.56122374e-01] [ 1.06277760e-02 1.15879502e-03 9.99942852e-01 -5.21447217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.866502481 meters 0.11405801709637413 Centerline is valid? [False, False] Translation: X:1.82, Y:0.86, Z:-0.52 [[ 9.99938639e-01 -9.63659998e-04 -1.10358426e-02 1.81780367e+00] [ 9.41879951e-04 9.99997599e-01 -1.97860093e-03 8.56338630e-01] [ 1.10377228e-02 1.96808508e-03 9.99937146e-01 -5.18943179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.896502481 meters 0.11398424542160443 Centerline is valid? [False, False] Translation: X:1.82, Y:0.86, Z:-0.52 [[ 9.99937025e-01 -1.12058887e-03 -1.11664881e-02 1.81740384e+00] [ 1.09543487e-03 9.99996850e-01 -2.25849469e-03 8.56232259e-01] [ 1.11689837e-02 2.24612030e-03 9.99935102e-01 -5.17871343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.926502481 meters 0.113746328667247 Centerline is valid? [False, False] Translation: X:1.82, Y:0.85, Z:-0.52 [[ 9.99937600e-01 -7.56625332e-04 -1.11455893e-02 1.81795094e+00] [ 7.38814507e-04 9.99998444e-01 -1.60204624e-03 8.54957851e-01] [ 1.11467841e-02 1.59371175e-03 9.99936603e-01 -5.18800422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.956502481 meters 0.1132245851030426 Centerline is valid? [False, False] Translation: X:1.82, Y:0.85, Z:-0.52 [[ 9.99939483e-01 -2.94468964e-04 -1.09974172e-02 1.81859502e+00] [ 2.87170424e-04 9.99999737e-01 -6.65232702e-04 8.53071839e-01] [ 1.09976102e-02 6.62034311e-04 9.99939305e-01 -5.20288494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.986502481 meters 0.11342815931584685 Centerline is valid? [False, False] Translation: X:1.82, Y:0.85, Z:-0.52 [[ 9.99938456e-01 -2.03023183e-04 -1.10924959e-02 1.81879290e+00] [ 1.97184364e-04 9.99999841e-01 -5.27466753e-04 8.52673519e-01] [ 1.10926012e-02 5.25247024e-04 9.99938337e-01 -5.20299360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.016502480999996 meters 0.11288688371505085 Centerline is valid? [False, False] Translation: X:1.82, Y:0.85, Z:-0.52 [[ 9.99935338e-01 -6.29471916e-04 -1.13544956e-02 1.81828042e+00] [ 6.14490120e-04 9.99998936e-01 -1.32289992e-03 8.53954279e-01] [ 1.13553162e-02 1.31583715e-03 9.99934661e-01 -5.18669506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.046502481 meters 0.11337241711798624 Centerline is valid? [False, False] Translation: X:1.82, Y:0.85, Z:-0.52 [[ 9.99932243e-01 -7.33165578e-04 -1.16177017e-02 1.81833520e+00] [ 7.13982635e-04 9.99998375e-01 -1.65524384e-03 8.54493035e-01] [ 1.16188964e-02 1.64683685e-03 9.99931142e-01 -5.17881277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.076502481 meters 0.11309708319366182 Centerline is valid? [False, False] Translation: X:1.82, Y:0.86, Z:-0.52 [[ 9.99930526e-01 -8.48428449e-04 -1.17568455e-02 1.81841477e+00] [ 8.26082204e-04 9.99997843e-01 -1.90542665e-03 8.55152352e-01] [ 1.17584368e-02 1.89558215e-03 9.99929070e-01 -5.17546033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.106502481 meters 0.11267399034052454 Centerline is valid? [False, False] Translation: X:1.82, Y:0.85, Z:-0.52 [[ 9.99930185e-01 -5.55233215e-04 -1.18032454e-02 1.81918648e+00] [ 5.38030839e-04 9.99998789e-01 -1.46055306e-03 8.54791259e-01] [ 1.18040420e-02 1.45410059e-03 9.99929273e-01 -5.18574916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.136502481 meters 0.1119061625917343 Centerline is valid? [False, False] Translation: X:1.82, Y:0.86, Z:-0.52 [[ 0.99991281 -0.00433262 -0.01247381 1.82159002] [ 0.00426718 0.99997702 -0.00526756 0.855795 ] [ 0.01249634 0.00521387 0.99990832 -0.5203226 ] [ 0. 0. 0. 1. ]] SLAMing on 52.166502481 meters 0.11135373419116222 Centerline is valid? [False, False] Translation: X:1.82, Y:0.85, Z:-0.52 [[ 0.99991841 -0.00382278 -0.01218891 1.82237789] [ 0.00377232 0.99998423 -0.00415985 0.85419857] [ 0.01220462 0.00411353 0.99991706 -0.5225368 ] [ 0. 0. 0. 1. ]] SLAMing on 52.196502480999996 meters 0.11129959927682825 Centerline is valid? [False, False] Translation: X:1.82, Y:0.85, Z:-0.52 [[ 0.99991564 -0.00377101 -0.01242982 1.82280896] [ 0.00371902 0.99998425 -0.0042027 0.85445771] [ 0.01244547 0.00415612 0.99991391 -0.52244754] [ 0. 0. 0. 1. ]] SLAMing on 52.226502481 meters 0.11170890479893753 Centerline is valid? [False, False] Translation: X:1.82, Y:0.86, Z:-0.52 [[ 0.99990473 -0.00419195 -0.01315133 1.82286829] [ 0.00412145 0.99997702 -0.00538254 0.85705505] [ 0.01317359 0.00532782 0.99989903 -0.52033327] [ 0. 0. 0. 1. ]] SLAMing on 52.256502481 meters 0.11173623775309655 Centerline is valid? [False, False] Translation: X:1.82, Y:0.86, Z:-0.52 [[ 0.99990102 -0.00417449 -0.01343597 1.82325396] [ 0.0041008 0.99997643 -0.00550738 0.85755609] [ 0.01345864 0.00545173 0.99989457 -0.5200647 ] [ 0. 0. 0. 1. ]] SLAMing on 52.286502481 meters 0.11196812337032211 Centerline is valid? [False, False] Translation: X:1.82, Y:0.86, Z:-0.52 [[ 0.99989746 -0.00439549 -0.01362878 1.82287745] [ 0.00431401 0.99997268 -0.00600189 0.85799113] [ 0.01365478 0.00594248 0.99988911 -0.5188535 ] [ 0. 0. 0. 1. ]] SLAMing on 52.316502481 meters 0.11216085891290566 Centerline is valid? [False, False] Translation: X:1.82, Y:0.86, Z:-0.52 [[ 0.99989494 -0.00420988 -0.01387 1.82315608] [ 0.00412881 0.99997426 -0.00586822 0.8571947 ] [ 0.01389434 0.00581034 0.99988659 -0.51850359] [ 0. 0. 0. 1. ]] SLAMing on 52.346502481 meters 0.11204225517131143 Centerline is valid? [False, False] Translation: X:1.82, Y:0.86, Z:-0.52 [[ 0.99989608 -0.0038387 -0.01389558 1.82381384] [ 0.00376567 0.99997898 -0.00527803 0.85620099] [ 0.01391554 0.00522515 0.99988952 -0.51946591] [ 0. 0. 0. 1. ]] SLAMing on 52.376502481 meters 0.11190457265974087 Centerline is valid? [False, False] Translation: X:1.82, Y:0.86, Z:-0.52 [[ 0.99989625 -0.00351835 -0.01396804 1.82442875] [ 0.00345171 0.99998256 -0.00479219 0.85534067] [ 0.01398466 0.00474348 0.99989096 -0.5202245 ] [ 0. 0. 0. 1. ]] SLAMing on 52.406502481 meters 0.1132510652470159 Centerline is valid? [False, False] Translation: X:1.83, Y:0.86, Z:-0.52 [[ 0.9998888 -0.00320648 -0.01456366 1.82582616] [ 0.00313801 0.99998393 -0.00472134 0.85592305] [ 0.01457857 0.00467511 0.9998828 -0.52056891] [ 0. 0. 0. 1. ]] SLAMing on 52.436502481 meters 0.11319460736651098 Centerline is valid? [False, False] Translation: X:1.83, Y:0.86, Z:-0.52 [[ 0.99987469 -0.00323295 -0.01549661 1.82692421] [ 0.00314888 0.99998021 -0.00544645 0.85814366] [ 0.01551391 0.00539697 0.99986509 -0.51941139] [ 0. 0. 0. 1. ]] SLAMing on 52.466502481 meters 0.11332442156823984 Centerline is valid? [False, False] Translation: X:1.83, Y:0.86, Z:-0.52 [[ 0.99987011 -0.00318437 -0.0157996 1.82747809] [ 0.00309612 0.99997949 -0.00560674 0.85883916] [ 0.01581713 0.0055571 0.99985946 -0.51927603] [ 0. 0. 0. 1. ]] SLAMing on 52.496502481 meters 0.11387078442041955 Centerline is valid? [False, False] Translation: X:1.83, Y:0.86, Z:-0.52 [[ 0.99986871 -0.00293227 -0.01593598 1.82817636] [ 0.00284798 0.99998185 -0.0053098 0.85867573] [ 0.01595126 0.00526372 0.99985892 -0.51992815] [ 0. 0. 0. 1. ]] SLAMing on 52.526502481 meters 0.11394636672183549 Centerline is valid? [False, False] Translation: X:1.83, Y:0.86, Z:-0.52 [[ 0.99987215 -0.00239059 -0.01581071 1.82898351] [ 0.00232286 0.99998805 -0.0043008 0.85697637] [ 0.01582081 0.00426353 0.99986575 -0.52163546] [ 0. 0. 0. 1. ]] SLAMing on 52.556502481 meters 0.11398871269751783 Centerline is valid? [False, False] Translation: X:1.83, Y:0.85, Z:-0.52 [[ 9.99875354e-01 -1.87039920e-03 -1.56772926e-02 1.82950892e+00] [ 1.81973171e-03 9.99993077e-01 -3.24554535e-03 8.54672569e-01] [ 1.56832545e-02 3.21661234e-03 9.99871836e-01 -5.22973903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.586502481 meters 0.11402119917264208 Centerline is valid? [False, False] Translation: X:1.83, Y:0.85, Z:-0.52 [[ 9.99870215e-01 -1.80535386e-03 -1.60091593e-02 1.82977480e+00] [ 1.75270910e-03 9.99993013e-01 -3.30183619e-03 8.54374583e-01] [ 1.60150085e-02 3.27334826e-03 9.99866393e-01 -5.22348480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.616502481 meters 0.11415871602083474 Centerline is valid? [False, False] Translation: X:1.83, Y:0.85, Z:-0.52 [[ 9.99867341e-01 -1.69142028e-03 -1.61999792e-02 1.83017079e+00] [ 1.63964882e-03 9.99993508e-01 -3.20852214e-03 8.54295798e-01] [ 1.62053010e-02 3.18153422e-03 9.99863624e-01 -5.22385637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.646502481 meters 0.11468103884271169 Centerline is valid? [False, False] Translation: X:1.83, Y:0.86, Z:-0.52 [[ 9.99858548e-01 -1.84050689e-03 -1.67181606e-02 1.83032135e+00] [ 1.77776792e-03 9.99991325e-01 -3.76683018e-03 8.55136049e-01] [ 1.67249485e-02 3.73657634e-03 9.99853146e-01 -5.20997706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.676502481 meters 0.11468103884271169 Centerline is valid? [False, False] Translation: X:1.83, Y:0.86, Z:-0.52 [[ 9.99858548e-01 -1.84050689e-03 -1.67181606e-02 1.83032135e+00] [ 1.77776792e-03 9.99991325e-01 -3.76683018e-03 8.55136049e-01] [ 1.67249485e-02 3.73657634e-03 9.99853146e-01 -5.20997706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.706502481 meters 0.1144634119221286 Centerline is valid? [False, False] Translation: X:1.83, Y:0.86, Z:-0.52 [[ 9.99853199e-01 -1.84211116e-03 -1.70348540e-02 1.83066512e+00] [ 1.77453907e-03 9.99990501e-01 -3.98096115e-03 8.55606693e-01] [ 1.70420255e-02 3.95014773e-03 9.99846971e-01 -5.20500264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.736502481 meters 0.11445359209964719 Centerline is valid? [False, False] Translation: X:1.83, Y:0.85, Z:-0.52 [[ 9.99851193e-01 -1.40415979e-03 -1.71936192e-02 1.83166691e+00] [ 1.34761722e-03 9.99993648e-01 -3.29972306e-03 8.54688884e-01] [ 1.71981433e-02 3.27606162e-03 9.99846734e-01 -5.21630115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.766502480999996 meters 0.1139886321820752 Centerline is valid? [False, False] Translation: X:1.83, Y:0.85, Z:-0.52 [[ 9.99852179e-01 -9.51100654e-04 -1.71672784e-02 1.83244431e+00] [ 9.08370234e-04 9.99996471e-01 -2.49668808e-03 8.53315416e-01] [ 1.71695924e-02 2.48072478e-03 9.99849514e-01 -5.22980288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.796502481 meters 0.11366765082072197 Centerline is valid? [False, False] Translation: X:1.83, Y:0.85, Z:-0.52 [[ 9.99855859e-01 -4.35542485e-04 -1.69726987e-02 1.83300408e+00] [ 4.11055562e-04 9.99998870e-01 -1.44618612e-03 8.50952177e-01] [ 1.69733094e-02 1.43900094e-03 9.99854907e-01 -5.24492768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.826502481 meters 0.11267950486740742 Centerline is valid? [False, False] Translation: X:1.83, Y:0.85, Z:-0.52 [[ 9.99850038e-01 -2.56889917e-04 -1.73157610e-02 1.83360787e+00] [ 2.33514617e-04 9.99999059e-01 -1.35195188e-03 8.50625944e-01] [ 1.73160920e-02 1.34770566e-03 9.99849157e-01 -5.24352859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.856502481 meters 0.11329030429475513 Centerline is valid? [False, False] Translation: X:1.83, Y:0.85, Z:-0.52 [[ 9.99843376e-01 -6.89676124e-04 -1.76846711e-02 1.83327675e+00] [ 6.49842831e-04 9.99997239e-01 -2.25806688e-03 8.52420894e-01] [ 1.76861796e-02 2.24622095e-03 9.99841064e-01 -5.22744137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.886502481 meters 0.11344712433996056 Centerline is valid? [False, False] Translation: X:1.83, Y:0.85, Z:-0.53 [[ 9.99996579e-01 -6.98332411e-04 -2.52068068e-03 1.83398752e+00] [ 6.93468178e-04 9.99997897e-01 -1.93008854e-03 8.54674048e-01] [ 2.52202322e-03 1.92833392e-03 9.99994960e-01 -5.29111393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.916502481 meters 0.11431782294607416 Centerline is valid? [False, False] Translation: X:1.83, Y:0.86, Z:-0.53 [[ 9.99994641e-01 -8.94923779e-04 -3.14910695e-03 1.83433527e+00] [ 8.86062831e-04 9.99995648e-01 -2.81406805e-03 8.56714740e-01] [ 3.15161163e-03 2.81126266e-03 9.99991082e-01 -5.27638414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.946502480999996 meters 0.11497781693784899 Centerline is valid? [False, False] Translation: X:1.84, Y:0.86, Z:-0.53 [[ 9.99993753e-01 -7.20160769e-04 -3.46058715e-03 1.83501233e+00] [ 7.10506966e-04 9.99995855e-01 -2.79006310e-03 8.56904659e-01] [ 3.46258210e-03 2.78758689e-03 9.99990120e-01 -5.27679514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.976502481 meters 0.11501553545176436 Centerline is valid? [False, False] Translation: X:1.84, Y:0.86, Z:-0.53 [[ 9.99993462e-01 -4.59262540e-04 -3.58687233e-03 1.83555736e+00] [ 4.50387370e-04 9.99996836e-01 -2.47476367e-03 8.56210547e-01] [ 3.58799755e-03 2.47313200e-03 9.99990505e-01 -5.28119367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.006502481 meters 0.11467540308920994 Centerline is valid? [False, False] Translation: X:1.84, Y:0.86, Z:-0.53 [[ 0.99998061 -0.00446016 -0.00434698 1.83695494] [ 0.00443054 0.99996706 -0.00680066 0.8564676 ] [ 0.00437717 0.00678127 0.99996743 -0.52788535] [ 0. 0. 0. 1. ]] SLAMing on 53.036502481 meters 0.11460944586667882 Centerline is valid? [False, False] Translation: X:1.84, Y:0.86, Z:-0.53 [[ 0.99998212 -0.00412394 -0.004331 1.83746343] [ 0.00409722 0.99997262 -0.0061616 0.85526008] [ 0.00435629 0.00614375 0.99997164 -0.52877809] [ 0. 0. 0. 1. ]] SLAMing on 53.066502481 meters 0.11419037358903625 Centerline is valid? [False, False] Translation: X:1.84, Y:0.85, Z:-0.53 [[ 0.99998294 -0.00368201 -0.00453361 1.83824518] [ 0.00365726 0.99997843 -0.00545519 0.85369929] [ 0.0045536 0.00543852 0.99997484 -0.52943602] [ 0. 0. 0. 1. ]] SLAMing on 53.096502481 meters 0.11406399104572498 Centerline is valid? [False, False] Translation: X:1.84, Y:0.85, Z:-0.53 [[ 0.99998246 -0.00347889 -0.00479242 1.83869953] [ 0.0034539 0.99998044 -0.00521428 0.85306986] [ 0.00481047 0.00519764 0.99997492 -0.52936198] [ 0. 0. 0. 1. ]] SLAMing on 53.126502481 meters 0.1140796033625095 Centerline is valid? [False, False] Translation: X:1.84, Y:0.85, Z:-0.53 [[ 0.99998249 -0.00323554 -0.0049551 1.83922213] [ 0.00321134 0.99998292 -0.00488402 0.85238385] [ 0.00497082 0.00486802 0.9999758 -0.52968157] [ 0. 0. 0. 1. ]] SLAMing on 53.156502481 meters 0.11366988985117153 Centerline is valid? [False, False] Translation: X:1.84, Y:0.85, Z:-0.53 [[ 0.9999827 -0.00307381 -0.00501528 1.8394845 ] [ 0.00305054 0.99998458 -0.00464086 0.85178425] [ 0.00502947 0.00462548 0.99997665 -0.52991236] [ 0. 0. 0. 1. ]] SLAMing on 53.186502481 meters 0.11334574202650384 Centerline is valid? [False, False] Translation: X:1.84, Y:0.85, Z:-0.53 [[ 0.99998252 -0.00287353 -0.00516686 1.83984377] [ 0.00285108 0.99998648 -0.00434772 0.85107966] [ 0.00517928 0.00433291 0.9999772 -0.53003262] [ 0. 0. 0. 1. ]] SLAMing on 53.216502481 meters 0.1129839434189224 Centerline is valid? [False, False] Translation: X:1.84, Y:0.85, Z:-0.53 [[ 0.99998285 -0.00263015 -0.00523252 1.84002302] [ 0.00260987 0.99998907 -0.00387936 0.849654 ] [ 0.00524267 0.00386563 0.99997879 -0.53015905] [ 0. 0. 0. 1. ]] SLAMing on 53.246502481 meters 0.11263478387117996 Centerline is valid? [False, False] Translation: X:1.84, Y:0.85, Z:-0.53 [[ 0.99998384 -0.00245249 -0.00512962 1.84009083] [ 0.00243452 0.99999089 -0.00350593 0.84866112] [ 0.00513817 0.00349339 0.9999807 -0.53057036] [ 0. 0. 0. 1. ]] SLAMing on 53.276502481 meters 0.11178901125070441 Centerline is valid? [False, False] Translation: X:1.84, Y:0.85, Z:-0.53 [[ 0.99998398 -0.00254712 -0.00505503 1.83963668] [ 0.00252915 0.99999047 -0.00355796 0.84823095] [ 0.00506404 0.00354512 0.99998089 -0.53004053] [ 0. 0. 0. 1. ]] SLAMing on 53.306502481 meters 0.1115451243538404 Centerline is valid? [False, False] Translation: X:1.84, Y:0.85, Z:-0.53 [[ 0.9999843 -0.00221322 -0.00514881 1.84023642] [ 0.00219761 0.99999298 -0.00303415 0.84726056] [ 0.00515549 0.00302279 0.99998214 -0.53072575] [ 0. 0. 0. 1. ]] SLAMing on 53.336502481 meters 0.11085602375045511 Centerline is valid? [False, False] Translation: X:1.84, Y:0.84, Z:-0.53 [[ 9.99987365e-01 -1.80291431e-03 -4.69240149e-03 1.84050621e+00] [ 1.79378615e-03 9.99996492e-01 -1.94878863e-03 8.44953838e-01] [ 4.69589853e-03 1.94034684e-03 9.99987092e-01 -5.32624598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.366502481 meters 0.11036542113286604 Centerline is valid? [False, False] Translation: X:1.84, Y:0.85, Z:-0.53 [[ 0.99998732 -0.00191211 -0.00465768 1.84029078] [ 0.00190266 0.99999613 -0.0020318 0.84501992] [ 0.00466155 0.00202291 0.99998709 -0.53239677] [ 0. 0. 0. 1. ]] SLAMing on 53.396502481 meters 0.11061443650323594 Centerline is valid? [False, False] Translation: X:1.84, Y:0.85, Z:-0.53 [[ 0.99998546 -0.0018953 -0.0050484 1.84071513] [ 0.0018839 0.99999567 -0.00226235 0.84545625] [ 0.00505266 0.0022528 0.9999847 -0.53181807] [ 0. 0. 0. 1. ]] SLAMing on 53.426502481 meters 0.11070397237181695 Centerline is valid? [False, False] Translation: X:1.84, Y:0.85, Z:-0.53 [[ 0.99998474 -0.00204025 -0.00513374 1.84059678] [ 0.00202709 0.99999465 -0.00256738 0.84603851] [ 0.00513895 0.00255694 0.99998353 -0.53131347] [ 0. 0. 0. 1. ]] SLAMing on 53.456502481 meters 0.11056215578192753 Centerline is valid? [False, False] Translation: X:1.84, Y:0.85, Z:-0.53 [[ 0.99998414 -0.00193031 -0.00529095 1.84105197] [ 0.00191716 0.99999506 -0.00248975 0.84608978] [ 0.00529573 0.00247957 0.9999829 -0.53153364] [ 0. 0. 0. 1. ]] SLAMing on 53.486502481 meters 0.11057552146370077 Centerline is valid? [False, False] Translation: X:1.84, Y:0.85, Z:-0.53 [[ 0.99998208 -0.00195857 -0.00565787 1.84158775] [ 0.00194294 0.99999429 -0.00276609 0.84711362] [ 0.00566326 0.00275505 0.99998017 -0.53123957] [ 0. 0. 0. 1. ]] SLAMing on 53.516502480999996 meters 0.1106885760908053 Centerline is valid? [False, False] Translation: X:1.84, Y:0.85, Z:-0.53 [[ 0.99998045 -0.00189775 -0.00595775 1.84209809] [ 0.00188102 0.99999428 -0.00281257 0.84750828] [ 0.00596305 0.00280131 0.9999783 -0.53111823] [ 0. 0. 0. 1. ]] SLAMing on 53.546502481 meters 0.11077554731364762 Centerline is valid? [False, False] Translation: X:1.84, Y:0.85, Z:-0.53 [[ 9.99979631e-01 -1.64379232e-03 -6.16727200e-03 1.84270143e+00] [ 1.62837701e-03 9.99995540e-01 -2.50372372e-03 8.47016035e-01] [ 6.17136010e-03 2.49363008e-03 9.99977848e-01 -5.31431532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.576502481 meters 0.11068222833741083 Centerline is valid? [False, False] Translation: X:1.84, Y:0.85, Z:-0.53 [[ 9.99981183e-01 -1.23590604e-03 -6.00887235e-03 1.84308050e+00] [ 1.22577370e-03 9.99997821e-01 -1.68962196e-03 8.45291636e-01] [ 6.01094747e-03 1.68222465e-03 9.99980519e-01 -5.32583519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.606502481 meters 0.11065133274978504 Centerline is valid? [False, False] Translation: X:1.84, Y:0.84, Z:-0.53 [[ 9.99982594e-01 -9.11328954e-04 -5.82930270e-03 1.84332532e+00] [ 9.05292584e-04 9.99999051e-01 -1.03807657e-03 8.43511573e-01] [ 5.83024320e-03 1.03278128e-03 9.99982471e-01 -5.33528736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.636502481 meters 0.11104693507192057 Centerline is valid? [False, False] Translation: X:1.84, Y:0.84, Z:-0.53 [[ 9.99978714e-01 -7.20426419e-04 -6.48484511e-03 1.84443569e+00] [ 7.12782781e-04 9.99999049e-01 -1.18092650e-03 8.44166526e-01] [ 6.48568971e-03 1.17627908e-03 9.99978276e-01 -5.33272144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.666502481 meters 0.11121546613991164 Centerline is valid? [False, False] Translation: X:1.85, Y:0.85, Z:-0.53 [[ 9.99975346e-01 -7.08488710e-04 -6.98606326e-03 1.84519713e+00] [ 6.97785830e-04 9.99998579e-01 -1.53435148e-03 8.45388573e-01] [ 6.98714041e-03 1.52943888e-03 9.99974420e-01 -5.32893310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.696502480999996 meters 0.11213760771507998 Centerline is valid? [False, False] Translation: X:1.85, Y:0.85, Z:-0.53 [[ 9.99970269e-01 -8.27044394e-04 -7.66659578e-03 1.84573199e+00] [ 8.08969649e-04 9.99996887e-01 -2.36039868e-03 8.47375451e-01] [ 7.66852407e-03 2.35412646e-03 9.99967825e-01 -5.31582262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.726502481 meters 0.11236426237149003 Centerline is valid? [False, False] Translation: X:1.85, Y:0.85, Z:-0.53 [[ 9.99967739e-01 -8.51016239e-04 -7.98725774e-03 1.84603297e+00] [ 8.29918865e-04 9.99996159e-01 -2.64432183e-03 8.47946977e-01] [ 7.98947743e-03 2.63760775e-03 9.99964605e-01 -5.31018607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.756502481 meters 0.1122813672991636 Centerline is valid? [False, False] Translation: X:1.85, Y:0.85, Z:-0.53 [[ 9.99966749e-01 -4.50941392e-04 -8.14232977e-03 1.84688203e+00] [ 4.33759316e-04 9.99997676e-01 -2.11185879e-03 8.47095461e-01] [ 8.14326317e-03 2.10825676e-03 9.99964621e-01 -5.31880272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.786502481 meters 0.11266246757786301 Centerline is valid? [False, False] Translation: X:1.85, Y:0.85, Z:-0.53 [[ 9.99966164e-01 -1.62821314e-04 -8.22466706e-03 1.84739028e+00] [ 1.49020497e-04 9.99998580e-01 -1.67856381e-03 8.46130815e-01] [ 8.22492869e-03 1.67728137e-03 9.99964768e-01 -5.32441957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.816502481 meters 0.1121581718778514 Centerline is valid? [False, False] Translation: X:1.85, Y:0.85, Z:-0.53 [[ 9.99965180e-01 6.71516868e-05 -8.34469373e-03 1.84779967e+00] [-7.79286773e-05 9.99999163e-01 -1.29115982e-03 8.45238258e-01] [ 8.34460004e-03 1.29176516e-03 9.99964349e-01 -5.32755797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.846502481 meters 0.11208062826174205 Centerline is valid? [False, False] Translation: X:1.85, Y:0.85, Z:-0.53 [[ 9.99962828e-01 1.25690199e-04 -8.62129099e-03 1.84809003e+00] [-1.37553061e-04 9.99999045e-01 -1.37541686e-03 8.45149207e-01] [ 8.62110987e-03 1.37655162e-03 9.99961890e-01 -5.32316816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.876502481 meters 0.11280067425848514 Centerline is valid? [False, False] Translation: X:1.85, Y:0.84, Z:-0.53 [[ 9.99962279e-01 4.34106606e-04 -8.67477303e-03 1.84867487e+00] [-4.42273023e-04 9.99999461e-01 -9.39502081e-04 8.44253921e-01] [ 8.67436051e-03 9.43303260e-04 9.99961932e-01 -5.33046303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.906502481 meters 0.11216975175389368 Centerline is valid? [False, False] Translation: X:1.85, Y:0.84, Z:-0.53 [[ 9.99960786e-01 9.85308927e-04 -8.80086085e-03 1.84994343e+00] [-9.86146455e-04 9.99999510e-01 -9.08253108e-05 8.43206836e-01] [ 8.80076704e-03 9.95006870e-05 9.99961268e-01 -5.34734398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.936502481 meters 0.11213389852155907 Centerline is valid? [False, False] Translation: X:1.85, Y:0.84, Z:-0.53 [[ 9.99959304e-01 8.64998259e-04 -8.98015137e-03 1.84990327e+00] [-8.68908921e-04 9.99999529e-01 -4.31585962e-04 8.43661478e-01] [ 8.97977382e-03 4.39371332e-04 9.99959584e-01 -5.34065950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.966502481 meters 0.11264330639996797 Centerline is valid? [False, False] Translation: X:1.85, Y:0.84, Z:-0.53 [[ 9.99954550e-01 7.17315431e-04 -9.50701985e-03 1.84982248e+00] [-7.26660504e-04 9.99999256e-01 -9.79547738e-04 8.43923372e-01] [ 9.50631013e-03 9.86411594e-04 9.99954327e-01 -5.32287439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.996502481 meters 0.11309753021624198 Centerline is valid? [False, False] Translation: X:1.85, Y:0.84, Z:-0.53 [[ 9.99953705e-01 7.07784524e-04 -9.59618013e-03 1.84979065e+00] [-7.18505833e-04 9.99999122e-01 -1.11384607e-03 8.43875121e-01] [ 9.59538334e-03 1.12068942e-03 9.99953335e-01 -5.31915058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.026502481 meters 0.11439899895054831 Centerline is valid? [False, False] Translation: X:1.85, Y:0.84, Z:-0.53 [[ 9.99950095e-01 8.62861272e-04 -9.95304116e-03 1.85027939e+00] [-8.75088026e-04 9.99998868e-01 -1.22415446e-03 8.43734300e-01] [ 9.95197361e-03 1.23280316e-03 9.99949718e-01 -5.31516601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.056502481 meters 0.11581132168403731 Centerline is valid? [False, False] Translation: X:1.85, Y:0.84, Z:-0.53 [[ 9.99944474e-01 1.05835662e-03 -1.04846568e-02 1.85130555e+00] [-1.07271767e-03 9.99998494e-01 -1.36419116e-03 8.44359161e-01] [ 1.04831972e-02 1.37536249e-03 9.99944104e-01 -5.31495969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.086502481 meters 0.11654853106965822 Centerline is valid? [False, False] Translation: X:1.85, Y:0.84, Z:-0.53 [[ 9.99940266e-01 1.30739264e-03 -1.08514826e-02 1.85229890e+00] [-1.32090233e-03 9.99998361e-01 -1.23788910e-03 8.44610112e-01] [ 1.08498464e-02 1.25214891e-03 9.99940355e-01 -5.31919909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.116502481 meters 0.11674704307902263 Centerline is valid? [False, False] Translation: X:1.85, Y:0.85, Z:-0.53 [[ 9.99937279e-01 1.53338263e-03 -1.10944227e-02 1.85322348e+00] [-1.54597690e-03 9.99998170e-01 -1.12670204e-03 8.45001709e-01] [ 1.10926747e-02 1.14378309e-03 9.99937820e-01 -5.32612452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.146502481 meters 0.11727869412449961 Centerline is valid? [False, False] Translation: X:1.85, Y:0.84, Z:-0.53 [[ 9.99936310e-01 1.70783793e-03 -1.11561397e-02 1.85363088e+00] [-1.71804578e-03 9.99998114e-01 -9.05478703e-04 8.44716085e-01] [ 1.11545722e-02 9.24587791e-04 9.99937358e-01 -5.33044779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.176502481 meters 0.11778504338997804 Centerline is valid? [False, False] Translation: X:1.85, Y:0.84, Z:-0.53 [[ 9.99934602e-01 1.90024799e-03 -1.12774263e-02 1.85413077e+00] [-1.90842290e-03 9.99997924e-01 -7.14174322e-04 8.44431927e-01] [ 1.12760458e-02 7.35649715e-04 9.99936153e-01 -5.33450751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.206502481 meters 0.11816895680052919 Centerline is valid? [False, False] Translation: X:1.85, Y:0.85, Z:-0.53 [[ 0.99992197 -0.00268807 -0.01219948 1.85479314] [ 0.00261312 0.99997764 -0.00615518 0.84719065] [ 0.01221576 0.00612282 0.99990664 -0.53173141] [ 0. 0. 0. 1. ]] SLAMing on 54.236502481 meters 0.11843221316927625 Centerline is valid? [False, False] Translation: X:1.86, Y:0.85, Z:-0.53 [[ 0.99992025 -0.00253041 -0.01237314 1.85527867] [ 0.0024564 0.99997902 -0.005993 0.84708463] [ 0.01238805 0.00596212 0.99990549 -0.53199812] [ 0. 0. 0. 1. ]] SLAMing on 54.266502480999996 meters 0.1181234481512993 Centerline is valid? [False, False] Translation: X:1.86, Y:0.85, Z:-0.53 [[ 0.99991973 -0.00239583 -0.01244141 1.8555786 ] [ 0.00232359 0.99998038 -0.00581773 0.84682918] [ 0.01245511 0.00578836 0.99990568 -0.53224774] [ 0. 0. 0. 1. ]] SLAMing on 54.296502481 meters 0.11865388658442938 Centerline is valid? [False, False] Translation: X:1.86, Y:0.85, Z:-0.53 [[ 0.99991961 -0.00232581 -0.01246415 1.85538566] [ 0.00225568 0.99998157 -0.00563718 0.84568944] [ 0.01247703 0.00560861 0.99990643 -0.5318951 ] [ 0. 0. 0. 1. ]] SLAMing on 54.326502481 meters 0.11754131445793056 Centerline is valid? [False, False] Translation: X:1.85, Y:0.84, Z:-0.53 [[ 0.99992018 -0.00241736 -0.01240082 1.85478844] [ 0.00234732 0.99998123 -0.00565965 0.84483312] [ 0.01241427 0.00563009 0.99990709 -0.53114393] [ 0. 0. 0. 1. ]] SLAMing on 54.356502481 meters 0.11723894626650451 Centerline is valid? [False, False] Translation: X:1.85, Y:0.84, Z:-0.53 [[ 0.99991979 -0.00229637 -0.01245575 1.85493093] [ 0.00222893 0.9999828 -0.00542511 0.84424191] [ 0.01246799 0.00539691 0.99990771 -0.53122356] [ 0. 0. 0. 1. ]] SLAMing on 54.386502481 meters 0.11651674590949958 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.53 [[ 9.99923276e-01 -1.81370269e-03 -1.22536551e-02 1.85539647e+00] [ 1.76186536e-03 9.99989460e-01 -4.23982778e-03 8.41754649e-01] [ 1.22612158e-02 4.21791320e-03 9.99915932e-01 -5.32708773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.416502481 meters 0.11565142469048678 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.53 [[ 9.99927755e-01 -1.36105055e-03 -1.19429018e-02 1.85575247e+00] [ 1.32270521e-03 9.99993947e-01 -3.21803387e-03 8.39520540e-01] [ 1.19472095e-02 3.20200445e-03 9.99923503e-01 -5.34258617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.446502480999996 meters 0.11470135527675208 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.53 [[ 0.99991213 -0.00538611 -0.01211312 1.85654098] [ 0.00530139 0.99996134 -0.00701496 0.83857747] [ 0.01215044 0.00695013 0.99990203 -0.53497086] [ 0. 0. 0. 1. ]] SLAMing on 54.476502481 meters 0.11410786720773763 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.54 [[ 0.99991447 -0.00530903 -0.01195235 1.85634999] [ 0.00522925 0.99996391 -0.00669585 0.83765194] [ 0.01198747 0.00663277 0.99990615 -0.53520583] [ 0. 0. 0. 1. ]] SLAMing on 54.506502481 meters 0.11393749514668516 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.53 [[ 0.99991429 -0.00542248 -0.01191707 1.85583112] [ 0.00534299 0.99996333 -0.0066926 0.83693697] [ 0.01195293 0.00662835 0.99990659 -0.53452657] [ 0. 0. 0. 1. ]] SLAMing on 54.536502481 meters 0.11341846257817588 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.53 [[ 0.99991379 -0.00530529 -0.01201137 1.85608448] [ 0.00522709 0.999965 -0.00653239 0.83657738] [ 0.01204561 0.00646904 0.99990652 -0.53461504] [ 0. 0. 0. 1. ]] SLAMing on 54.566502481 meters 0.11328099794138245 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.53 [[ 0.9999123 -0.00522783 -0.01216836 1.85628383] [ 0.00514954 0.9999659 -0.00645677 0.83630344] [ 0.0122017 0.00639354 0.99990512 -0.53444348] [ 0. 0. 0. 1. ]] SLAMing on 54.596502481 meters 0.11325835609301235 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.54 [[ 0.99991411 -0.00485619 -0.01217357 1.85694983] [ 0.00478573 0.99997167 -0.00581062 0.83522394] [ 0.01220145 0.00575186 0.99990902 -0.5354938 ] [ 0. 0. 0. 1. ]] SLAMing on 54.626502481 meters 0.11325835609301235 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.54 [[ 0.99991411 -0.00485619 -0.01217357 1.85694983] [ 0.00478573 0.99997167 -0.00581062 0.83522394] [ 0.01220145 0.00575186 0.99990902 -0.5354938 ] [ 0. 0. 0. 1. ]] SLAMing on 54.656502481 meters 0.11367601977144995 Centerline is valid? [False, False] Translation: X:1.86, Y:0.83, Z:-0.54 [[ 0.9999133 -0.00455425 -0.01235501 1.85774619] [ 0.00448775 0.99997533 -0.00540456 0.83475534] [ 0.01237932 0.00534865 0.99990907 -0.53620474] [ 0. 0. 0. 1. ]] SLAMing on 54.686502481 meters 0.11350387434711144 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.54 [[ 0.99991068 -0.00444922 -0.01260273 1.85846646] [ 0.00438162 0.9999759 -0.00538599 0.83530119] [ 0.01262639 0.00533029 0.99990608 -0.53656343] [ 0. 0. 0. 1. ]] SLAMing on 54.716502481 meters 0.1136060330938471 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.54 [[ 0.99990705 -0.00431187 -0.01293446 1.85919764] [ 0.00424309 0.99997674 -0.00534056 0.83559444] [ 0.01295718 0.00528518 0.99990208 -0.53670151] [ 0. 0. 0. 1. ]] SLAMing on 54.746502481 meters 0.11400722813516877 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.54 [[ 0.99990084 -0.00414061 -0.01346009 1.86026725] [ 0.00406813 0.9999771 -0.00540744 0.83630145] [ 0.01348217 0.00535214 0.99989479 -0.53678097] [ 0. 0. 0. 1. ]] SLAMing on 54.776502481 meters 0.11425245167713124 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.54 [[ 0.99989772 -0.0039429 -0.01374762 1.86115178] [ 0.00387064 0.99997857 -0.00527914 0.83664161] [ 0.01376814 0.00522539 0.99989156 -0.53727706] [ 0. 0. 0. 1. ]] SLAMing on 54.806502481 meters 0.11486914218723984 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.54 [[ 0.99989391 -0.00367649 -0.01409439 1.86239449] [ 0.00360462 0.99998039 -0.00512124 0.83731084] [ 0.01411294 0.00506989 0.99988755 -0.53814001] [ 0. 0. 0. 1. ]] SLAMing on 54.836502481 meters 0.1153886898816669 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.54 [[ 0.99988941 -0.00388483 -0.01435511 1.86232612] [ 0.00380421 0.99997686 -0.0056392 0.83830946] [ 0.01437669 0.00558396 0.99988106 -0.53721218] [ 0. 0. 0. 1. ]] SLAMing on 54.866502481 meters 0.11583610074852153 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.54 [[ 0.99988506 -0.0040815 -0.01460169 1.86229115] [ 0.00399274 0.99997341 -0.00610302 0.83931767] [ 0.01462621 0.00604402 0.99987476 -0.53639797] [ 0. 0. 0. 1. ]] SLAMing on 54.896502481 meters 0.11644669595595446 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.54 [[ 0.99987658 -0.00431053 -0.01510771 1.86249094] [ 0.00420747 0.99996771 -0.00684635 0.84083589] [ 0.01513674 0.00678194 0.99986243 -0.53510128] [ 0. 0. 0. 1. ]] SLAMing on 54.926502481 meters 0.11659844672757005 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.54 [[ 0.99987535 -0.00416471 -0.01522978 1.86291829] [ 0.00406336 0.99996943 -0.00667984 0.84069388] [ 0.01525713 0.00661712 0.99986171 -0.53536707] [ 0. 0. 0. 1. ]] SLAMing on 54.956502481 meters 0.11627406493933486 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.54 [[ 0.99987375 -0.00398127 -0.01538298 1.8634148 ] [ 0.00388203 0.9999715 -0.00647577 0.84035826] [ 0.01540833 0.00641524 0.9998607 -0.53563007] [ 0. 0. 0. 1. ]] SLAMing on 54.986502481 meters 0.11533600743311817 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.54 [[ 0.99987612 -0.00375714 -0.01528504 1.8638768 ] [ 0.00366629 0.99997548 -0.0059672 0.83977609] [ 0.01530708 0.00591042 0.99986537 -0.53665099] [ 0. 0. 0. 1. ]] SLAMing on 55.016502480999996 meters 0.11563439065057882 Centerline is valid? [False, False] Translation: X:1.86, Y:0.84, Z:-0.54 [[ 0.9998748 -0.00333419 -0.01546824 1.86494425] [ 0.00325178 0.9999804 -0.00535027 0.83907723] [ 0.01548577 0.0052993 0.99986605 -0.53774907] [ 0. 0. 0. 1. ]] SLAMing on 55.046502481 meters 0.11464960803522356 Centerline is valid? [False, False] Translation: X:1.87, Y:0.84, Z:-0.54 [[ 0.99987454 -0.00294645 -0.0155634 1.86600734] [ 0.0028739 0.99998491 -0.00468172 0.83859812] [ 0.01557696 0.0046364 0.99986792 -0.53916912] [ 0. 0. 0. 1. ]] SLAMing on 55.076502481 meters 0.113985476146056 Centerline is valid? [False, False] Translation: X:1.87, Y:0.84, Z:-0.54 [[ 0.99987825 -0.00280931 -0.01534876 1.86575306] [ 0.00274493 0.99998735 -0.00421409 0.83714273] [ 0.0153604 0.00417144 0.99987332 -0.53941022] [ 0. 0. 0. 1. ]] SLAMing on 55.106502481 meters 0.11379849095582938 Centerline is valid? [False, False] Translation: X:1.87, Y:0.84, Z:-0.54 [[ 0.99987841 -0.00249124 -0.01539334 1.86607559] [ 0.00243451 0.99999018 -0.00370336 0.83569563] [ 0.01540242 0.00366544 0.99987466 -0.53974152] [ 0. 0. 0. 1. ]] SLAMing on 55.136502481 meters 0.11355290850796337 Centerline is valid? [False, False] Translation: X:1.87, Y:0.83, Z:-0.54 [[ 0.99988609 -0.00222265 -0.01492878 1.86558654] [ 0.00217963 0.99999343 -0.00289758 0.83301232] [ 0.01493512 0.00286471 0.99988436 -0.54033663] [ 0. 0. 0. 1. ]] SLAMing on 55.166502481 meters 0.1133747629989788 Centerline is valid? [False, False] Translation: X:1.87, Y:0.83, Z:-0.54 [[ 0.99988529 -0.00215503 -0.01499215 1.865657 ] [ 0.00211321 0.99999383 -0.00280489 0.83253662] [ 0.0149981 0.00277288 0.99988368 -0.54023039] [ 0. 0. 0. 1. ]] SLAMing on 55.196502480999996 meters 0.11355426461916952 Centerline is valid? [False, False] Translation: X:1.87, Y:0.83, Z:-0.54 [[ 0.99987626 -0.00241122 -0.0155454 1.86574529] [ 0.00235584 0.99999082 -0.00357939 0.83411934] [ 0.01555389 0.00354232 0.99987276 -0.53867705] [ 0. 0. 0. 1. ]] SLAMing on 55.226502481 meters 0.11392763988716818 Centerline is valid? [False, False] Translation: X:1.87, Y:0.83, Z:-0.54 [[ 0.99987361 -0.00234168 -0.01572522 1.86609487] [ 0.00228493 0.99999081 -0.00362624 0.8345555 ] [ 0.01573357 0.00358985 0.99986978 -0.53866742] [ 0. 0. 0. 1. ]] SLAMing on 55.256502481 meters 0.11367417236654197 Centerline is valid? [False, False] Translation: X:1.87, Y:0.83, Z:-0.54 [[ 0.99987551 -0.00197386 -0.01565464 1.86660058] [ 0.00192741 0.9999937 -0.00298161 0.83339459] [ 0.01566043 0.00295106 0.99987301 -0.53966458] [ 0. 0. 0. 1. ]] SLAMing on 55.286502481 meters 0.113756838806875 Centerline is valid? [False, False] Translation: X:1.87, Y:0.83, Z:-0.54 [[ 9.99878680e-01 -1.40821428e-03 -1.55126258e-02 1.86731667e+00] [ 1.37801812e-03 9.99997135e-01 -1.95707107e-03 8.31365228e-01] [ 1.55153374e-02 1.93545696e-03 9.99877757e-01 -5.41194602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.316502481 meters 0.11357397633949806 Centerline is valid? [False, False] Translation: X:1.87, Y:0.83, Z:-0.54 [[ 9.99877093e-01 -1.04315734e-03 -1.56432017e-02 1.86807022e+00] [ 1.02048990e-03 9.99998418e-01 -1.45694084e-03 8.30564720e-01] [ 1.56446968e-02 1.44079805e-03 9.99876576e-01 -5.41945211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.346502481 meters 0.11354224135570878 Centerline is valid? [False, False] Translation: X:1.87, Y:0.83, Z:-0.54 [[ 9.99876235e-01 -6.23391983e-04 -1.57202315e-02 1.86900791e+00] [ 6.09582418e-04 9.99999424e-01 -8.83234503e-04 8.29932401e-01] [ 1.57207731e-02 8.73542413e-04 9.99876039e-01 -5.43146153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.376502481 meters 0.1139636389325448 Centerline is valid? [False, False] Translation: X:1.87, Y:0.83, Z:-0.54 [[ 9.99873121e-01 -2.55416518e-04 -1.59272584e-02 1.86994407e+00] [ 2.48545882e-04 9.99999875e-01 -4.33353869e-04 8.29436239e-01] [ 1.59273671e-02 4.29340231e-04 9.99873059e-01 -5.43954578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.406502481 meters 0.11422855056950058 Centerline is valid? [False, False] Translation: X:1.87, Y:0.83, Z:-0.54 [[ 9.99864714e-01 -9.27344811e-05 -1.64482762e-02 1.87089505e+00] [ 8.30328031e-05 9.99999822e-01 -5.90511408e-04 8.30272450e-01] [ 1.64483281e-02 5.89065774e-04 9.99864544e-01 -5.43834420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.436502481 meters 0.1143809865062341 Centerline is valid? [False, False] Translation: X:1.87, Y:0.83, Z:-0.54 [[ 9.99859109e-01 -3.34547991e-05 -1.67857318e-02 1.87137632e+00] [ 2.12078163e-05 9.99999733e-01 -7.29784206e-04 8.30685896e-01] [ 1.67857517e-02 7.29325397e-04 9.99858843e-01 -5.43529122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.466502481 meters 0.11448994385051292 Centerline is valid? [False, False] Translation: X:1.88, Y:0.83, Z:-0.54 [[ 0.99988381 0.0044095 -0.0145917 1.88285276] [-0.00449 0.99997486 -0.00548878 0.83005622] [ 0.01456713 0.00555366 0.99987847 -0.54135617] [ 0. 0. 0. 1. ]] SLAMing on 55.496502481 meters 0.11435088573311514 Centerline is valid? [False, False] Translation: X:1.88, Y:0.83, Z:-0.54 [[ 9.99883747e-01 3.94633891e-05 -1.52476633e-02 1.88358060e+00] [-1.95352107e-04 9.99947731e-01 -1.02224234e-02 8.31243710e-01] [ 1.52464629e-02 1.02242137e-02 9.99831491e-01 -5.40605993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.526502481 meters 0.11404000916367531 Centerline is valid? [False, False] Translation: X:1.90, Y:0.83, Z:-0.54 [[ 0.99994066 -0.00470063 -0.00982774 1.89565966] [ 0.00465449 0.99997807 -0.00471223 0.8296662 ] [ 0.00984967 0.00466621 0.9999406 -0.5438155 ] [ 0. 0. 0. 1. ]] SLAMing on 55.556502481 meters 0.11341348748776103 Centerline is valid? [False, False] Translation: X:1.90, Y:0.83, Z:-0.54 [[ 0.9999421 -0.00427919 -0.00987313 1.89629606] [ 0.0042408 0.99998338 -0.00390635 0.82809942] [ 0.00988968 0.00386425 0.99994363 -0.54476076] [ 0. 0. 0. 1. ]] SLAMing on 55.586502481 meters 0.1135489169386487 Centerline is valid? [False, False] Translation: X:1.90, Y:0.83, Z:-0.55 [[ 0.99994314 -0.00408611 -0.00984959 1.89665019] [ 0.0040511 0.99998541 -0.00357227 0.82762685] [ 0.00986404 0.00353217 0.99994511 -0.54536606] [ 0. 0. 0. 1. ]] SLAMing on 55.616502481 meters 0.11307435094252336 Centerline is valid? [False, False] Translation: X:1.90, Y:0.83, Z:-0.55 [[ 0.99994636 -0.00369412 -0.00967584 1.89701212] [ 0.00366713 0.99998934 -0.00280597 0.82601378] [ 0.00968611 0.00277034 0.99994925 -0.54646445] [ 0. 0. 0. 1. ]] SLAMing on 55.646502481 meters 0.11301934639063974 Centerline is valid? [False, False] Translation: X:1.90, Y:0.82, Z:-0.55 [[ 0.99994873 -0.00342875 -0.00952785 1.89724365] [ 0.00340737 0.99999164 -0.00225936 0.82490148] [ 0.00953551 0.00222678 0.99995206 -0.54730815] [ 0. 0. 0. 1. ]] SLAMing on 55.676502481 meters 0.11274895858455843 Centerline is valid? [False, False] Translation: X:1.90, Y:0.83, Z:-0.55 [[ 0.99994677 -0.00350135 -0.00970583 1.89720625] [ 0.00347709 0.99999079 -0.00251584 0.82507734] [ 0.00971455 0.00248196 0.99994973 -0.54666268] [ 0. 0. 0. 1. ]] SLAMing on 55.706502481 meters 0.11279309881917199 Centerline is valid? [False, False] Translation: X:1.90, Y:0.83, Z:-0.55 [[ 0.99994367 -0.00360155 -0.00998405 1.8973374 ] [ 0.00357288 0.99998945 -0.00288788 0.82581527] [ 0.00999434 0.00285205 0.99994599 -0.54598237] [ 0. 0. 0. 1. ]] SLAMing on 55.736502481 meters 0.11343822713842491 Centerline is valid? [False, False] Translation: X:1.90, Y:0.83, Z:-0.55 [[ 0.9999387 -0.00362415 -0.01046223 1.89782855] [ 0.0035897 0.99998808 -0.00330941 0.82692863] [ 0.0104741 0.00327165 0.99993979 -0.54528781] [ 0. 0. 0. 1. ]] SLAMing on 55.766502480999996 meters 0.11362247752056645 Centerline is valid? [False, False] Translation: X:1.90, Y:0.83, Z:-0.55 [[ 0.99993566 -0.00341075 -0.01081869 1.89869741] [ 0.00337597 0.99998908 -0.00323096 0.82730857] [ 0.0108296 0.00319423 0.99993626 -0.54554571] [ 0. 0. 0. 1. ]] SLAMing on 55.796502481 meters 0.113127606519922 Centerline is valid? [False, False] Translation: X:1.90, Y:0.83, Z:-0.55 [[ 0.99993593 -0.003138 -0.01087651 1.89923829] [ 0.0031073 0.99999114 -0.00283883 0.82668809] [ 0.01088532 0.00280485 0.99993682 -0.5462026 ] [ 0. 0. 0. 1. ]] SLAMing on 55.826502481 meters 0.11332481746922304 Centerline is valid? [False, False] Translation: X:1.90, Y:0.82, Z:-0.55 [[ 9.99940586e-01 -2.46905539e-03 -1.06173216e-02 1.90011286e+00] [ 2.45295061e-03 9.99995822e-01 -1.52959534e-03 8.24345504e-01] [ 1.06210539e-02 1.50346070e-03 9.99942465e-01 -5.48422326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.856502481 meters 0.113263781707404 Centerline is valid? [False, False] Translation: X:1.90, Y:0.82, Z:-0.55 [[ 9.99941100e-01 -2.06089421e-03 -1.06559719e-02 1.90088503e+00] [ 2.05155596e-03 9.99997502e-01 -8.87197108e-04 8.23335814e-01] [ 1.06577737e-02 8.65283529e-04 9.99942830e-01 -5.49512584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.886502481 meters 0.11374869802232669 Centerline is valid? [False, False] Translation: X:1.90, Y:0.82, Z:-0.55 [[ 9.99938079e-01 -1.86949685e-03 -1.09701046e-02 1.90173195e+00] [ 1.86049116e-03 9.99997924e-01 -8.31078189e-04 8.23786414e-01] [ 1.09716356e-02 8.10616945e-04 9.99939481e-01 -5.49861261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.916502481 meters 0.11417207199676847 Centerline is valid? [False, False] Translation: X:1.90, Y:0.82, Z:-0.55 [[ 9.99936630e-01 -1.76819106e-03 -1.11179887e-02 1.90216307e+00] [ 1.75936815e-03 9.99998130e-01 -8.03301047e-04 8.23962570e-01] [ 1.11193883e-02 7.83689506e-04 9.99937871e-01 -5.50046559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.946502480999996 meters 0.11475396876832439 Centerline is valid? [False, False] Translation: X:1.90, Y:0.83, Z:-0.55 [[ 9.99931150e-01 -1.70193187e-03 -1.16102691e-02 1.90301232e+00] [ 1.68925371e-03 9.99997966e-01 -1.10169738e-03 8.25276045e-01] [ 1.16121205e-02 1.08200884e-03 9.99931992e-01 -5.49900639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.976502481 meters 0.1155181108828964 Centerline is valid? [False, False] Translation: X:1.90, Y:0.83, Z:-0.55 [[ 9.99927131e-01 -1.82228223e-03 -1.19336783e-02 1.90327524e+00] [ 1.80371318e-03 9.99997146e-01 -1.56659885e-03 8.26531614e-01] [ 1.19364990e-02 1.54495976e-03 9.99927564e-01 -5.49325268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.006502481 meters 0.11564771225376518 Centerline is valid? [False, False] Translation: X:1.90, Y:0.83, Z:-0.55 [[ 9.99924840e-01 -1.65761402e-03 -1.21477080e-02 1.90391787e+00] [ 1.64003031e-03 9.99997593e-01 -1.45731097e-03 8.26691785e-01] [ 1.21500944e-02 1.43727883e-03 9.99925152e-01 -5.49672483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.036502481 meters 0.11572830823664536 Centerline is valid? [False, False] Translation: X:1.90, Y:0.82, Z:-0.55 [[ 9.99927919e-01 -1.14794012e-03 -1.19515575e-02 1.90451326e+00] [ 1.14204862e-03 9.99999223e-01 -4.99761365e-04 8.24912032e-01] [ 1.19521219e-02 4.86076082e-04 9.99928453e-01 -5.51230789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.066502481 meters 0.11589328961379632 Centerline is valid? [False, False] Translation: X:1.90, Y:0.82, Z:-0.55 [[ 9.99929451e-01 -1.03351040e-03 -1.18332256e-02 1.90451474e+00] [ 1.03084100e-03 9.99999442e-01 -2.31682628e-04 8.24106239e-01] [ 1.18334584e-02 2.19468109e-04 9.99929958e-01 -5.51582406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.096502481 meters 0.11545052832638979 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.55 [[ 9.99929278e-01 -7.72880908e-04 -1.18676803e-02 1.90516307e+00] [ 7.75257551e-04 9.99999680e-01 1.95662692e-04 8.23714453e-01] [ 1.18675253e-02 -2.04849363e-04 9.99929557e-01 -5.52492530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.126502481 meters 0.1156074516402032 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.55 [[ 9.99927537e-01 -6.17034448e-04 -1.20224798e-02 1.90569509e+00] [ 6.21660578e-04 9.99999734e-01 3.81056648e-04 8.23704463e-01] [ 1.20222415e-02 -3.88502937e-04 9.99927655e-01 -5.52859538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.156502481 meters 0.1153927819015871 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.55 [[ 9.99927067e-01 -8.89793105e-04 -1.20444783e-02 1.90542978e+00] [ 8.89540159e-04 9.99999604e-01 -2.63581809e-05 8.24861477e-01] [ 1.20444970e-02 1.56422113e-05 9.99927462e-01 -5.52405920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.186502481 meters 0.11555452698813728 Centerline is valid? [False, False] Translation: X:1.91, Y:0.83, Z:-0.55 [[ 9.99924756e-01 -1.07268235e-03 -1.22201668e-02 1.90536016e+00] [ 1.06671963e-03 9.99999309e-01 -4.94449010e-04 8.25705412e-01] [ 1.22206887e-02 4.81376314e-04 9.99925209e-01 -5.51676983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.216502481 meters 0.1146936212413846 Centerline is valid? [False, False] Translation: X:1.90, Y:0.82, Z:-0.55 [[ 9.99932705e-01 -8.99866185e-04 -1.15661130e-02 1.90473319e+00] [ 9.02368830e-04 9.99999571e-01 2.11160559e-04 8.23370176e-01] [ 1.15659180e-02 -2.21583248e-04 9.99933088e-01 -5.52599645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.246502481 meters 0.11445633366562981 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.55 [[ 9.99933604e-01 -5.28514689e-04 -1.15112346e-02 1.90513320e+00] [ 5.38836832e-04 9.99999456e-01 8.93618653e-04 8.21780540e-01] [ 1.15107560e-02 -8.99761997e-04 9.99933344e-01 -5.53403971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.276502481 meters 0.11419416031070403 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.55 [[ 9.99933455e-01 -3.32943728e-04 -1.15314417e-02 1.90534225e+00] [ 3.47758011e-04 9.99999117e-01 1.28270481e-03 8.20792803e-01] [ 1.15310044e-02 -1.28662960e-03 9.99932688e-01 -5.53704810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.306502481 meters 0.11437915673793322 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.55 [[ 9.99932937e-01 -1.43265111e-04 -1.15801719e-02 1.90563938e+00] [ 1.61543434e-04 9.99998743e-01 1.57749555e-03 8.20166078e-01] [ 1.15799313e-02 -1.57926046e-03 9.99931703e-01 -5.54017855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.336502481 meters 0.1135572328839725 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.55 [[ 9.99933774e-01 -1.52064134e-05 -1.15085809e-02 1.90574695e+00] [ 3.65330981e-05 9.99998283e-01 1.85290364e-03 8.19440372e-01] [ 1.15085329e-02 -1.85320137e-03 9.99932057e-01 -5.54391772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.366502481 meters 0.11388877826737409 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.55 [[ 9.99935424e-01 2.40930758e-05 -1.13643135e-02 1.90568381e+00] [-1.54825592e-06 9.99998032e-01 1.98383056e-03 8.19137579e-01] [ 1.13643389e-02 -1.98368486e-03 9.99933456e-01 -5.54690553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.396502481 meters 0.11388397364338958 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.56 [[ 9.99933617e-01 2.11370009e-04 -1.15203214e-02 1.90642440e+00] [-1.86199606e-04 9.99997594e-01 2.18589866e-03 8.19383046e-01] [ 1.15207557e-02 -2.18360848e-03 9.99931250e-01 -5.55375764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.426502481 meters 0.1140001553448029 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.56 [[ 9.99931281e-01 3.20449528e-04 -1.17188395e-02 1.90697062e+00] [-2.94274872e-04 9.99997459e-01 2.23520972e-03 8.19568154e-01] [ 1.17195259e-02 -2.23160756e-03 9.99928834e-01 -5.55605080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.456502481 meters 0.11439185880742743 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.56 [[ 9.99930971e-01 5.00156109e-04 -1.17389509e-02 1.90767975e+00] [-4.71731845e-04 9.99996951e-01 2.42400719e-03 8.20003460e-01] [ 1.17401275e-02 -2.41830222e-03 9.99928158e-01 -5.56637513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.486502481 meters 0.11418751760267846 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.56 [[ 9.99927142e-01 7.16445368e-04 -1.20497818e-02 1.90848181e+00] [-6.86371640e-04 9.99996640e-01 2.49974063e-03 8.20056355e-01] [ 1.20515322e-02 -2.49128787e-03 9.99924274e-01 -5.56868122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.516502480999996 meters 0.11418751760267846 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.56 [[ 9.99927142e-01 7.16445368e-04 -1.20497818e-02 1.90848181e+00] [-6.86371640e-04 9.99996640e-01 2.49974063e-03 8.20056355e-01] [ 1.20515322e-02 -2.49128787e-03 9.99924274e-01 -5.56868122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.546502481 meters 0.11429111311658467 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.56 [[ 0.99990757 -0.00383843 -0.0130432 1.90925071] [ 0.00380044 0.99998847 -0.00293636 0.82310915] [ 0.01305432 0.00288652 0.99991062 -0.55519113] [ 0. 0. 0. 1. ]] SLAMing on 56.576502481 meters 0.11445840157829286 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.56 [[ 0.99990575 -0.0037401 -0.01320995 1.90954012] [ 0.00370236 0.999989 -0.00288013 0.82296834] [ 0.01322057 0.00283095 0.9999086 -0.55510907] [ 0. 0. 0. 1. ]] SLAMing on 56.606502481 meters 0.11416026684539662 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.56 [[ 0.99990651 -0.00362108 -0.0131859 1.90954998] [ 0.00358712 0.99999019 -0.00259862 0.82217448] [ 0.01319519 0.00255108 0.99990969 -0.55522522] [ 0. 0. 0. 1. ]] SLAMing on 56.636502481 meters 0.1142749578772945 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.56 [[ 0.99990782 -0.00336011 -0.01315498 1.90987516] [ 0.00333238 0.99999218 -0.0021291 0.82124397] [ 0.01316203 0.00208507 0.9999112 -0.55584889] [ 0. 0. 0. 1. ]] SLAMing on 56.666502481 meters 0.11362734656563393 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.56 [[ 9.99912632e-01 -2.95198973e-03 -1.28846429e-02 1.91024210e+00] [ 2.93605711e-03 9.99994902e-01 -1.25529927e-03 8.19361904e-01] [ 1.28882828e-02 1.21735955e-03 9.99916202e-01 -5.57253437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.696502480999996 meters 0.11366684899858323 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.56 [[ 9.99911638e-01 -2.46713401e-03 -1.30625367e-02 1.91124342e+00] [ 2.46027593e-03 9.99996827e-01 -5.41062198e-04 8.18224060e-01] [ 1.30638302e-02 5.08876944e-04 9.99914535e-01 -5.58307331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.726502481 meters 0.11368916763145415 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.56 [[ 9.99911430e-01 -2.11349201e-03 -1.31401989e-02 1.91197865e+00] [ 2.11402907e-03 9.99997765e-01 2.69818007e-05 8.17464797e-01] [ 1.31401125e-02 -5.47581733e-05 9.99913663e-01 -5.59275399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.756502481 meters 0.11401684689154806 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.56 [[ 9.99906771e-01 -1.87957343e-03 -1.35246506e-02 1.91272488e+00] [ 1.88191497e-03 9.99998216e-01 1.60406343e-04 8.17264350e-01] [ 1.35243250e-02 -1.85843630e-04 9.99908525e-01 -5.59280281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.786502481 meters 0.11413316127555358 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.56 [[ 9.99904783e-01 -1.82218942e-03 -1.36785980e-02 1.91289221e+00] [ 1.82433192e-03 9.99998326e-01 1.44155586e-04 8.17155239e-01] [ 1.36783124e-02 -1.69096163e-04 9.99906433e-01 -5.59048306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.816502481 meters 0.11448521008412149 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.56 [[ 9.99898521e-01 -1.95263915e-03 -1.41114841e-02 1.91281429e+00] [ 1.94752484e-03 9.99998033e-01 -3.76155152e-04 8.17402909e-01] [ 1.41121908e-02 3.48634515e-04 9.99900357e-01 -5.57554085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.846502481 meters 0.11428141787369651 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.56 [[ 9.99894352e-01 -1.76985430e-03 -1.44274930e-02 1.91326855e+00] [ 1.76594914e-03 9.99998401e-01 -2.83410086e-04 8.16947492e-01] [ 1.44279716e-02 2.57901925e-04 9.99895878e-01 -5.57290754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.876502481 meters 0.11494184677088473 Centerline is valid? [False, False] Translation: X:1.91, Y:0.82, Z:-0.56 [[ 9.99889091e-01 -1.62839352e-03 -1.48038361e-02 1.91371279e+00] [ 1.62451610e-03 9.99998643e-01 -2.73940749e-04 8.16614839e-01] [ 1.48042621e-02 2.49861296e-04 9.99890380e-01 -5.56838503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.906502481 meters 0.11438555705962125 Centerline is valid? [False, False] Translation: X:1.91, Y:0.81, Z:-0.56 [[ 9.99894776e-01 -1.11457357e-03 -1.44635415e-02 1.91401893e+00] [ 1.12663614e-03 9.99999024e-01 8.25877170e-04 8.13959154e-01] [ 1.44626069e-02 -8.42085417e-04 9.99895056e-01 -5.58333827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.936502481 meters 0.11426977349159646 Centerline is valid? [False, False] Translation: X:1.91, Y:0.81, Z:-0.56 [[ 9.99894391e-01 -5.40366394e-04 -1.45229068e-02 1.91495919e+00] [ 5.66304232e-04 9.99998252e-01 1.78194182e-03 8.12171887e-01] [ 1.45219185e-02 -1.78997801e-03 9.99892949e-01 -5.59651783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.966502481 meters 0.11399946270037956 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 9.99894877e-01 -2.15329943e-04 -1.44978806e-02 1.91537360e+00] [ 2.49690237e-04 9.99997165e-01 2.36825349e-03 8.10900703e-01] [ 1.44973296e-02 -2.37162452e-03 9.99892096e-01 -5.60394312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.996502481 meters 0.11344485619600803 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 9.99892581e-01 8.65375906e-05 -1.46566975e-02 1.91609751e+00] [-4.43490129e-05 9.99995855e-01 2.87875102e-03 8.10098992e-01] [ 1.46568859e-02 -2.87779178e-03 9.99888441e-01 -5.61111091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.026502481 meters 0.11339381250478113 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 9.99863825e-01 -4.02145578e-03 -1.60049859e-02 1.91819137e+00] [ 3.99056370e-03 9.99990114e-01 -1.96162243e-03 8.12797716e-01] [ 1.60127163e-02 1.89748639e-03 9.99869988e-01 -5.60501595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.056502481 meters 0.11337850221604713 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 9.99863339e-01 -3.93165574e-03 -1.60575653e-02 1.91846495e+00] [ 3.90264394e-03 9.99990696e-01 -1.83767331e-03 8.12658076e-01] [ 1.60646410e-02 1.77475522e-03 9.99869380e-01 -5.60767627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.086502481 meters 0.11346675029780605 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 9.99861447e-01 -3.88351184e-03 -1.61865735e-02 1.91841300e+00] [ 3.85469707e-03 9.99990931e-01 -1.81098447e-03 8.11979315e-01] [ 1.61934597e-02 1.74833921e-03 9.99867349e-01 -5.60285376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.116502481 meters 0.11341441414812906 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 9.99859228e-01 -3.86029838e-03 -1.63285642e-02 1.91843109e+00] [ 3.83066933e-03 9.99990960e-01 -1.84544084e-03 8.11700985e-01] [ 1.63355405e-02 1.78263172e-03 9.99864977e-01 -5.59881272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.146502481 meters 0.11326487965197471 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 0.99985425 -0.00393056 -0.01661428 1.91833079] [ 0.00389691 0.99999029 -0.00205769 0.81156178] [ 0.01662221 0.00199264 0.99985986 -0.55885639] [ 0. 0. 0. 1. ]] SLAMing on 57.176502481 meters 0.11269718231552464 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 9.99858849e-01 -3.64403067e-03 -1.64012844e-02 1.91854562e+00] [ 3.62249266e-03 9.99992537e-01 -1.34270738e-03 8.10108459e-01] [ 1.64060549e-02 1.28310433e-03 9.99864588e-01 -5.59875217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.206502481 meters 0.11243706023726063 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 9.99860366e-01 -3.24710930e-03 -1.63922030e-02 1.91933292e+00] [ 3.23673438e-03 9.99994544e-01 -6.59408465e-04 8.09158345e-01] [ 1.63942548e-02 6.06259182e-04 9.99865421e-01 -5.61131288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.236502481 meters 0.11219532551200666 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 9.99858812e-01 -2.96229383e-03 -1.65402621e-02 1.92021504e+00] [ 2.95841159e-03 9.99995590e-01 -2.59177579e-04 8.09000714e-01] [ 1.65409569e-02 2.10208083e-04 9.99863167e-01 -5.62056772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.266502480999996 meters 0.11208212016564952 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 9.99857749e-01 -2.81378490e-03 -1.66302484e-02 1.92078215e+00] [ 2.81264285e-03 9.99996040e-01 -9.20617076e-05 8.09192805e-01] [ 1.66304416e-02 4.52736624e-05 9.99861704e-01 -5.62627672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.296502481 meters 0.11227281780498896 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 9.99848922e-01 -2.83359801e-03 -1.71494353e-02 1.92144150e+00] [ 2.82566544e-03 9.99995889e-01 -4.86769002e-04 8.10344919e-01] [ 1.71507441e-02 4.38236895e-04 9.99852819e-01 -5.62034571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.326502481 meters 0.11212842296535094 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 9.99848566e-01 -2.86161169e-03 -1.71655626e-02 1.92151469e+00] [ 2.85236016e-03 9.99995773e-01 -5.63417251e-04 8.10685250e-01] [ 1.71671023e-02 5.14369563e-04 9.99852502e-01 -5.62065560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.356502481 meters 0.11233154546316665 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 9.99845437e-01 -2.87773132e-03 -1.73442020e-02 1.92158917e+00] [ 2.86577953e-03 9.99995639e-01 -7.13908803e-04 8.10770186e-01] [ 1.73461808e-02 6.64093800e-04 9.99849323e-01 -5.61600588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.386502481 meters 0.11216007273765731 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 9.99843267e-01 -2.86019819e-03 -1.74716861e-02 1.92168246e+00] [ 2.84743777e-03 9.99995661e-01 -7.55181759e-04 8.10744728e-01] [ 1.74737703e-02 7.05313859e-04 9.99847073e-01 -5.61348010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.416502481 meters 0.11201243066978094 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 9.99845602e-01 -2.56258724e-03 -1.73840326e-02 1.92213265e+00] [ 2.55952282e-03 9.99996705e-01 -1.98524668e-04 8.09897086e-01] [ 1.73844841e-02 1.53999188e-04 9.99848867e-01 -5.62315562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.446502480999996 meters 0.11163088797738073 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 9.99851140e-01 -2.15931267e-03 -1.71182725e-02 1.92255058e+00] [ 2.17080160e-03 9.99997431e-01 6.52597202e-04 8.08339699e-01] [ 1.71168194e-02 -6.89660430e-04 9.99853259e-01 -5.63766735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.476502481 meters 0.11118046187183167 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.57 [[ 9.99855612e-01 -1.61098726e-03 -1.69162830e-02 1.92328472e+00] [ 1.64201068e-03 9.99996995e-01 1.82020912e-03 8.06396085e-01] [ 1.69132998e-02 -1.84772302e-03 9.99855253e-01 -5.65604177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.506502481 meters 0.11122548635507676 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.57 [[ 9.99852655e-01 -1.45417996e-03 -1.71041868e-02 1.92376614e+00] [ 1.48880049e-03 9.99996869e-01 2.01153786e-03 8.06207847e-01] [ 1.71012081e-02 -2.03670619e-03 9.99851689e-01 -5.65781975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.536502481 meters 0.11087794571296335 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.57 [[ 9.99854376e-01 -1.48615122e-03 -1.70005271e-02 1.92354434e+00] [ 1.52155799e-03 9.99996700e-01 2.06994177e-03 8.05821188e-01] [ 1.69973948e-02 -2.09550762e-03 9.99853338e-01 -5.65699866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.566502481 meters 0.11074467757924567 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.57 [[ 9.99854679e-01 -1.32132595e-03 -1.69963096e-02 1.92384151e+00] [ 1.36167457e-03 9.99996282e-01 2.36261063e-03 8.05340775e-01] [ 1.69931246e-02 -2.38541073e-03 9.99852761e-01 -5.66162497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.596502481 meters 0.11074687844401244 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 0.99982379 -0.00574985 -0.0178698 1.92483582] [ 0.00570239 0.99998008 -0.00270534 0.80728919] [ 0.017885 0.00260297 0.99983666 -0.5649826 ] [ 0. 0. 0. 1. ]] SLAMing on 57.626502480999996 meters 0.11081317395001566 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.57 [[ 0.99982914 -0.00573821 -0.01757163 1.92441685] [ 0.00569518 0.99998066 -0.00249803 0.80647759] [ 0.01758563 0.00239753 0.99984249 -0.56523651] [ 0. 0. 0. 1. ]] SLAMing on 57.656502481 meters 0.11085927420091568 Centerline is valid? [False, False] Translation: X:1.92, Y:0.81, Z:-0.56 [[ 0.99982925 -0.00573339 -0.01756677 1.92412411] [ 0.00569037 0.99998069 -0.00249781 0.80575648] [ 0.01758075 0.00239742 0.99984257 -0.56475943] [ 0. 0. 0. 1. ]] SLAMing on 57.686502481 meters 0.11094980368426113 Centerline is valid? [False, False] Translation: X:1.92, Y:0.80, Z:-0.57 [[ 9.99852240e-01 -1.20714248e-03 -1.71476142e-02 1.92363942e+00] [ 1.24788786e-03 9.99996423e-01 2.36565298e-03 8.03939302e-01] [ 1.71446972e-02 -2.38670173e-03 9.99850170e-01 -5.65272927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.716502481 meters 0.1110203375377787 Centerline is valid? [False, False] Translation: X:1.92, Y:0.80, Z:-0.57 [[ 9.99843412e-01 -1.02874164e-03 -1.76661527e-02 1.92470809e+00] [ 1.06922421e-03 9.99996824e-01 2.28224105e-03 8.04726938e-01] [ 1.76637488e-02 -2.30077276e-03 9.99841337e-01 -5.65319225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.746502481 meters 0.11124515339331316 Centerline is valid? [False, False] Translation: X:1.93, Y:0.81, Z:-0.57 [[ 9.99828747e-01 -7.32099214e-04 -1.84916580e-02 1.92636175e+00] [ 7.69557683e-04 9.99997666e-01 2.01866099e-03 8.06344567e-01] [ 1.84901370e-02 -2.03254568e-03 9.99826977e-01 -5.65374713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.776502481 meters 0.11169799238283647 Centerline is valid? [False, False] Translation: X:1.93, Y:0.81, Z:-0.57 [[ 9.99821074e-01 -4.22506089e-04 -1.89114200e-02 1.92753172e+00] [ 4.63426406e-04 9.99997561e-01 2.15945863e-03 8.06620414e-01] [ 1.89104615e-02 -2.16783630e-03 9.99818831e-01 -5.65859918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.806502481 meters 0.11212889830249868 Centerline is valid? [False, False] Translation: X:1.93, Y:0.81, Z:-0.57 [[ 9.99817137e-01 -3.75545628e-04 -1.91193993e-02 1.92808167e+00] [ 4.11522394e-04 9.99998152e-01 1.87778954e-03 8.07619602e-01] [ 1.91186588e-02 -1.88531423e-03 9.99815444e-01 -5.66043489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.836502481 meters 0.1124589881174757 Centerline is valid? [False, False] Translation: X:1.94, Y:0.81, Z:-0.56 [[ 0.99983581 0.00437083 -0.01758544 1.9400926 ] [-0.0044191 0.99998657 -0.00270721 0.80757746] [ 0.01757337 0.00278448 0.9998417 -0.5637739 ] [ 0. 0. 0. 1. ]] SLAMing on 57.866502481 meters 0.11345840559044146 Centerline is valid? [False, False] Translation: X:1.94, Y:0.81, Z:-0.56 [[ 0.99983182 0.00440134 -0.01780357 1.940504 ] [-0.00445447 0.99998574 -0.00294559 0.80824062] [ 0.01779035 0.0030244 0.99983716 -0.56371888] [ 0. 0. 0. 1. ]] SLAMing on 57.896502481 meters 0.11377660407845543 Centerline is valid? [False, False] Translation: X:1.94, Y:0.81, Z:-0.57 [[ 9.99997038e-01 1.86199227e-03 -1.56777089e-03 1.93974965e+00] [-1.86547619e-03 9.99995788e-01 -2.22368713e-03 8.10368415e-01] [ 1.56362380e-03 2.22660519e-03 9.99996299e-01 -5.70187541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.926502481 meters 0.1160437444350453 Centerline is valid? [False, False] Translation: X:1.94, Y:0.81, Z:-0.57 [[ 9.99995922e-01 1.77834572e-03 -2.23452491e-03 1.94013072e+00] [-1.78494466e-03 9.99994042e-01 -2.95465750e-03 8.11691133e-01] [ 2.22925720e-03 2.95863395e-03 9.99993138e-01 -5.68691811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.956502481 meters 0.11528548586137949 Centerline is valid? [False, False] Translation: X:1.94, Y:0.81, Z:-0.57 [[ 9.99995212e-01 1.90436243e-03 -2.43931787e-03 1.94048747e+00] [-1.91144296e-03 9.99993958e-01 -2.90363346e-03 8.11473071e-01] [ 2.43377356e-03 2.90828218e-03 9.99992809e-01 -5.68613420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.986502481 meters 0.11536068688084002 Centerline is valid? [False, False] Translation: X:1.94, Y:0.81, Z:-0.57 [[ 0.99999474 0.00212497 -0.00244872 1.9407223 ] [-0.00213123 0.99999447 -0.00255409 0.81046051] [ 0.00244328 0.00255929 0.99999374 -0.56897962] [ 0. 0. 0. 1. ]] SLAMing on 58.016502480999996 meters 0.11595282758199578 Centerline is valid? [False, False] Translation: X:1.94, Y:0.81, Z:-0.57 [[ 0.99999251 -0.00202033 -0.00329989 1.94198309] [ 0.00199624 0.99997146 -0.00728595 0.81178317] [ 0.00331452 0.00727931 0.99996801 -0.56839061] [ 0. 0. 0. 1. ]] SLAMing on 58.046502481 meters 0.11534130237892097 Centerline is valid? [False, False] Translation: X:1.94, Y:0.81, Z:-0.57 [[ 9.99994717e-01 -1.17536544e-03 -3.03063544e-03 1.94290996e+00] [ 1.15837996e-03 9.99983647e-01 -5.60027097e-03 8.08297734e-01] [ 3.03716825e-03 5.59673075e-03 9.99979726e-01 -5.70845063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.076502481 meters 0.11470862645996101 Centerline is valid? [False, False] Translation: X:1.94, Y:0.81, Z:-0.57 [[ 9.99995153e-01 -7.35359546e-04 -3.02532070e-03 1.94348876e+00] [ 7.21019299e-04 9.99988514e-01 -4.73843811e-03 8.06434700e-01] [ 3.02877041e-03 4.73623383e-03 9.99984197e-01 -5.71890638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.106502481 meters 0.11463141057867984 Centerline is valid? [False, False] Translation: X:1.94, Y:0.81, Z:-0.57 [[ 9.99995094e-01 -3.48834958e-04 -3.11294472e-03 1.94414736e+00] [ 3.36146462e-04 9.99991638e-01 -4.07563534e-03 8.05248248e-01] [ 3.11434041e-03 4.07456893e-03 9.99986849e-01 -5.72726344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.136502481 meters 0.11433268796522633 Centerline is valid? [False, False] Translation: X:1.94, Y:0.80, Z:-0.57 [[ 9.99995479e-01 5.46227459e-05 -3.00645463e-03 1.94442214e+00] [-6.42709541e-05 9.99994849e-01 -3.20916171e-03 8.03079160e-01] [ 3.00626385e-03 3.20934043e-03 9.99990331e-01 -5.73574198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.166502481 meters 0.11409043309773909 Centerline is valid? [False, False] Translation: X:1.94, Y:0.80, Z:-0.57 [[ 9.99995496e-01 1.28349164e-04 -2.99845487e-03 1.94434299e+00] [-1.37541899e-04 9.99995291e-01 -3.06581896e-03 8.02321410e-01] [ 2.99804725e-03 3.06621757e-03 9.99990805e-01 -5.73473738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.196502480999996 meters 0.11396225070633452 Centerline is valid? [False, False] Translation: X:1.94, Y:0.80, Z:-0.57 [[ 9.99995230e-01 3.88749223e-04 -3.06420668e-03 1.94448533e+00] [-3.96632412e-04 9.99996613e-01 -2.57248112e-03 8.00704686e-01] [ 3.06319625e-03 2.57368421e-03 9.99991996e-01 -5.73527394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.226502481 meters 0.1136489206967434 Centerline is valid? [False, False] Translation: X:1.94, Y:0.80, Z:-0.57 [[ 9.99995467e-01 5.72402328e-04 -2.95592581e-03 1.94438079e+00] [-5.78683673e-04 9.99997576e-01 -2.12458303e-03 7.99165953e-01] [ 2.95470253e-03 2.12628395e-03 9.99993374e-01 -5.73722890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.256502481 meters 0.11354459424869581 Centerline is valid? [False, False] Translation: X:1.94, Y:0.80, Z:-0.57 [[ 9.99995282e-01 8.02710178e-04 -2.96496190e-03 1.94451070e+00] [-8.07661146e-04 9.99998281e-01 -1.66900559e-03 7.97772207e-01] [ 2.96361707e-03 1.67139240e-03 9.99994212e-01 -5.73934372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.286502481 meters 0.11315910049829139 Centerline is valid? [False, False] Translation: X:1.95, Y:0.80, Z:-0.57 [[ 0.99998439 -0.00345977 -0.00438837 1.94577609] [ 0.00343033 0.99997169 -0.0066975 0.79944606] [ 0.00441141 0.00668234 0.99996794 -0.57179241] [ 0. 0. 0. 1. ]] SLAMing on 58.316502481 meters 0.11268561512702316 Centerline is valid? [False, False] Translation: X:1.95, Y:0.80, Z:-0.57 [[ 0.99998656 -0.00305776 -0.00418743 1.94585934] [ 0.00303375 0.999979 -0.00572691 0.7967731 ] [ 0.00420485 0.00571413 0.99997483 -0.5725999 ] [ 0. 0. 0. 1. ]] SLAMing on 58.346502481 meters 0.11283809246552086 Centerline is valid? [False, False] Translation: X:1.95, Y:0.79, Z:-0.57 [[ 0.99998792 -0.0025957 -0.00417284 1.94645904] [ 0.00257538 0.99998484 -0.00486663 0.79499268] [ 0.00418541 0.00485583 0.99997945 -0.57368346] [ 0. 0. 0. 1. ]] SLAMing on 58.376502480999996 meters 0.11261791619193687 Centerline is valid? [False, False] Translation: X:1.95, Y:0.79, Z:-0.57 [[ 0.99998965 -0.00219534 -0.00398509 1.94661123] [ 0.00217964 0.99998987 -0.00393901 0.79259408] [ 0.0039937 0.00393028 0.9999843 -0.57457335] [ 0. 0. 0. 1. ]] SLAMing on 58.406502481 meters 0.11261791619193687 Centerline is valid? [False, False] Translation: X:1.95, Y:0.79, Z:-0.57 [[ 0.99998965 -0.00219534 -0.00398509 1.94661123] [ 0.00217964 0.99998987 -0.00393901 0.79259408] [ 0.0039937 0.00393028 0.9999843 -0.57457335] [ 0. 0. 0. 1. ]] SLAMing on 58.436502481 meters 0.11264143897138636 Centerline is valid? [False, False] Translation: X:1.95, Y:0.79, Z:-0.58 [[ 9.99990413e-01 -1.91343768e-03 -3.93867693e-03 1.94684991e+00] [ 1.90014738e-03 9.99992498e-01 -3.37528787e-03 7.91254501e-01] [ 3.94510579e-03 3.36777145e-03 9.99986547e-01 -5.75137229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.466502481 meters 0.11225066733388671 Centerline is valid? [False, False] Translation: X:1.95, Y:0.79, Z:-0.58 [[ 9.99991486e-01 -1.34507115e-03 -3.90122964e-03 1.94736710e+00] [ 1.33656232e-03 9.99996724e-01 -2.18285146e-03 7.88263498e-01] [ 3.90415295e-03 2.17761864e-03 9.99990008e-01 -5.76211652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.496502481 meters 0.11217902632522372 Centerline is valid? [False, False] Translation: X:1.95, Y:0.79, Z:-0.58 [[ 9.99991936e-01 -9.35866601e-04 -3.90531364e-03 1.94784151e+00] [ 9.30566296e-04 9.99998644e-01 -1.35879995e-03 7.86414507e-01] [ 3.90658000e-03 1.35515484e-03 9.99991451e-01 -5.77073843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.526502481 meters 0.11211430429336491 Centerline is valid? [False, False] Translation: X:1.95, Y:0.79, Z:-0.58 [[ 9.99991464e-01 -7.52506354e-04 -4.06275055e-03 1.94825597e+00] [ 7.48072160e-04 9.99999123e-01 -1.09283581e-03 7.85854734e-01] [ 4.06356936e-03 1.08978725e-03 9.99991150e-01 -5.77264339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.556502481 meters 0.1122114502868352 Centerline is valid? [False, False] Translation: X:1.95, Y:0.78, Z:-0.58 [[ 9.99991301e-01 -5.55138701e-04 -4.13401075e-03 1.94843653e+00] [ 5.52043173e-04 9.99999566e-01 -7.49898780e-04 7.84914616e-01] [ 4.13442526e-03 7.47610104e-04 9.99991174e-01 -5.77373488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.586502481 meters 0.11216867139690159 Centerline is valid? [False, False] Translation: X:1.95, Y:0.78, Z:-0.58 [[ 9.99990936e-01 -5.85590873e-04 -4.21718560e-03 1.94822174e+00] [ 5.82159127e-04 9.99999498e-01 -8.14934293e-04 7.84492735e-01] [ 4.21766070e-03 8.12471833e-04 9.99990776e-01 -5.76777015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.616502481 meters 0.11215350016902827 Centerline is valid? [False, False] Translation: X:1.95, Y:0.79, Z:-0.57 [[ 0.99997305 -0.00505223 -0.00532598 1.94896441] [ 0.0050201 0.99996922 -0.00602899 0.78643312] [ 0.00535628 0.00600209 0.99996764 -0.57467788] [ 0. 0. 0. 1. ]] SLAMing on 58.646502481 meters 0.1120245991434325 Centerline is valid? [False, False] Translation: X:1.95, Y:0.79, Z:-0.58 [[ 0.99997441 -0.00467014 -0.00541931 1.94964479] [ 0.00464078 0.99997455 -0.0054184 0.7853283 ] [ 0.00544448 0.00539311 0.99997064 -0.57550341] [ 0. 0. 0. 1. ]] SLAMing on 58.676502481 meters 0.11179975132316747 Centerline is valid? [False, False] Translation: X:1.95, Y:0.78, Z:-0.58 [[ 0.99997751 -0.00409093 -0.00531484 1.95054654] [ 0.00406778 0.99998222 -0.00436037 0.78352294] [ 0.00533258 0.00433865 0.99997637 -0.57733937] [ 0. 0. 0. 1. ]] SLAMing on 58.706502481 meters 0.11187647747016484 Centerline is valid? [False, False] Translation: X:1.95, Y:0.78, Z:-0.58 [[ 0.99997867 -0.00372147 -0.00536687 1.95125714] [ 0.00370128 0.99998606 -0.00376571 0.78258773] [ 0.0053808 0.00374577 0.99997851 -0.57833489] [ 0. 0. 0. 1. ]] SLAMing on 58.736502481 meters 0.11185347249076251 Centerline is valid? [False, False] Translation: X:1.95, Y:0.78, Z:-0.58 [[ 0.99997823 -0.00345025 -0.00562375 1.95197735] [ 0.0034306 0.99998799 -0.00350038 0.78208392] [ 0.00563576 0.00348101 0.99997806 -0.57868393] [ 0. 0. 0. 1. ]] SLAMing on 58.766502480999996 meters 0.1119774574831065 Centerline is valid? [False, False] Translation: X:1.95, Y:0.78, Z:-0.58 [[ 0.99997621 -0.00337402 -0.00601701 1.95257671] [ 0.00335207 0.9999877 -0.00365561 0.78263377] [ 0.00602927 0.00363535 0.99997522 -0.57841508] [ 0. 0. 0. 1. ]] SLAMing on 58.796502481 meters 0.11204784498290332 Centerline is valid? [False, False] Translation: X:1.95, Y:0.78, Z:-0.58 [[ 0.99997432 -0.00339026 -0.00631335 1.95294618] [ 0.00336591 0.99998687 -0.00386387 0.78325897] [ 0.00632637 0.00384252 0.99997261 -0.57805499] [ 0. 0. 0. 1. ]] SLAMing on 58.826502481 meters 0.11227116215414684 Centerline is valid? [False, False] Translation: X:1.95, Y:0.78, Z:-0.58 [[ 0.99997397 -0.00332561 -0.00640334 1.95291344] [ 0.00330133 0.99998734 -0.00379836 0.78269714] [ 0.0064159 0.00377713 0.99997228 -0.57769945] [ 0. 0. 0. 1. ]] SLAMing on 58.856502481 meters 0.11226946814566796 Centerline is valid? [False, False] Translation: X:1.95, Y:0.78, Z:-0.58 [[ 0.99997518 -0.00300338 -0.00637348 1.95323562] [ 0.00298306 0.99999044 -0.00319568 0.78132499] [ 0.00638302 0.00317659 0.99997458 -0.57836222] [ 0. 0. 0. 1. ]] SLAMing on 58.886502481 meters 0.11236741100175283 Centerline is valid? [False, False] Translation: X:1.95, Y:0.78, Z:-0.58 [[ 0.99997599 -0.00255785 -0.00644084 1.95390906] [ 0.00254207 0.99999375 -0.00245742 0.77980151] [ 0.00644708 0.00244099 0.99997624 -0.5792646 ] [ 0. 0. 0. 1. ]] SLAMing on 58.916502481 meters 0.11220068616247149 Centerline is valid? [False, False] Translation: X:1.95, Y:0.78, Z:-0.58 [[ 0.99997495 -0.00236879 -0.00667053 1.95454976] [ 0.00235356 0.99999461 -0.00229096 0.77972166] [ 0.00667592 0.0022752 0.99997513 -0.57956373] [ 0. 0. 0. 1. ]] SLAMing on 58.946502480999996 meters 0.1122134878717319 Centerline is valid? [False, False] Translation: X:1.96, Y:0.78, Z:-0.58 [[ 9.99975836e-01 -1.89596934e-03 -6.68826498e-03 1.95522034e+00] [ 1.88625383e-03 9.99997157e-01 -1.45862932e-03 7.78104745e-01] [ 6.69101149e-03 1.44597831e-03 9.99976569e-01 -5.80646522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.976502481 meters 0.11224012096175147 Centerline is valid? [False, False] Translation: X:1.95, Y:0.78, Z:-0.58 [[ 9.99976393e-01 -1.83406867e-03 -6.62183889e-03 1.95497779e+00] [ 1.82555021e-03 9.99997499e-01 -1.29223479e-03 7.77070230e-01] [ 6.62419237e-03 1.28011579e-03 9.99977240e-01 -5.80477703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.006502481 meters 0.11227811381558214 Centerline is valid? [False, False] Translation: X:1.96, Y:0.78, Z:-0.58 [[ 9.99974108e-01 -1.83448744e-03 -6.95837337e-03 1.95522761e+00] [ 1.82423679e-03 9.99997242e-01 -1.47919953e-03 7.77374849e-01] [ 6.96106775e-03 1.46646751e-03 9.99974696e-01 -5.79858370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.036502481 meters 0.11258170773059234 Centerline is valid? [False, False] Translation: X:1.95, Y:0.78, Z:-0.58 [[ 9.99972031e-01 -1.91737570e-03 -7.22917616e-03 1.95494690e+00] [ 1.90517601e-03 9.99996750e-01 -1.69407243e-03 7.77022795e-01] [ 7.23240084e-03 1.68025220e-03 9.99972434e-01 -5.78606154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.066502481 meters 0.11243988469616958 Centerline is valid? [False, False] Translation: X:1.96, Y:0.78, Z:-0.58 [[ 9.99971448e-01 -1.64820315e-03 -7.37478932e-03 1.95549839e+00] [ 1.63862684e-03 9.99997807e-01 -1.30437298e-03 7.76286141e-01] [ 7.37692302e-03 1.29225121e-03 9.99971955e-01 -5.79072978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.096502481 meters 0.11241109200898525 Centerline is valid? [False, False] Translation: X:1.96, Y:0.78, Z:-0.58 [[ 9.99971654e-01 -1.45836918e-03 -7.38683024e-03 1.95574425e+00] [ 1.45127752e-03 9.99998481e-01 -9.65309076e-04 7.75512449e-01] [ 7.38822680e-03 9.54561373e-04 9.99972251e-01 -5.79449043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.126502480999996 meters 0.11229067799926437 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 9.99972964e-01 -1.00283875e-03 -7.28463656e-03 1.95641139e+00] [ 1.00206212e-03 9.99999492e-01 -1.10261131e-04 7.74079418e-01] [ 7.28474343e-03 1.02958492e-04 9.99973461e-01 -5.80862747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.156502481 meters 0.11235997401620194 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 9.99972922e-01 -6.69596519e-04 -7.32844618e-03 1.95702723e+00] [ 6.73035219e-04 9.99999665e-01 4.66770160e-04 7.73209258e-01] [ 7.32813117e-03 -4.71689824e-04 9.99973038e-01 -5.81763877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.186502481 meters 0.1121836013927695 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 9.99973000e-01 -4.75638421e-04 -7.33298401e-03 1.95729501e+00] [ 4.81777415e-04 9.99999535e-01 8.35431657e-04 7.72334683e-01] [ 7.33258324e-03 -8.38941967e-04 9.99972764e-01 -5.82198630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.216502481 meters 0.11210742777285539 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 9.99971855e-01 -4.19646983e-04 -7.49080650e-03 1.95760078e+00] [ 4.25665645e-04 9.99999588e-01 8.01896973e-04 7.72556228e-01] [ 7.49046690e-03 -8.05062983e-04 9.99971622e-01 -5.82187104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.246502481 meters 0.11224370654844028 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 9.99969935e-01 -2.19915190e-04 -7.75119332e-03 1.95822745e+00] [ 2.27419051e-04 9.99999506e-01 9.67222933e-04 7.72393558e-01] [ 7.75097679e-03 -9.68956622e-04 9.99969491e-01 -5.82374642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.276502481 meters 0.1123864666339433 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 9.99967904e-01 4.99002789e-05 -8.01181654e-03 1.95894235e+00] [-3.99774514e-05 9.99999232e-01 1.23867943e-03 7.71997773e-01] [ 8.01187220e-03 -1.23831938e-03 9.99967138e-01 -5.82728002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.306502481 meters 0.1123736814430872 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 9.99966198e-01 7.88462266e-05 -8.22173548e-03 1.95922542e+00] [-6.93140341e-05 9.99999325e-01 1.15966784e-03 7.72092970e-01] [ 8.22182136e-03 -1.15905876e-03 9.99965529e-01 -5.82523331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.336502481 meters 0.1123057368996001 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 9.99965685e-01 1.04167457e-04 -8.28354023e-03 1.95938993e+00] [-9.48128034e-05 9.99999357e-01 1.12969096e-03 7.72222410e-01] [ 8.28365258e-03 -1.12886681e-03 9.99965053e-01 -5.82568800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.366502481 meters 0.11232759123155225 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 0.99994943 -0.00424877 -0.00911525 1.96028122] [ 0.00421389 0.99998374 -0.00384287 0.77404522] [ 0.00913143 0.00380427 0.99995107 -0.58151156] [ 0. 0. 0. 1. ]] SLAMing on 59.396502481 meters 0.11226183622498877 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 0.99994965 -0.00422182 -0.00910301 1.96001602] [ 0.00418859 0.9999845 -0.00366686 0.77307453] [ 0.00911835 0.00362854 0.99995184 -0.58116088] [ 0. 0. 0. 1. ]] SLAMing on 59.426502481 meters 0.11237438269043704 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 0.99994925 -0.00404889 -0.00922511 1.96029859] [ 0.0040175 0.99998608 -0.00341904 0.77245302] [ 0.00923883 0.0033818 0.9999516 -0.58123091] [ 0. 0. 0. 1. ]] SLAMing on 59.456502481 meters 0.11189688407642023 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 0.99994999 -0.0036325 -0.00931747 1.96098744] [ 0.00360772 0.99998991 -0.0026748 0.77105408] [ 0.00932709 0.00264105 0.99995301 -0.58208369] [ 0. 0. 0. 1. ]] SLAMing on 59.486502481 meters 0.11177276388083648 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 0.99995023 -0.00327554 -0.00942366 1.961683 ] [ 0.00325576 0.99999247 -0.00211362 0.77010051] [ 0.00943051 0.00208284 0.99995336 -0.58286786] [ 0. 0. 0. 1. ]] SLAMing on 59.516502480999996 meters 0.11158005845588709 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 9.99949897e-01 -3.06193165e-03 -9.53037744e-03 1.96220586e+00] [ 3.04467435e-03 9.99993700e-01 -1.82474963e-03 7.69774667e-01] [ 9.53590466e-03 1.79564131e-03 9.99952920e-01 -5.83360223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.546502481 meters 0.11182596362043565 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 9.99948231e-01 -2.75161231e-03 -9.79610733e-03 1.96298962e+00] [ 2.73761020e-03 9.99995212e-01 -1.44247637e-03 7.69168635e-01] [ 9.80002956e-03 1.41558377e-03 9.99950977e-01 -5.83821456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.576502481 meters 0.11166482964807636 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 9.99949348e-01 -2.54547049e-03 -9.73770823e-03 1.96302981e+00] [ 2.53519157e-03 9.99996216e-01 -1.06777778e-03 7.67786055e-01] [ 9.74038938e-03 1.04303674e-03 9.99952017e-01 -5.84061738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.606502481 meters 0.11190345439313823 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 9.99945005e-01 -2.70488851e-03 -1.01326529e-02 1.96320163e+00] [ 2.68938622e-03 9.99995193e-01 -1.54324692e-03 7.68883357e-01] [ 1.01367785e-02 1.51591143e-03 9.99947472e-01 -5.83180057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.636502481 meters 0.11192586000916287 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 9.99940814e-01 -2.79251032e-03 -1.05152050e-02 1.96352904e+00] [ 2.77244132e-03 9.99994308e-01 -1.92266254e-03 7.69822737e-01] [ 1.05205142e-02 1.89339596e-03 9.99942865e-01 -5.82503202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.666502481 meters 0.11162401314765838 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 9.99939013e-01 -2.68411580e-03 -1.07128487e-02 1.96376941e+00] [ 2.66486263e-03 9.99994809e-01 -1.81107399e-03 7.69435943e-01] [ 1.07176542e-02 1.78241527e-03 9.99940976e-01 -5.82289924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.696502480999996 meters 0.11157806572767688 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 9.99939925e-01 -2.29172717e-03 -1.07188846e-02 1.96427317e+00] [ 2.27984809e-03 9.99996774e-01 -1.12032641e-03 7.68020080e-01] [ 1.07214175e-02 1.09582167e-03 9.99941924e-01 -5.83090308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.726502481 meters 0.11119420756892003 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.58 [[ 9.99945680e-01 -1.95466905e-03 -1.02379497e-02 1.96437231e+00] [ 1.95332610e-03 9.99998082e-01 -1.41171275e-04 7.66051128e-01] [ 1.02382060e-02 1.21165552e-04 9.99947581e-01 -5.84701379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.756502481 meters 0.11105875297062874 Centerline is valid? [False, False] Translation: X:1.96, Y:0.77, Z:-0.59 [[ 9.99946027e-01 -1.65240798e-03 -1.02573140e-02 1.96490164e+00] [ 1.65640326e-03 9.99998556e-01 3.81022040e-04 7.65154550e-01] [ 1.02566696e-02 -3.97991724e-04 9.99947320e-01 -5.85476883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.786502481 meters 0.11089036250879515 Centerline is valid? [False, False] Translation: X:1.96, Y:0.76, Z:-0.59 [[ 9.99948612e-01 -1.47967177e-03 -1.00291683e-02 1.96486706e+00] [ 1.48828748e-03 9.99998530e-01 8.51656641e-04 7.63962256e-01] [ 1.00278934e-02 -8.66539162e-04 9.99949344e-01 -5.86113767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.816502481 meters 0.11082080334000512 Centerline is valid? [False, False] Translation: X:1.98, Y:0.76, Z:-0.58 [[ 0.99994443 0.00235483 -0.01027613 1.97742223] [-0.00240017 0.99998743 -0.00440215 0.76398554] [ 0.01026563 0.00442657 0.99993751 -0.58321723] [ 0. 0. 0. 1. ]] SLAMing on 59.846502481 meters 0.11077971085401218 Centerline is valid? [False, False] Translation: X:1.98, Y:0.76, Z:-0.58 [[ 0.99994275 0.00232345 -0.01044526 1.97764496] [-0.00237137 0.99998671 -0.00457767 0.76451667] [ 0.01043448 0.00460218 0.99993497 -0.58303467] [ 0. 0. 0. 1. ]] SLAMing on 59.876502480999996 meters 0.11101140222223724 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.58 [[ 0.99993935 0.00213253 -0.01080531 1.97793153] [-0.00218788 0.99998453 -0.00511348 0.76600219] [ 0.01079424 0.00513681 0.99992855 -0.58238276] [ 0. 0. 0. 1. ]] SLAMing on 59.906502481 meters 0.11109426728490548 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.58 [[ 0.99993669 0.00204047 -0.01106607 1.97812266] [-0.00210059 0.99998308 -0.0054238 0.7667402 ] [ 0.01105481 0.0054467 0.99992406 -0.58186635] [ 0. 0. 0. 1. ]] SLAMing on 59.936502481 meters 0.11102337387099631 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.58 [[ 0.99993446 0.00201533 -0.01126984 1.97836396] [-0.00207898 0.99998194 -0.00563875 0.76732105] [ 0.01125827 0.00566182 0.99992059 -0.58158587] [ 0. 0. 0. 1. ]] SLAMing on 59.966502481 meters 0.11100298785579335 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.58 [[ 0.99993378 0.00230208 -0.01127529 1.9789543 ] [-0.00236068 0.99998376 -0.00518679 0.76678867] [ 0.01126316 0.00521306 0.99992298 -0.58250084] [ 0. 0. 0. 1. ]] SLAMing on 59.996502481 meters 0.11081617373326069 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.58 [[ 0.99993333 0.00261671 -0.01124644 1.97966845] [-0.00266936 0.99998554 -0.00466936 0.76630341] [ 0.01123406 0.00469907 0.99992585 -0.58371475] [ 0. 0. 0. 1. ]] SLAMing on 60.026502481 meters 0.11064533576207272 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.59 [[ 9.99980785e-01 1.90474838e-04 6.19620222e-03 1.97815040e+00] [-1.73986675e-04 9.99996443e-01 -2.66144132e-03 7.66710105e-01] [-6.19668712e-03 2.66031212e-03 9.99977262e-01 -5.92852425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.056502481 meters 0.11048405577758987 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.59 [[ 9.99982974e-01 3.86610758e-04 5.82250821e-03 1.97909405e+00] [-3.71410963e-04 9.99996521e-01 -2.61137866e-03 7.67177574e-01] [-5.82349754e-03 2.60917165e-03 9.99979639e-01 -5.93248935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.086502481 meters 0.11044777965677338 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.59 [[ 9.99984433e-01 4.45085760e-04 5.56197590e-03 1.97957746e+00] [-4.30061266e-04 9.99996257e-01 -2.70219140e-03 7.67576813e-01] [-5.56315778e-03 2.69975735e-03 9.99980881e-01 -5.93209720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.116502481 meters 0.11067088513457053 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.59 [[ 9.99985471e-01 3.40407652e-04 5.37969869e-03 1.97943708e+00] [-3.24186265e-04 9.99995400e-01 -3.01588108e-03 7.67854113e-01] [-5.38070057e-03 3.01409323e-03 9.99980981e-01 -5.92402231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.146502481 meters 0.11059625253073492 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.59 [[ 9.99985850e-01 3.56112010e-04 5.30783235e-03 1.97934148e+00] [-3.39889259e-04 9.99995270e-01 -3.05696848e-03 7.67520300e-01] [-5.30889586e-03 3.05512115e-03 9.99981241e-01 -5.92025283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.176502481 meters 0.1107679727240173 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.59 [[ 9.99986193e-01 3.44390272e-04 5.24359167e-03 1.97916159e+00] [-3.28008342e-04 9.99995064e-01 -3.12472047e-03 7.67101454e-01] [-5.24464192e-03 3.12295739e-03 9.99981370e-01 -5.91531441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.206502481 meters 0.11072741266546215 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.59 [[ 9.99987555e-01 4.27654853e-04 4.97069502e-03 1.97955747e+00] [-4.12026140e-04 9.99994970e-01 -3.14476958e-03 7.67137183e-01] [-4.97201489e-03 3.14268239e-03 9.99982701e-01 -5.91335914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.236502481 meters 0.1106545537855495 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.59 [[ 9.99990420e-01 2.41724630e-04 4.37051725e-03 1.97972329e+00] [-2.25139927e-04 9.99992774e-01 -3.79477128e-03 7.68279505e-01] [-4.37140296e-03 3.79375095e-03 9.99983249e-01 -5.89787778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.266502480999996 meters 0.1105252277936423 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.59 [[ 9.99991253e-01 4.13595005e-04 4.16197418e-03 1.98021799e+00] [-3.98646079e-04 9.99993469e-01 -3.59197629e-03 7.68002635e-01] [-4.16343262e-03 3.59028572e-03 9.99984888e-01 -5.89954020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.296502481 meters 0.1105252277936423 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.59 [[ 9.99991253e-01 4.13595005e-04 4.16197418e-03 1.98021799e+00] [-3.98646079e-04 9.99993469e-01 -3.59197629e-03 7.68002635e-01] [-4.16343262e-03 3.59028572e-03 9.99984888e-01 -5.89954020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.326502481 meters 0.11025631151005202 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.59 [[ 0.99998914 -0.00312873 0.00345504 1.98256609] [ 0.00315359 0.99996903 -0.00721116 0.76798351] [-0.00343237 0.00722197 0.99996803 -0.59161428] [ 0. 0. 0. 1. ]] SLAMing on 60.356502481 meters 0.11001983313725118 Centerline is valid? [False, False] Translation: X:1.98, Y:0.76, Z:-0.60 [[ 0.99999027 -0.00218114 0.00383568 1.98386065] [ 0.0022014 0.99998361 -0.00528585 0.76475554] [-0.00382409 0.00529425 0.99997867 -0.59501349] [ 0. 0. 0. 1. ]] SLAMing on 60.386502481 meters 0.10975203689808347 Centerline is valid? [False, False] Translation: X:1.98, Y:0.76, Z:-0.60 [[ 9.99990834e-01 -1.92510232e-03 3.82443297e-03 1.98441439e+00] [ 1.94362631e-03 9.99986370e-01 -4.84579192e-03 7.64206446e-01] [-3.81505220e-03 4.85318077e-03 9.99980946e-01 -5.95882990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.416502481 meters 0.10985803982150269 Centerline is valid? [False, False] Translation: X:1.98, Y:0.76, Z:-0.60 [[ 9.99991235e-01 -1.87508051e-03 3.74361938e-03 1.98451945e+00] [ 1.89310491e-03 9.99986606e-01 -4.81697434e-03 7.64043369e-01] [-3.73453702e-03 4.82401918e-03 9.99981391e-01 -5.95775447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.446502480999996 meters 0.10999944141902174 Centerline is valid? [False, False] Translation: X:1.98, Y:0.76, Z:-0.60 [[ 9.99992298e-01 -1.81103033e-03 3.48189001e-03 1.98480171e+00] [ 1.82795065e-03 9.99986507e-01 -4.86249743e-03 7.63999961e-01] [-3.47303690e-03 4.86882470e-03 9.99982116e-01 -5.95427685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.476502481 meters 0.11012186443791415 Centerline is valid? [False, False] Translation: X:1.98, Y:0.76, Z:-0.59 [[ 9.99993050e-01 -1.89538027e-03 3.21062750e-03 1.98487501e+00] [ 1.91194179e-03 9.99984843e-01 -5.16315472e-03 7.64424288e-01] [-3.20079269e-03 5.16925736e-03 9.99981517e-01 -5.94695707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.506502481 meters 0.1101098392164527 Centerline is valid? [False, False] Translation: X:1.98, Y:0.77, Z:-0.59 [[ 0.99999391 -0.00215279 0.00274811 1.98470693] [ 0.00216871 0.99998081 -0.00580301 0.76534101] [-0.00273556 0.00580893 0.99997939 -0.59303607] [ 0. 0. 0. 1. ]] SLAMing on 60.536502481 meters 0.11009893005870801 Centerline is valid? [False, False] Translation: X:1.98, Y:0.76, Z:-0.59 [[ 9.99994530e-01 -1.93624809e-03 2.68158408e-03 1.98486975e+00] [ 1.95071756e-03 9.99983497e-01 -5.40380326e-03 7.64143474e-01] [-2.67107672e-03 5.40900471e-03 9.99981804e-01 -5.93109280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.566502481 meters 0.11002375990805803 Centerline is valid? [False, False] Translation: X:1.99, Y:0.76, Z:-0.59 [[ 9.99995395e-01 -1.56782148e-03 2.59850704e-03 1.98550683e+00] [ 1.58031678e-03 9.99987166e-01 -4.81358850e-03 7.63058914e-01] [-2.59092685e-03 4.81767280e-03 9.99985038e-01 -5.93903155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.596502481 meters 0.10959887551811104 Centerline is valid? [False, False] Translation: X:1.99, Y:0.76, Z:-0.60 [[ 9.99996101e-01 -6.01289550e-04 2.72684397e-03 1.98709279e+00] [ 6.09611376e-04 9.99995157e-01 -3.05201219e-03 7.60268527e-01] [-2.72499562e-03 3.05366261e-03 9.99991625e-01 -5.96999725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.626502480999996 meters 0.10940029627268333 Centerline is valid? [False, False] Translation: X:1.99, Y:0.76, Z:-0.60 [[ 9.99996177e-01 -1.19336924e-04 2.76240807e-03 1.98787764e+00] [ 1.25389262e-04 9.99997592e-01 -2.19089487e-03 7.58829064e-01] [-2.76213996e-03 2.19123288e-03 9.99993785e-01 -5.98407882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.656502481 meters 0.10954190216793214 Centerline is valid? [False, False] Translation: X:1.99, Y:0.76, Z:-0.60 [[ 9.99996565e-01 1.87229074e-04 2.61439779e-03 1.98843573e+00] [-1.82680746e-04 9.99998470e-01 -1.73985324e-03 7.57847080e-01] [-2.61471955e-03 1.73936966e-03 9.99995069e-01 -5.98885573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.686502481 meters 0.10956350602509901 Centerline is valid? [False, False] Translation: X:1.99, Y:0.76, Z:-0.60 [[ 9.99997362e-01 2.26028914e-04 2.28580930e-03 1.98873911e+00] [-2.21748061e-04 9.99998222e-01 -1.87287545e-03 7.57928321e-01] [-2.28622856e-03 1.87236364e-03 9.99995634e-01 -5.98358716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.716502481 meters 0.10991931132674353 Centerline is valid? [False, False] Translation: X:1.99, Y:0.76, Z:-0.60 [[ 9.99998583e-01 1.55142665e-04 1.67647674e-03 1.98910575e+00] [-1.51168284e-04 9.99997179e-01 -2.37054139e-03 7.58866513e-01] [-1.67683978e-03 2.37028460e-03 9.99995785e-01 -5.97151492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.746502481 meters 0.10978562661684141 Centerline is valid? [False, False] Translation: X:1.99, Y:0.76, Z:-0.60 [[ 9.99999059e-01 2.36865827e-04 1.35119771e-03 1.98948817e+00] [-2.33588003e-04 9.99997031e-01 -2.42550769e-03 7.58825776e-01] [-1.35176822e-03 2.42518979e-03 9.99996146e-01 -5.96773739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.776502481 meters 0.1101855254762023 Centerline is valid? [False, False] Translation: X:1.99, Y:0.76, Z:-0.60 [[ 9.99999380e-01 3.12968952e-04 1.06842524e-03 1.98969321e+00] [-3.10344454e-04 9.99996937e-01 -2.45570004e-03 7.58482917e-01] [-1.06919053e-03 2.45536694e-03 9.99996414e-01 -5.96274178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.806502481 meters 0.11006570643604034 Centerline is valid? [False, False] Translation: X:1.99, Y:0.76, Z:-0.60 [[ 9.99993742e-01 -3.50327880e-03 4.92477553e-04 1.99110066e+00] [ 3.50637465e-03 9.99973163e-01 -6.43263625e-03 7.58265730e-01] [-4.69929018e-04 6.43432280e-03 9.99979189e-01 -5.96849996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.836502481 meters 0.10991167713433823 Centerline is valid? [False, False] Translation: X:1.99, Y:0.76, Z:-0.60 [[ 9.99995399e-01 -3.01482876e-03 3.35940557e-04 1.99203882e+00] [ 3.01667769e-03 9.99979509e-01 -5.64631627e-03 7.56920907e-01] [-3.18910997e-04 5.64730371e-03 9.99984003e-01 -5.97946035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.866502481 meters 0.11004725992522262 Centerline is valid? [False, False] Translation: X:1.99, Y:0.76, Z:-0.60 [[ 9.99995987e-01 -2.83173216e-03 -8.52284866e-05 1.99265444e+00] [ 2.83121469e-03 9.99980544e-01 -5.55843854e-03 7.56715686e-01] [ 1.00966838e-04 5.55817493e-03 9.99984548e-01 -5.97681081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.896502481 meters 0.110142445409583 Centerline is valid? [False, False] Translation: X:1.99, Y:0.76, Z:-0.60 [[ 9.99996358e-01 -2.67942161e-03 -3.23752940e-04 1.99304913e+00] [ 2.67762743e-03 9.99981723e-01 -5.42069513e-03 7.56439190e-01] [ 3.38271350e-04 5.41980849e-03 9.99985256e-01 -5.97599521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.926502481 meters 0.1100088442050649 Centerline is valid? [False, False] Translation: X:1.99, Y:0.75, Z:-0.60 [[ 9.99997363e-01 -2.26563568e-03 -3.75486375e-04 1.99334257e+00] [ 2.26386292e-03 9.99986597e-01 -4.65627081e-03 7.54265835e-01] [ 3.86030756e-04 4.65540848e-03 9.99989089e-01 -5.97987369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.956502481 meters 0.10989769270278692 Centerline is valid? [False, False] Translation: X:1.99, Y:0.75, Z:-0.60 [[ 9.99997917e-01 -1.98196523e-03 -4.87695422e-04 1.99344640e+00] [ 1.97994373e-03 9.99989589e-01 -4.11116300e-03 7.52404824e-01] [ 4.95838527e-04 4.11018883e-03 9.99991430e-01 -5.97892188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.986502481 meters 0.10982734293929862 Centerline is valid? [False, False] Translation: X:1.99, Y:0.75, Z:-0.60 [[ 9.99998259e-01 -1.78644543e-03 -5.39417924e-04 1.99365396e+00] [ 1.78439228e-03 9.99991252e-01 -3.78300564e-03 7.51571942e-01] [ 5.46171338e-04 3.78203651e-03 9.99992699e-01 -5.98082762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.016502480999996 meters 0.10974752215181925 Centerline is valid? [False, False] Translation: X:1.99, Y:0.75, Z:-0.60 [[ 9.99999035e-01 -1.32668267e-03 -4.11214062e-04 1.99378451e+00] [ 1.32553197e-03 9.99995240e-01 -2.78605547e-03 7.48738597e-01] [ 4.14908317e-04 2.78550771e-03 9.99996034e-01 -5.98748967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.046502481 meters 0.10955105262395252 Centerline is valid? [False, False] Translation: X:1.99, Y:0.75, Z:-0.60 [[ 9.99999429e-01 -8.89665367e-04 -5.92727987e-04 1.99450941e+00] [ 8.88422376e-04 9.99997413e-01 -2.09404218e-03 7.47250314e-01] [ 5.94589450e-04 2.09351439e-03 9.99997632e-01 -5.99414124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.076502481 meters 0.10946037980358271 Centerline is valid? [False, False] Translation: X:2.00, Y:0.75, Z:-0.60 [[ 9.99999299e-01 -6.97408826e-04 -9.56851884e-04 1.99517403e+00] [ 6.95551525e-04 9.99997876e-01 -1.94001622e-03 7.47083708e-01] [ 9.58202837e-04 1.93934932e-03 9.99997660e-01 -5.99387704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.106502481 meters 0.10963472273820442 Centerline is valid? [False, False] Translation: X:2.00, Y:0.75, Z:-0.60 [[ 9.99999091e-01 -5.98412460e-04 -1.20815538e-03 1.99573206e+00] [ 5.96103893e-04 9.99997998e-01 -1.91027655e-03 7.47350793e-01] [ 1.20929609e-03 1.90955463e-03 9.99997446e-01 -5.99493272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.136502481 meters 0.10947703355442288 Centerline is valid? [False, False] Translation: X:2.00, Y:0.75, Z:-0.60 [[ 9.99999147e-01 -4.23773106e-05 -1.30553597e-03 1.99669650e+00] [ 4.09980149e-05 9.99999441e-01 -1.05650638e-03 7.45877445e-01] [ 1.30558001e-03 1.05645195e-03 9.99998590e-01 -6.00732637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.166502481 meters 0.10925416626897377 Centerline is valid? [False, False] Translation: X:2.00, Y:0.74, Z:-0.60 [[ 9.99999227e-01 1.03276177e-04 -1.23948738e-03 1.99674748e+00] [-1.04218632e-04 9.99999706e-01 -7.60318434e-04 7.44999207e-01] [ 1.23940849e-03 7.60447024e-04 9.99998943e-01 -6.01015037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.196502480999996 meters 0.10923030194535649 Centerline is valid? [False, False] Translation: X:2.00, Y:0.75, Z:-0.60 [[ 0.99998802 -0.00438867 -0.00216819 1.99733488] [ 0.00437595 0.99997341 -0.00583417 0.74678172] [ 0.00219374 0.00582461 0.99998063 -0.59933734] [ 0. 0. 0. 1. ]] SLAMing on 61.226502481 meters 0.10908708795085183 Centerline is valid? [False, False] Translation: X:2.00, Y:0.75, Z:-0.60 [[ 0.99998881 -0.00418991 -0.00219807 1.99762132] [ 0.00417785 0.99997634 -0.00546433 0.74600395] [ 0.00222091 0.00545509 0.99998265 -0.59971126] [ 0. 0. 0. 1. ]] SLAMing on 61.256502481 meters 0.10873704546660984 Centerline is valid? [False, False] Translation: X:2.00, Y:0.74, Z:-0.60 [[ 0.99999078 -0.00375242 -0.00208814 1.99817834] [ 0.00374272 0.99998227 -0.00463248 0.74438293] [ 0.00210548 0.00462462 0.99998709 -0.60091482] [ 0. 0. 0. 1. ]] SLAMing on 61.286502481 meters 0.10861136212916381 Centerline is valid? [False, False] Translation: X:2.00, Y:0.74, Z:-0.60 [[ 0.99999163 -0.00344607 -0.00220443 1.9988779 ] [ 0.00343687 0.99998542 -0.00416536 0.74374675] [ 0.00221875 0.00415775 0.9999889 -0.60167977] [ 0. 0. 0. 1. ]] SLAMing on 61.316502481 meters 0.10871563270618073 Centerline is valid? [False, False] Translation: X:2.00, Y:0.74, Z:-0.60 [[ 0.99999204 -0.00327218 -0.00228197 1.99933157] [ 0.00326321 0.99998698 -0.00392235 0.74355951] [ 0.00229478 0.00391487 0.9999897 -0.60214217] [ 0. 0. 0. 1. ]] SLAMing on 61.346502481 meters 0.10876179724387984 Centerline is valid? [False, False] Translation: X:2.00, Y:0.74, Z:-0.60 [[ 0.99999159 -0.00321556 -0.00254395 1.99954554] [ 0.00320553 0.99998712 -0.00393575 0.74342775] [ 0.00255657 0.00392757 0.99998902 -0.6017156 ] [ 0. 0. 0. 1. ]] SLAMing on 61.376502480999996 meters 0.10907720534015838 Centerline is valid? [False, False] Translation: X:2.00, Y:0.74, Z:-0.60 [[ 0.99998939 -0.00345251 -0.0030497 1.99975206] [ 0.00343866 0.9999838 -0.00453513 0.74494509] [ 0.0030653 0.00452459 0.99998507 -0.6006221 ] [ 0. 0. 0. 1. ]] SLAMing on 61.406502481 meters 0.10916926755519456 Centerline is valid? [False, False] Translation: X:2.00, Y:0.75, Z:-0.60 [[ 0.9999892 -0.00326455 -0.00330762 2.00056498] [ 0.00324986 0.99998488 -0.0044355 0.74543167] [ 0.00332205 0.0044247 0.99998469 -0.60113006] [ 0. 0. 0. 1. ]] SLAMing on 61.436502481 meters 0.10903695756344979 Centerline is valid? [False, False] Translation: X:2.00, Y:0.74, Z:-0.60 [[ 0.99999001 -0.00290599 -0.00339619 2.0014561 ] [ 0.00289256 0.99998801 -0.00395137 0.74499234] [ 0.00340763 0.00394151 0.99998643 -0.6022522 ] [ 0. 0. 0. 1. ]] SLAMing on 61.466502481 meters 0.10939982034356137 Centerline is valid? [False, False] Translation: X:2.00, Y:0.74, Z:-0.60 [[ 0.99999109 -0.00244251 -0.00344425 2.00258602] [ 0.00243105 0.99999151 -0.00332796 0.7444994 ] [ 0.00345234 0.00331956 0.99998853 -0.60388587] [ 0. 0. 0. 1. ]] SLAMing on 61.496502481 meters 0.10942838631070774 Centerline is valid? [False, False] Translation: X:2.00, Y:0.74, Z:-0.60 [[ 0.999991 -0.00233002 -0.00354669 2.00304225] [ 0.00231848 0.99999201 -0.00325561 0.74471489] [ 0.00355425 0.00324736 0.99998841 -0.60428292] [ 0. 0. 0. 1. ]] SLAMing on 61.526502481 meters 0.10995482224367019 Centerline is valid? [False, False] Translation: X:2.00, Y:0.75, Z:-0.60 [[ 0.99998965 -0.00236097 -0.00388997 2.00363749] [ 0.00234666 0.99999047 -0.00368041 0.74619216] [ 0.00389862 0.00367124 0.99998566 -0.60419814] [ 0. 0. 0. 1. ]] SLAMing on 61.556502481 meters 0.11018220465635349 Centerline is valid? [False, False] Translation: X:2.00, Y:0.75, Z:-0.60 [[ 0.99998865 -0.0023848 -0.00412424 2.00398406] [ 0.00236864 0.99998952 -0.00391807 0.74696328] [ 0.00413354 0.00390826 0.99998382 -0.60401095] [ 0. 0. 0. 1. ]] SLAMing on 61.586502481 meters 0.11074411170696 Centerline is valid? [False, False] Translation: X:2.00, Y:0.75, Z:-0.60 [[ 0.99998554 -0.00264055 -0.00468581 2.00419584] [ 0.00261849 0.99998549 -0.00470796 0.74897362] [ 0.00469817 0.00469562 0.99997794 -0.60273154] [ 0. 0. 0. 1. ]] SLAMing on 61.616502481 meters 0.11089763846837188 Centerline is valid? [False, False] Translation: X:2.00, Y:0.75, Z:-0.60 [[ 0.99998404 -0.00273064 -0.00494655 2.00424096] [ 0.00270584 0.99998378 -0.00501266 0.74944348] [ 0.00496015 0.0049992 0.9999752 -0.60202459] [ 0. 0. 0. 1. ]] SLAMing on 61.646502481 meters 0.11110685172325722 Centerline is valid? [False, False] Translation: X:2.00, Y:0.75, Z:-0.60 [[ 0.99998384 -0.00273262 -0.00498541 2.00417918] [ 0.00270744 0.99998358 -0.00505118 0.74937346] [ 0.00499913 0.0050376 0.99997482 -0.60183198] [ 0. 0. 0. 1. ]] SLAMing on 61.676502481 meters 0.11102787524205922 Centerline is valid? [False, False] Translation: X:2.00, Y:0.75, Z:-0.60 [[ 0.99998444 -0.00244309 -0.00501574 2.00480035] [ 0.00242001 0.99998648 -0.00460237 0.74878601] [ 0.00502691 0.00459016 0.99997683 -0.6027337 ] [ 0. 0. 0. 1. ]] SLAMing on 61.706502481 meters 0.1109443485620437 Centerline is valid? [False, False] Translation: X:2.01, Y:0.75, Z:-0.61 [[ 9.99986576e-01 -1.71260361e-03 -4.89028163e-03 2.00613842e+00] [ 1.69640411e-03 9.99993067e-01 -3.31481816e-03 7.47110480e-01] [ 4.89592469e-03 3.30647777e-03 9.99982548e-01 -6.05323695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.736502481 meters 0.11094268102658314 Centerline is valid? [False, False] Translation: X:2.01, Y:0.75, Z:-0.61 [[ 9.99986630e-01 -1.39810214e-03 -4.97839878e-03 2.00684883e+00] [ 1.38404235e-03 9.99995048e-01 -2.82648587e-03 7.46496929e-01] [ 4.98232584e-03 2.81955777e-03 9.99983613e-01 -6.06188292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.766502480999996 meters 0.11119431196492698 Centerline is valid? [False, False] Translation: X:2.01, Y:0.75, Z:-0.61 [[ 9.99985947e-01 -1.31935889e-03 -5.13474994e-03 2.00721656e+00] [ 1.30554652e-03 9.99995523e-01 -2.69240224e-03 7.46563245e-01] [ 5.13827920e-03 2.68566075e-03 9.99983193e-01 -6.06319697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.796502481 meters 0.11038569307235876 Centerline is valid? [False, False] Translation: X:2.01, Y:0.75, Z:-0.61 [[ 9.99985708e-01 -1.24712540e-03 -5.19887521e-03 2.00736648e+00] [ 1.23406438e-03 9.99996077e-01 -2.51473025e-03 7.46272811e-01] [ 5.20199100e-03 2.50827857e-03 9.99983324e-01 -6.06352465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.826502481 meters 0.110390315983363 Centerline is valid? [False, False] Translation: X:2.01, Y:0.75, Z:-0.61 [[ 9.99985892e-01 -1.10264781e-03 -5.19623500e-03 2.00752424e+00] [ 1.09100539e-03 9.99996890e-01 -2.24285317e-03 7.45671691e-01] [ 5.19869191e-03 2.23715241e-03 9.99983984e-01 -6.06611122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.856502481 meters 0.11014537920324907 Centerline is valid? [False, False] Translation: X:2.01, Y:0.74, Z:-0.61 [[ 9.99988388e-01 -1.07819384e-03 -4.69701938e-03 2.00691796e+00] [ 1.06976950e-03 9.99997816e-01 -1.79569319e-03 7.44207056e-01] [ 4.69894522e-03 1.79064761e-03 9.99987357e-01 -6.07104777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.886502481 meters 0.1100356089355949 Centerline is valid? [False, False] Translation: X:2.01, Y:0.74, Z:-0.61 [[ 9.99988507e-01 -9.98991994e-04 -4.68912156e-03 2.00698093e+00] [ 9.91379410e-04 9.99998187e-01 -1.62549997e-03 7.43762099e-01] [ 4.69073692e-03 1.62083259e-03 9.99987685e-01 -6.07215924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.916502481 meters 0.10984238972454372 Centerline is valid? [False, False] Translation: X:2.01, Y:0.74, Z:-0.61 [[ 9.99988678e-01 -9.23311574e-04 -4.66821357e-03 2.00711364e+00] [ 9.16978765e-04 9.99998657e-01 -1.35853920e-03 7.43344671e-01] [ 4.66946166e-03 1.35424317e-03 9.99988181e-01 -6.07497784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.946502480999996 meters 0.10972931524719129 Centerline is valid? [False, False] Translation: X:2.01, Y:0.74, Z:-0.61 [[ 9.99988246e-01 -8.42646486e-04 -4.77471643e-03 2.00740423e+00] [ 8.36675042e-04 9.99998866e-01 -1.25249783e-03 7.43239389e-01] [ 4.77576642e-03 1.24848823e-03 9.99987817e-01 -6.07610994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.976502481 meters 0.1097855093561379 Centerline is valid? [False, False] Translation: X:2.01, Y:0.74, Z:-0.61 [[ 9.99987728e-01 -1.11144861e-03 -4.82788559e-03 2.00696103e+00] [ 1.10384375e-03 9.99998146e-01 -1.57757510e-03 7.43700077e-01] [ 4.82963004e-03 1.57222650e-03 9.99987101e-01 -6.06724899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.006502481 meters 0.10979050079643232 Centerline is valid? [False, False] Translation: X:2.01, Y:0.74, Z:-0.61 [[ 9.99986913e-01 -1.10095188e-03 -4.99626973e-03 2.00705831e+00] [ 1.09293574e-03 9.99998112e-01 -1.60687253e-03 7.43610004e-01] [ 4.99802939e-03 1.60139090e-03 9.99986228e-01 -6.06342777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.036502481 meters 0.10985287487702443 Centerline is valid? [False, False] Translation: X:2.01, Y:0.74, Z:-0.61 [[ 9.99988511e-01 -7.84082481e-04 -4.72899334e-03 2.00731694e+00] [ 7.80395074e-04 9.99999390e-01 -7.81539537e-04 7.41961718e-01] [ 4.72960325e-03 7.77840074e-04 9.99988513e-01 -6.07535751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.066502481 meters 0.10987142214760746 Centerline is valid? [False, False] Translation: X:2.01, Y:0.74, Z:-0.61 [[ 9.99989208e-01 -2.99164518e-04 -4.63620773e-03 2.00800785e+00] [ 2.99688486e-04 9.99999949e-01 1.12322252e-04 7.40330729e-01] [ 4.63617389e-03 -1.13710458e-04 9.99989246e-01 -6.08905514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.096502481 meters 0.11003986448505666 Centerline is valid? [False, False] Translation: X:2.01, Y:0.74, Z:-0.61 [[ 9.99990145e-01 -1.39645738e-04 -4.43749277e-03 2.00822446e+00] [ 1.42094871e-04 9.99999838e-01 5.51607724e-04 7.39654226e-01] [ 4.43741502e-03 -5.52232833e-04 9.99990002e-01 -6.09839619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.126502480999996 meters 0.11022888563332306 Centerline is valid? [False, False] Translation: X:2.01, Y:0.74, Z:-0.61 [[ 9.99989027e-01 -3.97031215e-04 -4.66771677e-03 2.00818887e+00] [ 3.96900522e-04 9.99999921e-01 -2.89255750e-05 7.40954235e-01] [ 4.66772788e-03 2.70726384e-05 9.99989106e-01 -6.09045263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.156502481 meters 0.1102568794620573 Centerline is valid? [False, False] Translation: X:2.01, Y:0.74, Z:-0.61 [[ 9.99985697e-01 -9.44885906e-04 -5.26428553e-03 2.00812048e+00] [ 9.37692620e-04 9.99998624e-01 -1.36873219e-03 7.43869590e-01] [ 5.26557158e-03 1.36377633e-03 9.99985207e-01 -6.07082880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.186502481 meters 0.11025758313752496 Centerline is valid? [False, False] Translation: X:2.01, Y:0.74, Z:-0.61 [[ 9.99985525e-01 -7.99534486e-04 -5.32078365e-03 2.00845484e+00] [ 7.93092039e-04 9.99998950e-01 -1.21280778e-03 7.43649430e-01] [ 5.32174774e-03 1.20857035e-03 9.99985109e-01 -6.07414717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.216502481 meters 0.11025758313752496 Centerline is valid? [False, False] Translation: X:2.01, Y:0.74, Z:-0.61 [[ 9.99985525e-01 -7.99534486e-04 -5.32078365e-03 2.00845484e+00] [ 7.93092039e-04 9.99998950e-01 -1.21280778e-03 7.43649430e-01] [ 5.32174774e-03 1.20857035e-03 9.99985109e-01 -6.07414717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.246502481 meters 0.11006723042834093 Centerline is valid? [False, False] Translation: X:2.01, Y:0.74, Z:-0.61 [[ 9.99985151e-01 -6.43407929e-04 -5.41143408e-03 2.00912160e+00] [ 6.37493267e-04 9.99999198e-01 -1.09464726e-03 7.43926331e-01] [ 5.41213404e-03 1.09118125e-03 9.99984759e-01 -6.08143868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.276502481 meters 0.11015442777664178 Centerline is valid? [False, False] Translation: X:2.01, Y:0.74, Z:-0.61 [[ 9.99982774e-01 -6.11879060e-04 -5.83760832e-03 2.00992656e+00] [ 6.04058587e-04 9.99998918e-01 -1.34133985e-03 7.44950299e-01] [ 5.83842274e-03 1.33779049e-03 9.99982061e-01 -6.08074431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.306502481 meters 0.10998114191615005 Centerline is valid? [False, False] Translation: X:2.01, Y:0.75, Z:-0.61 [[ 9.99977261e-01 -4.59139090e-04 -6.72803251e-03 2.01169816e+00] [ 4.46842701e-04 9.99998227e-01 -1.82902455e-03 7.47655234e-01] [ 6.72886036e-03 1.82597659e-03 9.99975694e-01 -6.08207407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.336502481 meters 0.10977426144253934 Centerline is valid? [False, False] Translation: X:2.01, Y:0.75, Z:-0.61 [[ 9.99972850e-01 -1.36690866e-04 -7.36748668e-03 2.01348557e+00] [ 1.22055437e-04 9.99998019e-01 -1.98690163e-03 7.49562838e-01] [ 7.36774367e-03 1.98594844e-03 9.99970886e-01 -6.09103546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.366502481 meters 0.10974895959873733 Centerline is valid? [False, False] Translation: X:2.01, Y:0.75, Z:-0.61 [[ 9.99970400e-01 -1.33059216e-05 -7.69414717e-03 2.01445794e+00] [-4.44009309e-06 9.99997340e-01 -2.30640869e-03 7.51089328e-01] [ 7.69415739e-03 2.30637458e-03 9.99967740e-01 -6.09600335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.396502481 meters 0.10988724941074285 Centerline is valid? [False, False] Translation: X:2.01, Y:0.75, Z:-0.61 [[ 9.99967229e-01 -2.05151384e-04 -8.09315641e-03 2.01484326e+00] [ 1.80867838e-04 9.99995480e-01 -3.00112160e-03 7.52850922e-01] [ 8.09373551e-03 2.99955946e-03 9.99962746e-01 -6.08953628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.426502481 meters 0.11014278013876791 Centerline is valid? [False, False] Translation: X:2.02, Y:0.76, Z:-0.61 [[ 9.99957573e-01 -6.33566951e-04 -9.18975811e-03 2.01558100e+00] [ 5.88384558e-04 9.99987731e-01 -4.91847374e-03 7.57587877e-01] [ 9.19276155e-03 4.91285795e-03 9.99945677e-01 -6.06797539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.456502481 meters 0.11045462393138336 Centerline is valid? [False, False] Translation: X:2.02, Y:0.76, Z:-0.61 [[ 9.99953626e-01 -5.62651771e-04 -9.61396914e-03 2.01640679e+00] [ 5.12273758e-04 9.99986131e-01 -5.24174409e-03 7.58839943e-01] [ 9.61678508e-03 5.23657603e-03 9.99940046e-01 -6.06785746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.486502481 meters 0.11124938617658264 Centerline is valid? [False, False] Translation: X:2.02, Y:0.76, Z:-0.61 [[ 9.99948627e-01 -6.56600945e-04 -1.01149786e-02 2.01717957e+00] [ 5.94177067e-04 9.99980769e-01 -6.17319900e-03 7.61582553e-01] [ 1.01188374e-02 6.16687177e-03 9.99929787e-01 -6.06419833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.516502480999996 meters 0.11127613917031538 Centerline is valid? [False, False] Translation: X:2.02, Y:0.76, Z:-0.61 [[ 9.99945242e-01 -9.12111145e-04 -1.04250155e-02 2.01723997e+00] [ 8.40133258e-04 9.99975796e-01 -6.90663856e-03 7.63267922e-01] [ 1.04310627e-02 6.89750196e-03 9.99921806e-01 -6.05525890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.546502481 meters 0.11243227017534134 Centerline is valid? [False, False] Translation: X:2.02, Y:0.76, Z:-0.60 [[ 0.99994149 0.00306945 -0.01037325 2.01660146] [-0.00310348 0.99998985 -0.00326663 0.76445491] [ 0.01036312 0.00329863 0.99994086 -0.60457674] [ 0. 0. 0. 1. ]] SLAMing on 62.576502481 meters 0.11273139222953404 Centerline is valid? [False, False] Translation: X:2.02, Y:0.77, Z:-0.60 [[ 0.99993645 0.00317432 -0.01081793 2.01756253] [-0.00321263 0.99998863 -0.00352501 0.7657884 ] [ 0.01080662 0.00355954 0.99993527 -0.60474528] [ 0. 0. 0. 1. ]] SLAMing on 62.606502481 meters 0.11307471096887478 Centerline is valid? [False, False] Translation: X:2.02, Y:0.77, Z:-0.61 [[ 0.99993503 0.00342203 -0.01087298 2.01829127] [-0.00345674 0.99998899 -0.00317443 0.76564828] [ 0.010862 0.00321181 0.99993585 -0.6057165 ] [ 0. 0. 0. 1. ]] SLAMing on 62.636502481 meters 0.11325314948015373 Centerline is valid? [False, False] Translation: X:2.02, Y:0.77, Z:-0.61 [[ 0.99993308 0.0036982 -0.01096131 2.01910756] [-0.00372872 0.99998923 -0.00276492 0.76543444] [ 0.01095096 0.00280561 0.9999361 -0.60674767] [ 0. 0. 0. 1. ]] SLAMing on 62.666502481 meters 0.11347954887094797 Centerline is valid? [False, False] Translation: X:2.02, Y:0.77, Z:-0.61 [[ 9.99930867e-01 -6.88975671e-04 -1.17382710e-02 2.01994149e+00] [ 5.98929402e-04 9.99970383e-01 -7.67295875e-03 7.67210925e-01] [ 1.17432099e-02 7.66539790e-03 9.99901665e-01 -6.05866861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.696502480999996 meters 0.11333301838015676 Centerline is valid? [False, False] Translation: X:2.02, Y:0.77, Z:-0.61 [[ 9.99930427e-01 -5.60185963e-04 -1.17824833e-02 2.02008425e+00] [ 4.72404668e-04 9.99972125e-01 -7.45161640e-03 7.66653478e-01] [ 1.17863291e-02 7.44553187e-03 9.99902819e-01 -6.05968958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.726502481 meters 0.1132064893065995 Centerline is valid? [False, False] Translation: X:2.02, Y:0.77, Z:-0.61 [[ 9.99930630e-01 -5.97802115e-04 -1.17633754e-02 2.01986121e+00] [ 5.10507232e-04 9.99972322e-01 -7.42250829e-03 7.66289047e-01] [ 1.17674870e-02 7.41598811e-03 9.99903260e-01 -6.05688201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.756502481 meters 0.11339896927140689 Centerline is valid? [False, False] Translation: X:2.02, Y:0.77, Z:-0.61 [[ 9.99930023e-01 -4.64314810e-04 -1.18208542e-02 2.02002262e+00] [ 3.79467772e-04 9.99974159e-01 -7.17897295e-03 7.65701011e-01] [ 1.18238821e-02 7.17398496e-03 9.99904360e-01 -6.05786690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.786502481 meters 0.11275775180200792 Centerline is valid? [False, False] Translation: X:2.02, Y:0.76, Z:-0.61 [[ 9.99933901e-01 -2.33360651e-04 -1.14951377e-02 2.01953526e+00] [ 1.59890351e-04 9.99979559e-01 -6.39192848e-03 7.63062021e-01] [ 1.14963944e-02 6.38966802e-03 9.99913499e-01 -6.06024557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.816502481 meters 0.11227740396784378 Centerline is valid? [False, False] Translation: X:2.02, Y:0.76, Z:-0.61 [[ 9.99936039e-01 1.40207095e-04 -1.13091907e-02 2.01956409e+00] [-1.99770721e-04 9.99986115e-01 -5.26587590e-03 7.60084228e-01] [ 1.13082954e-02 5.26779834e-03 9.99922183e-01 -6.06728563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.846502481 meters 0.11193302362437985 Centerline is valid? [False, False] Translation: X:2.02, Y:0.76, Z:-0.61 [[ 9.99935012e-01 5.19951443e-04 -1.13886934e-02 2.02012503e+00] [-5.71460236e-04 9.99989621e-01 -4.52001377e-03 7.58593260e-01] [ 1.13862250e-02 4.52622821e-03 9.99924931e-01 -6.07425745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.876502480999996 meters 0.11119351151166235 Centerline is valid? [False, False] Translation: X:2.02, Y:0.76, Z:-0.61 [[ 9.99937233e-01 8.88085681e-04 -1.11687289e-02 2.02032366e+00] [-9.27397063e-04 9.99993392e-01 -3.51508587e-03 7.56384477e-01] [ 1.11655334e-02 3.52522309e-03 9.99931449e-01 -6.08453917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.906502481 meters 0.11107581311842007 Centerline is valid? [False, False] Translation: X:2.02, Y:0.75, Z:-0.61 [[ 9.99938522e-01 1.29225995e-03 -1.10128454e-02 2.02068530e+00] [-1.32198594e-03 9.99995502e-01 -2.69235858e-03 7.54675644e-01] [ 1.10093167e-02 2.70675188e-03 9.99935732e-01 -6.09493810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.936502481 meters 0.11108818639502088 Centerline is valid? [False, False] Translation: X:2.02, Y:0.75, Z:-0.61 [[ 0.99993165 -0.00281255 -0.01134794 2.02148187] [ 0.00273595 0.99997341 -0.00676016 0.75443839] [ 0.01136665 0.00672865 0.99991276 -0.60972421] [ 0. 0. 0. 1. ]] SLAMing on 62.966502481 meters 0.1108555096582769 Centerline is valid? [False, False] Translation: X:2.02, Y:0.75, Z:-0.61 [[ 0.99993306 -0.00287265 -0.01120826 2.02092073] [ 0.00279835 0.99997404 -0.00663936 0.75355556] [ 0.01122704 0.00660755 0.99991514 -0.60928803] [ 0. 0. 0. 1. ]] SLAMing on 62.996502481 meters 0.11078619776272083 Centerline is valid? [False, False] Translation: X:2.02, Y:0.75, Z:-0.61 [[ 0.99993119 -0.00289729 -0.01136795 2.02092301] [ 0.00282075 0.99997329 -0.00674289 0.75356231] [ 0.01138718 0.00671036 0.99991265 -0.60880559] [ 0. 0. 0. 1. ]] SLAMing on 63.026502481 meters 0.11097932353453287 Centerline is valid? [False, False] Translation: X:2.02, Y:0.75, Z:-0.61 [[ 0.99992928 -0.00284437 -0.01154764 2.02104682] [ 0.00276671 0.99997349 -0.00673484 0.7533858 ] [ 0.0115665 0.00670241 0.99991064 -0.60845881] [ 0. 0. 0. 1. ]] SLAMing on 63.056502481 meters 0.11058678255299047 Centerline is valid? [False, False] Translation: X:2.02, Y:0.75, Z:-0.61 [[ 0.99993256 -0.0025271 -0.01133563 2.02114962] [ 0.00245847 0.99997859 -0.00606389 0.75172944] [ 0.01135071 0.00603562 0.99991736 -0.60922503] [ 0. 0. 0. 1. ]] SLAMing on 63.086502481 meters 0.11037270726343393 Centerline is valid? [False, False] Translation: X:2.02, Y:0.75, Z:-0.61 [[ 9.99938171e-01 -1.94237848e-03 -1.09489984e-02 2.02164443e+00] [ 1.88941167e-03 9.99986474e-01 -4.84586361e-03 7.49209254e-01] [ 1.09582628e-02 4.82487684e-03 9.99928316e-01 -6.11160982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.116502481 meters 0.11026569815681793 Centerline is valid? [False, False] Translation: X:2.02, Y:0.75, Z:-0.61 [[ 9.99936636e-01 -1.80707930e-03 -1.11111653e-02 2.02219556e+00] [ 1.75489426e-03 9.99987394e-01 -4.70458804e-03 7.49267181e-01] [ 1.11195268e-02 4.68479102e-03 9.99927202e-01 -6.11524725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.146502481 meters 0.11037816156700675 Centerline is valid? [False, False] Translation: X:2.02, Y:0.75, Z:-0.61 [[ 9.99929785e-01 -1.75876613e-03 -1.17188242e-02 2.02310419e+00] [ 1.70037359e-03 9.99986100e-01 -4.99090040e-03 7.50684717e-01] [ 1.17274391e-02 4.97062358e-03 9.99918877e-01 -6.11187285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.176502481 meters 0.11023236075749669 Centerline is valid? [False, False] Translation: X:2.02, Y:0.75, Z:-0.61 [[ 9.99928051e-01 -1.64227683e-03 -1.18825605e-02 2.02352938e+00] [ 1.58419379e-03 9.99986760e-01 -4.89585383e-03 7.50697197e-01] [ 1.18904436e-02 4.87667730e-03 9.99917414e-01 -6.11350591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.206502481 meters 0.11024254973275457 Centerline is valid? [False, False] Translation: X:2.02, Y:0.75, Z:-0.61 [[ 9.99930799e-01 -1.42505372e-03 -1.16775849e-02 2.02362634e+00] [ 1.37294213e-03 9.99989070e-01 -4.46933386e-03 7.49711544e-01] [ 1.16838263e-02 4.45299193e-03 9.99921826e-01 -6.12090085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.236502481 meters 0.11026144046376378 Centerline is valid? [False, False] Translation: X:2.02, Y:0.75, Z:-0.61 [[ 9.99930761e-01 -1.22220968e-03 -1.17038384e-02 2.02400815e+00] [ 1.17341788e-03 9.99990597e-01 -4.17483185e-03 7.49225711e-01] [ 1.17088309e-02 4.16080929e-03 9.99922792e-01 -6.12604364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.266502480999996 meters 0.11041660547777914 Centerline is valid? [False, False] Translation: X:2.02, Y:0.75, Z:-0.61 [[ 9.99929149e-01 -1.21458147e-03 -1.18415036e-02 2.02421433e+00] [ 1.16330297e-03 9.99989921e-01 -4.33633098e-03 7.49626078e-01] [ 1.18466510e-02 4.32224849e-03 9.99920484e-01 -6.12499408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.296502481 meters 0.11040938362276564 Centerline is valid? [False, False] Translation: X:2.02, Y:0.75, Z:-0.61 [[ 9.99927248e-01 -1.13199760e-03 -1.20090506e-02 2.02452480e+00] [ 1.08023841e-03 9.99990104e-01 -4.31562627e-03 7.49675218e-01] [ 1.20138170e-02 4.30233966e-03 9.99918576e-01 -6.12505040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.326502481 meters 0.11040157739225534 Centerline is valid? [False, False] Translation: X:2.02, Y:0.75, Z:-0.61 [[ 9.99927197e-01 -9.49804106e-04 -1.20290400e-02 2.02491692e+00] [ 9.00180721e-04 9.99991066e-01 -4.13004158e-03 7.49444199e-01] [ 1.20328552e-02 4.11891259e-03 9.99919119e-01 -6.13034329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.356502481 meters 0.1104179928178402 Centerline is valid? [False, False] Translation: X:2.03, Y:0.75, Z:-0.61 [[ 9.99926125e-01 -8.51794872e-04 -1.21251337e-02 2.02527176e+00] [ 8.02693770e-04 9.99991461e-01 -4.05382154e-03 7.49518679e-01] [ 1.21284831e-02 4.04378929e-03 9.99918270e-01 -6.13301127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.386502481 meters 0.11039592061883678 Centerline is valid? [False, False] Translation: X:2.03, Y:0.75, Z:-0.61 [[ 9.99922495e-01 -8.18482106e-04 -1.24230987e-02 2.02574862e+00] [ 7.65383008e-04 9.99990555e-01 -4.27837602e-03 7.50372804e-01] [ 1.24264832e-02 4.26853600e-03 9.99913677e-01 -6.13134944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.416502481 meters 0.11061002365740799 Centerline is valid? [False, False] Translation: X:2.03, Y:0.75, Z:-0.61 [[ 9.99920692e-01 -5.00346239e-04 -1.25840949e-02 2.02658848e+00] [ 4.51568276e-04 9.99992376e-01 -3.87870254e-03 7.49980955e-01] [ 1.25859397e-02 3.87271235e-03 9.99913294e-01 -6.13953908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.446502480999996 meters 0.11070487694198258 Centerline is valid? [False, False] Translation: X:2.03, Y:0.75, Z:-0.62 [[ 9.99916240e-01 1.15015826e-04 -1.29421957e-02 2.02839141e+00] [-1.56316723e-04 9.99994899e-01 -3.19021533e-03 7.49862692e-01] [ 1.29417627e-02 3.19197120e-03 9.99911157e-01 -6.15750536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.476502481 meters 0.11084874105207504 Centerline is valid? [False, False] Translation: X:2.04, Y:0.75, Z:-0.61 [[ 0.99994653 0.00510311 -0.00899375 2.03937681] [-0.00516584 0.9999624 -0.00696476 0.75198164] [ 0.00895787 0.00701085 0.9999353 -0.61449448] [ 0. 0. 0. 1. ]] SLAMing on 63.506502481 meters 0.11094983698237873 Centerline is valid? [False, False] Translation: X:2.04, Y:0.75, Z:-0.61 [[ 0.9999468 0.00501375 -0.00901417 2.03916754] [-0.00507856 0.99996131 -0.00718173 0.75209974] [ 0.00897781 0.00722713 0.99993358 -0.61407735] [ 0. 0. 0. 1. ]] SLAMing on 63.536502481 meters 0.11120900805691518 Centerline is valid? [False, False] Translation: X:2.04, Y:0.75, Z:-0.61 [[ 9.99953485e-01 6.95833560e-04 -9.61991173e-03 2.03979690e+00] [-8.12150696e-04 9.99926551e-01 -1.20926752e-02 7.53463758e-01] [ 9.61079067e-03 1.20999255e-02 9.99880605e-01 -6.13323992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.566502481 meters 0.11132625495919997 Centerline is valid? [False, False] Translation: X:2.04, Y:0.75, Z:-0.61 [[ 9.99952985e-01 1.02397300e-03 -9.64253375e-03 2.04034817e+00] [-1.13572296e-03 9.99932178e-01 -1.15909380e-02 7.52547819e-01] [ 9.63001097e-03 1.16013443e-02 9.99886329e-01 -6.14134192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.596502481 meters 0.11152805095431619 Centerline is valid? [False, False] Translation: X:2.04, Y:0.75, Z:-0.61 [[ 9.99952184e-01 1.33517715e-03 -9.68751488e-03 2.04096708e+00] [-1.44346045e-03 9.99936468e-01 -1.11792453e-02 7.51953709e-01] [ 9.67197314e-03 1.11926943e-02 9.99890582e-01 -6.14972283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.626502480999996 meters 0.11163293583225914 Centerline is valid? [False, False] Translation: X:2.04, Y:0.75, Z:-0.62 [[ 9.99950236e-01 1.52500470e-03 -9.85899727e-03 2.04150991e+00] [-1.63324197e-03 9.99938386e-01 -1.09798134e-02 7.51836464e-01] [ 9.84164556e-03 1.09953691e-02 9.99891116e-01 -6.15308323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.656502481 meters 0.11197275411729368 Centerline is valid? [False, False] Translation: X:2.04, Y:0.75, Z:-0.62 [[ 9.99946221e-01 1.81037655e-03 -1.02116306e-02 2.04233653e+00] [-1.92021199e-03 9.99940305e-01 -1.07563865e-02 7.51682577e-01] [ 1.01915479e-02 1.07754165e-02 9.99890005e-01 -6.15595892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.686502481 meters 0.1123539257653234 Centerline is valid? [False, False] Translation: X:2.04, Y:0.75, Z:-0.62 [[ 9.99943261e-01 1.86833889e-03 -1.04873337e-02 2.04250643e+00] [-1.98184034e-03 9.99939468e-01 -1.08227790e-02 7.51642950e-01] [ 1.04664782e-02 1.08429492e-02 9.99886435e-01 -6.15088184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.716502481 meters 0.11289176910371874 Centerline is valid? [False, False] Translation: X:2.04, Y:0.75, Z:-0.62 [[ 9.99941895e-01 2.00453097e-03 -1.05918986e-02 2.04273517e+00] [-2.11725214e-03 9.99941134e-01 -1.06417315e-02 7.51226699e-01] [ 1.05699434e-02 1.06635389e-02 9.99887276e-01 -6.15155175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.746502481 meters 0.112381564716369 Centerline is valid? [False, False] Translation: X:2.04, Y:0.75, Z:-0.62 [[ 0.99994386 0.0025542 -0.01028335 2.04307284] [-0.00265221 0.99995109 -0.0095285 0.74871224] [ 0.01025851 0.00955524 0.99990173 -0.61664091] [ 0. 0. 0. 1. ]] SLAMing on 63.776502481 meters 0.11228323907104774 Centerline is valid? [False, False] Translation: X:2.04, Y:0.75, Z:-0.62 [[ 0.99994269 0.00325426 -0.01019911 2.04409173] [-0.00333863 0.99996026 -0.00826591 0.74645724] [ 0.01017181 0.00829949 0.99991382 -0.61856019] [ 0. 0. 0. 1. ]] SLAMing on 63.806502481 meters 0.11209449186350808 Centerline is valid? [False, False] Translation: X:2.04, Y:0.74, Z:-0.62 [[ 0.99994132 0.00374995 -0.01016354 2.04474917] [-0.00382502 0.99996548 -0.0073764 0.74463735] [ 0.01013553 0.00741485 0.99992114 -0.61975569] [ 0. 0. 0. 1. ]] SLAMing on 63.836502481 meters 0.11214341968203971 Centerline is valid? [False, False] Translation: X:2.04, Y:0.74, Z:-0.62 [[ 0.99994159 0.00395351 -0.010059 2.0447727 ] [-0.00402284 0.99996823 -0.00688187 0.74327 ] [ 0.01003147 0.00692193 0.99992573 -0.62015723] [ 0. 0. 0. 1. ]] SLAMing on 63.866502481 meters 0.11212132888282757 Centerline is valid? [False, False] Translation: X:2.04, Y:0.74, Z:-0.62 [[ 0.99994303 0.00404941 -0.0098757 2.04429945] [-0.00411355 0.99997053 -0.00648269 0.74147994] [ 0.00984916 0.00652295 0.99993022 -0.61999269] [ 0. 0. 0. 1. ]] SLAMing on 63.896502481 meters 0.11213903548815903 Centerline is valid? [False, False] Translation: X:2.06, Y:0.74, Z:-0.62 [[ 9.99988804e-01 -6.34016459e-04 -4.68940974e-03 2.05653801e+00] [ 6.26176851e-04 9.99998404e-01 -1.67304783e-03 7.39770116e-01] [ 4.69046300e-03 1.67009270e-03 9.99987605e-01 -6.22032426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.926502481 meters 0.11219254593533601 Centerline is valid? [False, False] Translation: X:2.06, Y:0.74, Z:-0.62 [[ 9.99988437e-01 -3.08832408e-04 -4.79892157e-03 2.05685527e+00] [ 3.03984873e-04 9.99999443e-01 -1.01082649e-03 7.37914045e-01] [ 4.79923107e-03 1.00935600e-03 9.99987974e-01 -6.22292420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.956502481 meters 0.11196172716315578 Centerline is valid? [False, False] Translation: X:2.06, Y:0.74, Z:-0.62 [[ 9.99988384e-01 -1.32894793e-04 -4.81812079e-03 2.05707101e+00] [ 1.29621635e-04 9.99999761e-01 -6.79649094e-04 7.37084390e-01] [ 4.81820996e-03 6.79016667e-04 9.99988162e-01 -6.22588509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.986502481 meters 0.11175448757287532 Centerline is valid? [False, False] Translation: X:2.06, Y:0.74, Z:-0.62 [[ 9.99987812e-01 1.34051344e-04 -4.93539465e-03 2.05746847e+00] [-1.35142516e-04 9.99999967e-01 -2.20758238e-04 7.35996262e-01] [ 4.93536489e-03 2.21422529e-04 9.99987796e-01 -6.22898029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01650248099999 meters 0.11157600502999278 Centerline is valid? [False, False] Translation: X:2.06, Y:0.73, Z:-0.62 [[ 9.99988023e-01 2.81177697e-04 -4.88608974e-03 2.05727182e+00] [-2.80266683e-04 9.99999943e-01 1.87134263e-04 7.34451801e-01] [ 4.88614208e-03 -1.85762614e-04 9.99988045e-01 -6.22784224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04650248099999 meters 0.11142733445071215 Centerline is valid? [False, False] Translation: X:2.06, Y:0.73, Z:-0.62 [[ 9.99987614e-01 2.95247118e-04 -4.96834097e-03 2.05725236e+00] [-2.94130397e-04 9.99999931e-01 2.25496388e-04 7.34128024e-01] [ 4.96840720e-03 -2.24032255e-04 9.99987632e-01 -6.22522176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07650248099999 meters 0.11141611325646132 Centerline is valid? [False, False] Translation: X:2.06, Y:0.74, Z:-0.62 [[ 0.9999764 -0.00370228 -0.0057872 2.05881362] [ 0.00367844 0.99998472 -0.00412561 0.73510905] [ 0.00580238 0.00410422 0.99997474 -0.62264853] [ 0. 0. 0. 1. ]] SLAMing on 64.10650248099999 meters 0.11141611325646132 Centerline is valid? [False, False] Translation: X:2.06, Y:0.74, Z:-0.62 [[ 0.9999764 -0.00370228 -0.0057872 2.05881362] [ 0.00367844 0.99998472 -0.00412561 0.73510905] [ 0.00580238 0.00410422 0.99997474 -0.62264853] [ 0. 0. 0. 1. ]] SLAMing on 64.136502481 meters 0.11147645105151842 Centerline is valid? [False, False] Translation: X:2.06, Y:0.73, Z:-0.62 [[ 0.99997806 -0.0032312 -0.00578202 2.05944185] [ 0.00321214 0.99998938 -0.00330377 0.73343747] [ 0.00579263 0.00328512 0.99997783 -0.62368795] [ 0. 0. 0. 1. ]] SLAMing on 64.166502481 meters 0.11148851599982519 Centerline is valid? [False, False] Translation: X:2.06, Y:0.73, Z:-0.62 [[ 0.99997888 -0.00298102 -0.00577508 2.05958456] [ 0.00296499 0.99999173 -0.00278334 0.73189728] [ 0.00578333 0.00276616 0.99997945 -0.6239803 ] [ 0. 0. 0. 1. ]] SLAMing on 64.196502481 meters 0.1115289128395688 Centerline is valid? [False, False] Translation: X:2.06, Y:0.73, Z:-0.62 [[ 0.99997806 -0.00276275 -0.00601972 2.06006732] [ 0.00274773 0.9999931 -0.00250133 0.7312763 ] [ 0.00602659 0.00248474 0.99997875 -0.62404665] [ 0. 0. 0. 1. ]] SLAMing on 64.226502481 meters 0.11193107146894414 Centerline is valid? [False, False] Translation: X:2.06, Y:0.73, Z:-0.62 [[ 0.9999786 -0.00261288 -0.00599706 2.05997554] [ 0.00260008 0.99999433 -0.00214103 0.72995043] [ 0.00600262 0.00212539 0.99997973 -0.62400935] [ 0. 0. 0. 1. ]] SLAMing on 64.256502481 meters 0.11172404086435384 Centerline is valid? [False, False] Translation: X:2.06, Y:0.73, Z:-0.62 [[ 9.99978649e-01 -2.26672551e-03 -6.12892268e-03 2.06056096e+00] [ 2.25688397e-03 9.99996154e-01 -1.61219232e-03 7.28877617e-01] [ 6.13255350e-03 1.59832564e-03 9.99979918e-01 -6.24567735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28650248099999 meters 0.11189454521986447 Centerline is valid? [False, False] Translation: X:2.06, Y:0.73, Z:-0.63 [[ 9.99977994e-01 -1.68139690e-03 -6.41747202e-03 2.06182046e+00] [ 1.67654865e-03 9.99998305e-01 -7.60781189e-04 7.27563019e-01] [ 6.41874032e-03 7.50005243e-04 9.99979118e-01 -6.25727804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31650248099999 meters 0.11151958811265407 Centerline is valid? [False, False] Translation: X:2.06, Y:0.73, Z:-0.63 [[ 9.99976916e-01 -1.27309667e-03 -6.67437295e-03 2.06277829e+00] [ 1.27188035e-03 9.99999174e-01 -1.86478877e-04 7.26692402e-01] [ 6.67460484e-03 1.77985568e-04 9.99977709e-01 -6.26489296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34650248099999 meters 0.11151913354754353 Centerline is valid? [False, False] Translation: X:2.06, Y:0.72, Z:-0.63 [[ 9.99977823e-01 -9.38474329e-04 -6.59337886e-03 2.06294527e+00] [ 9.41922987e-04 9.99999421e-01 5.19962871e-04 7.24712924e-01] [ 6.59288707e-03 -5.26161795e-04 9.99978128e-01 -6.26979485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37650248099999 meters 0.11141345500100229 Centerline is valid? [False, False] Translation: X:2.06, Y:0.73, Z:-0.63 [[ 0.99995886 -0.00519768 -0.00743394 2.06395453] [ 0.00516665 0.99997789 -0.00418625 0.72592696] [ 0.00745553 0.00414767 0.99996361 -0.62619431] [ 0. 0. 0. 1. ]] SLAMing on 64.40650248099999 meters 0.1112363893739178 Centerline is valid? [False, False] Translation: X:2.06, Y:0.72, Z:-0.63 [[ 0.99996048 -0.00507753 -0.00729775 2.06355765] [ 0.00505094 0.99998055 -0.00365792 0.72394722] [ 0.00731618 0.00362092 0.99996668 -0.62596872] [ 0. 0. 0. 1. ]] SLAMing on 64.43650248099999 meters 0.11123730530267932 Centerline is valid? [False, False] Translation: X:2.06, Y:0.72, Z:-0.63 [[ 0.99996063 -0.00502638 -0.007313 2.06335176] [ 0.00500197 0.99998187 -0.00335313 0.72271747] [ 0.00732972 0.00331642 0.99996764 -0.6255937 ] [ 0. 0. 0. 1. ]] SLAMing on 64.46650248099999 meters 0.11110499314139434 Centerline is valid? [False, False] Translation: X:2.06, Y:0.72, Z:-0.63 [[ 0.99996207 -0.00467139 -0.0073503 2.06384821] [ 0.00465151 0.99998548 -0.00272005 0.72138634] [ 0.0073629 0.00268576 0.99996929 -0.62626391] [ 0. 0. 0. 1. ]] SLAMing on 64.496502481 meters 0.11079606473545396 Centerline is valid? [False, False] Translation: X:2.06, Y:0.72, Z:-0.63 [[ 9.99964720e-01 -4.03028933e-03 -7.36991364e-03 2.06479914e+00] [ 4.01836100e-03 9.99990594e-01 -1.63260919e-03 7.19235467e-01] [ 7.37642420e-03 1.60293661e-03 9.99971509e-01 -6.27677320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.526502481 meters 0.11037372926210876 Centerline is valid? [False, False] Translation: X:2.07, Y:0.71, Z:-0.63 [[ 9.99971982e-01 -3.16148522e-03 -6.78533292e-03 2.06555219e+00] [ 3.16302356e-03 9.99994974e-01 2.15997042e-04 7.14971990e-01] [ 6.78461595e-03 -2.37453158e-04 9.99976956e-01 -6.30439363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.556502481 meters 0.11034827030165356 Centerline is valid? [False, False] Translation: X:2.07, Y:0.71, Z:-0.63 [[ 9.99971661e-01 -2.88094012e-03 -6.95536910e-03 2.06624088e+00] [ 2.88536854e-03 9.99995641e-01 6.26739954e-04 7.14376948e-01] [ 6.95353318e-03 -6.46790996e-04 9.99975615e-01 -6.31004848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.586502481 meters 0.11032632678684293 Centerline is valid? [False, False] Translation: X:2.07, Y:0.72, Z:-0.63 [[ 9.99968758e-01 -2.91832356e-03 -7.34618489e-03 2.06664405e+00] [ 2.92181111e-03 9.99995624e-01 4.64055460e-04 7.15038048e-01] [ 7.34479848e-03 -4.85505127e-04 9.99972909e-01 -6.30497975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.616502481 meters 0.11019694138307776 Centerline is valid? [False, False] Translation: X:2.07, Y:0.71, Z:-0.63 [[ 9.99968158e-01 -2.64131601e-03 -7.53040861e-03 2.06711716e+00] [ 2.64791316e-03 9.99996119e-01 8.66231691e-04 7.14175053e-01] [ 7.52809139e-03 -8.86143977e-04 9.99971271e-01 -6.30685439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.646502481 meters 0.11009240454188556 Centerline is valid? [False, False] Translation: X:2.07, Y:0.71, Z:-0.63 [[ 9.99971820e-01 -2.37524672e-03 -7.12168493e-03 2.06660407e+00] [ 2.38803463e-03 9.99995551e-01 1.78766394e-03 7.11165965e-01] [ 7.11740710e-03 -1.80462039e-03 9.99973043e-01 -6.31014993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67650248099999 meters 0.10990606532018182 Centerline is valid? [False, False] Translation: X:2.07, Y:0.71, Z:-0.63 [[ 0.99997405 -0.00234557 -0.00681217 2.06608223] [ 0.00235994 0.99999501 0.00210163 0.70993348] [ 0.00680721 -0.00211765 0.99997459 -0.63108187] [ 0. 0. 0. 1. ]] SLAMing on 64.70650248099999 meters 0.10967794692323848 Centerline is valid? [False, False] Translation: X:2.07, Y:0.71, Z:-0.63 [[ 0.99994923 -0.00668738 -0.00753751 2.06685815] [ 0.00666867 0.99997463 -0.00250337 0.71088356] [ 0.00755406 0.00245298 0.99996846 -0.63024338] [ 0. 0. 0. 1. ]] SLAMing on 64.73650248099999 meters 0.1095972867759771 Centerline is valid? [False, False] Translation: X:2.07, Y:0.71, Z:-0.63 [[ 9.99951717e-01 -6.23798683e-03 -7.59277995e-03 2.06751374e+00] [ 6.22512491e-03 9.99979151e-01 -1.71642368e-03 7.09326130e-01] [ 7.60332867e-03 1.66907480e-03 9.99969701e-01 -6.31114635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76650248099999 meters 0.10942386189420994 Centerline is valid? [False, False] Translation: X:2.07, Y:0.71, Z:-0.63 [[ 9.99954710e-01 -5.75583301e-03 -7.57948561e-03 2.06820813e+00] [ 5.74925915e-03 9.99983078e-01 -8.88826421e-04 7.07757102e-01] [ 7.58447328e-03 8.45209739e-04 9.99970880e-01 -6.32220147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79650248099999 meters 0.1092362112320938 Centerline is valid? [False, False] Translation: X:2.07, Y:0.71, Z:-0.63 [[ 9.99958213e-01 -5.09935143e-03 -7.58745964e-03 2.06907870e+00] [ 5.10118466e-03 9.99986964e-01 2.22280055e-04 7.05371762e-01] [ 7.58622725e-03 -2.60975799e-04 9.99971190e-01 -6.33568073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82650248099999 meters 0.10923125562378991 Centerline is valid? [False, False] Translation: X:2.07, Y:0.70, Z:-0.63 [[ 9.99958013e-01 -4.91976827e-03 -7.73101460e-03 2.06948852e+00] [ 4.92336644e-03 9.99987780e-01 4.46458101e-04 7.04951460e-01] [ 7.72872366e-03 -4.84501973e-04 9.99970016e-01 -6.33790712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.85650248099999 meters 0.10942382860714729 Centerline is valid? [False, False] Translation: X:2.07, Y:0.71, Z:-0.63 [[ 9.99954409e-01 -4.93695897e-03 -8.17355886e-03 2.06988625e+00] [ 4.93883326e-03 9.99987782e-01 2.09141732e-04 7.05549595e-01] [ 8.17242647e-03 -2.49500041e-04 9.99966574e-01 -6.33127824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.886502481 meters 0.10933197410567261 Centerline is valid? [False, False] Translation: X:2.07, Y:0.71, Z:-0.63 [[ 9.99953094e-01 -4.89553634e-03 -8.35727666e-03 2.07018998e+00] [ 4.89710073e-03 9.99987995e-01 1.66735318e-04 7.05771886e-01] [ 8.35636008e-03 -2.07653923e-04 9.99965063e-01 -6.33039380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.916502481 meters 0.10940569379531526 Centerline is valid? [False, False] Translation: X:2.07, Y:0.70, Z:-0.63 [[ 9.99954972e-01 -4.55337756e-03 -8.32592740e-03 2.07047697e+00] [ 4.55965358e-03 9.99989335e-01 7.34966320e-04 7.04438839e-01] [ 8.32249203e-03 -7.72896570e-04 9.99965069e-01 -6.33587252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.946502481 meters 0.10931461897861414 Centerline is valid? [False, False] Translation: X:2.07, Y:0.70, Z:-0.63 [[ 9.99957247e-01 -4.14444098e-03 -8.26611956e-03 2.07092712e+00] [ 4.15651115e-03 9.99990320e-01 1.44355272e-03 7.02959111e-01] [ 8.26005683e-03 -1.47784922e-03 9.99964793e-01 -6.34461048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.976502481 meters 0.10920856440062614 Centerline is valid? [False, False] Translation: X:2.07, Y:0.70, Z:-0.64 [[ 9.99958319e-01 -3.84310505e-03 -8.28194784e-03 2.07136178e+00] [ 3.85973357e-03 9.99990566e-01 1.99275525e-03 7.01849006e-01] [ 8.27421133e-03 -2.02463830e-03 9.99963718e-01 -6.35096476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.006502481 meters 0.10914638030213461 Centerline is valid? [False, False] Translation: X:2.07, Y:0.70, Z:-0.64 [[ 0.99995802 -0.0036912 -0.00838662 2.07172842] [ 0.00370979 0.99999069 0.0022025 0.70157296] [ 0.00837841 -0.00223352 0.99996241 -0.63533857] [ 0. 0. 0. 1. ]] SLAMing on 65.03650248099999 meters 0.10902852538262219 Centerline is valid? [False, False] Translation: X:2.07, Y:0.70, Z:-0.64 [[ 0.9999571 -0.00338937 -0.00861983 2.07242777] [ 0.00341182 0.99999082 0.00259211 0.70089424] [ 0.00861097 -0.0026214 0.99995949 -0.63572692] [ 0. 0. 0. 1. ]] SLAMing on 65.06650248099999 meters 0.10901888444908128 Centerline is valid? [False, False] Translation: X:2.07, Y:0.70, Z:-0.64 [[ 0.99996174 -0.00307364 -0.00818915 2.07231241] [ 0.00310153 0.99998943 0.00339555 0.69879254] [ 0.00817863 -0.00342082 0.9999607 -0.63675422] [ 0. 0. 0. 1. ]] SLAMing on 65.09650248099999 meters 0.10885292355246044 Centerline is valid? [False, False] Translation: X:2.07, Y:0.70, Z:-0.64 [[ 0.99996249 -0.00278822 -0.00820025 2.07274392] [ 0.00281979 0.99998865 0.00384147 0.69793792] [ 0.00818945 -0.00386444 0.999959 -0.63737635] [ 0. 0. 0. 1. ]] SLAMing on 65.12650248099999 meters 0.10899663523164772 Centerline is valid? [False, False] Translation: X:2.07, Y:0.70, Z:-0.64 [[ 0.99996055 -0.00284517 -0.00841462 2.07297699] [ 0.00287615 0.99998912 0.00367191 0.69854727] [ 0.00840408 -0.00369597 0.99995785 -0.63713262] [ 0. 0. 0. 1. ]] SLAMing on 65.15650248099999 meters 0.10905374524187589 Centerline is valid? [False, False] Translation: X:2.07, Y:0.70, Z:-0.64 [[ 0.99995764 -0.0029074 -0.00873289 2.07328071] [ 0.00293729 0.99998986 0.00341248 0.69918926] [ 0.00872288 -0.00343799 0.99995604 -0.63667617] [ 0. 0. 0. 1. ]] SLAMing on 65.18650248099999 meters 0.10897278766531059 Centerline is valid? [False, False] Translation: X:2.07, Y:0.70, Z:-0.64 [[ 0.99995737 -0.00303876 -0.00871906 2.07315258] [ 0.00306667 0.99999021 0.00318924 0.69970621] [ 0.00870929 -0.00321584 0.9999569 -0.6365042 ] [ 0. 0. 0. 1. ]] SLAMing on 65.21650248099999 meters 0.10895814883278028 Centerline is valid? [False, False] Translation: X:2.07, Y:0.70, Z:-0.64 [[ 9.99931054e-01 -7.22508371e-03 -9.25665625e-03 2.07420832e+00] [ 7.21252822e-03 9.99973025e-01 -1.38903992e-03 7.01069548e-01] [ 9.26644248e-03 1.32218026e-03 9.99956191e-01 -6.36608205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.246502481 meters 0.10903734819230096 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.64 [[ 9.99935697e-01 -6.68438036e-03 -9.16086669e-03 2.07511817e+00] [ 6.68037362e-03 9.99977577e-01 -4.67906501e-04 6.99745064e-01] [ 9.16378894e-03 4.06678401e-04 9.99957929e-01 -6.38312601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.276502481 meters 0.10907652625512321 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.64 [[ 9.99934520e-01 -6.68044458e-03 -9.29126207e-03 2.07550888e+00] [ 6.67562488e-03 9.99977567e-01 -5.49650886e-04 7.00368244e-01] [ 9.29472555e-03 4.87589915e-04 9.99956684e-01 -6.38499149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.306502481 meters 0.10909761342808272 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.64 [[ 9.99931821e-01 -6.77774994e-03 -9.50872118e-03 2.07587254e+00] [ 6.76984817e-03 9.99976712e-01 -8.62943527e-04 7.01602683e-01] [ 9.51434856e-03 7.98512093e-04 9.99954419e-01 -6.38394884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.336502481 meters 0.10929959437472646 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.64 [[ 9.99928915e-01 -7.02385340e-03 -9.63483053e-03 2.07566410e+00] [ 7.01049826e-03 9.99974419e-01 -1.41920572e-03 7.02870327e-01] [ 9.64455236e-03 1.35155988e-03 9.99952577e-01 -6.37701096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.366502481 meters 0.10941171274136867 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.64 [[ 9.99932137e-01 -6.73960328e-03 -9.50258209e-03 2.07588174e+00] [ 6.73079966e-03 9.99976889e-01 -9.58122113e-04 7.01825235e-01] [ 9.50881983e-03 8.94097115e-04 9.99954390e-01 -6.38423117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.396502481 meters 0.10963106270580122 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.64 [[ 9.99934109e-01 -6.58619365e-03 -9.40210451e-03 2.07602594e+00] [ 6.57949692e-03 9.99978079e-01 -7.43011928e-04 7.01450579e-01] [ 9.40679203e-03 6.81101853e-04 9.99955523e-01 -6.38974670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42650248099999 meters 0.1095664602342306 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.64 [[ 9.99931136e-01 -6.62867743e-03 -9.68423835e-03 2.07651348e+00] [ 6.61933977e-03 9.99977596e-01 -9.95947231e-04 7.02501908e-01] [ 9.69062319e-03 9.31775382e-04 9.99952611e-01 -6.38894097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45650248099999 meters 0.10960127456294792 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.64 [[ 9.99927588e-01 -6.81167119e-03 -9.92072479e-03 2.07670993e+00] [ 6.79738361e-03 9.99975812e-01 -1.47318148e-03 7.03912582e-01] [ 9.93051966e-03 1.40563983e-03 9.99949703e-01 -6.38472352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48650248099999 meters 0.1096139926837287 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.64 [[ 9.99927172e-01 -6.58490852e-03 -1.01138611e-02 2.07755351e+00] [ 6.57169286e-03 9.99977509e-01 -1.33936652e-03 7.04383290e-01] [ 1.01224533e-02 1.27280379e-03 9.99947957e-01 -6.39196501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51650248099999 meters 0.10955236369778718 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.64 [[ 9.99930735e-01 -6.20714611e-03 -9.99979974e-03 2.07801935e+00] [ 6.20047475e-03 9.99980533e-01 -6.98014163e-04 7.03187833e-01] [ 1.00039378e-02 6.35962310e-04 9.99949757e-01 -6.40250398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54650248099999 meters 0.1095541956980374 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.64 [[ 9.99933175e-01 -5.89310120e-03 -9.94573855e-03 2.07860678e+00] [ 5.89144095e-03 9.99982626e-01 -1.96221109e-04 7.02579339e-01] [ 9.94672210e-03 1.37613265e-04 9.99950521e-01 -6.41318136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57650248099999 meters 0.10965513647562286 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.64 [[ 9.99932173e-01 -5.89052639e-03 -1.00474835e-02 2.07890670e+00] [ 5.88839975e-03 9.99982634e-01 -2.41228289e-04 7.03071961e-01] [ 1.00487300e-02 1.82048328e-04 9.99949494e-01 -6.41457175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60650248099999 meters 0.10974418691028054 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.64 [[ 9.99931802e-01 -5.83203574e-03 -1.01182237e-02 2.07934909e+00] [ 5.83019991e-03 9.99982982e-01 -2.10924488e-04 7.03598131e-01] [ 1.01192816e-02 1.51918836e-04 9.99948787e-01 -6.41898764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.636502481 meters 0.10950982385368149 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.64 [[ 9.99933235e-01 -5.50838256e-03 -1.01579048e-02 2.07997921e+00] [ 5.51152923e-03 9.99984772e-01 2.81807138e-04 7.02774815e-01] [ 1.01561978e-02 -3.37773913e-04 9.99948367e-01 -6.42760382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.666502481 meters 0.10954561317837805 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.64 [[ 9.99938114e-01 -5.11876524e-03 -9.87757691e-03 2.08014666e+00] [ 5.12989533e-03 9.99986235e-01 1.10179618e-03 7.00741592e-01] [ 9.87180111e-03 -1.15239893e-03 9.99950609e-01 -6.43813983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.696502481 meters 0.10953462758852525 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.64 [[ 9.99937436e-01 -5.04246846e-03 -9.98482223e-03 2.08035282e+00] [ 5.05463646e-03 9.99986513e-01 1.19379012e-03 7.00553992e-01] [ 9.97866792e-03 -1.24418508e-03 9.99949438e-01 -6.43827435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.726502481 meters 0.10972190500757284 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.64 [[ 9.99937407e-01 -4.98835732e-03 -1.00149080e-02 2.08051381e+00] [ 5.00128193e-03 9.99986692e-01 1.26590688e-03 7.00531946e-01] [ 1.00084599e-02 -1.31591502e-03 9.99949048e-01 -6.43984686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.756502481 meters 0.10958286016552418 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.65 [[ 9.99939405e-01 -4.57379537e-03 -1.00132839e-02 2.08140371e+00] [ 4.59319933e-03 9.99987616e-01 1.91568319e-03 6.99803383e-01] [ 1.00043980e-02 -1.96156012e-03 9.99948031e-01 -6.45353910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78650248099999 meters 0.1096853123591832 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.65 [[ 0.99994032 -0.00431122 -0.0100386 2.08180068] [ 0.00433496 0.99998786 0.00234457 0.69891679] [ 0.01002837 -0.00238795 0.99994686 -0.64588492] [ 0. 0. 0. 1. ]] SLAMing on 65.81650248099999 meters 0.10986201685230303 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.65 [[ 0.99993993 -0.00438347 -0.01004588 2.08147916] [ 0.00440684 0.99998763 0.00230621 0.69847588] [ 0.01003565 -0.00235035 0.99994688 -0.64536349] [ 0. 0. 0. 1. ]] SLAMing on 65.84650248099999 meters 0.10999989414159941 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.65 [[ 0.99994066 -0.00449272 -0.00992397 2.08108924] [ 0.00451495 0.99998735 0.00221851 0.69832055] [ 0.00991388 -0.00226318 0.9999483 -0.64509547] [ 0. 0. 0. 1. ]] SLAMing on 65.87650248099999 meters 0.1103613962593415 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.65 [[ 0.99994396 -0.0042541 -0.00969473 2.08092592] [ 0.00428191 0.99998677 0.00284968 0.69640432] [ 0.00968248 -0.00289103 0.99994894 -0.64550828] [ 0. 0. 0. 1. ]] SLAMing on 65.90650248099999 meters 0.1102507305957687 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.65 [[ 0.99994531 -0.00417168 -0.00959048 2.08076375] [ 0.00420145 0.99998641 0.00308635 0.69552531] [ 0.00957748 -0.00312648 0.99994925 -0.64557819] [ 0. 0. 0. 1. ]] SLAMing on 65.93650248099999 meters 0.11023199045123022 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.65 [[ 0.99994382 -0.00389532 -0.00985784 2.08138354] [ 0.00392937 0.99998637 0.00343729 0.69472292] [ 0.00984431 -0.00347583 0.9999455 -0.64581537] [ 0. 0. 0. 1. ]] SLAMing on 65.96650248099999 meters 0.11032148629437366 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.65 [[ 0.99994199 -0.00380191 -0.01007734 2.08190364] [ 0.00383684 0.99998669 0.00344831 0.6950295 ] [ 0.0100641 -0.00348677 0.99994328 -0.64599896] [ 0. 0. 0. 1. ]] SLAMing on 65.996502481 meters 0.11017340555929732 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.65 [[ 0.9999394 -0.00378694 -0.01033675 2.08233866] [ 0.00382136 0.99998721 0.00331172 0.69548531] [ 0.01032407 -0.00335102 0.99994109 -0.64593956] [ 0. 0. 0. 1. ]] SLAMing on 66.026502481 meters 0.11017340555929732 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.65 [[ 0.9999394 -0.00378694 -0.01033675 2.08233866] [ 0.00382136 0.99998721 0.00331172 0.69548531] [ 0.01032407 -0.00335102 0.99994109 -0.64593956] [ 0. 0. 0. 1. ]] SLAMing on 66.056502481 meters 0.11008098315035857 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.65 [[ 0.99993812 -0.00374545 -0.01047486 2.08244145] [ 0.00377974 0.99998756 0.0032555 0.69524757] [ 0.01046253 -0.00329489 0.99993984 -0.64572966] [ 0. 0. 0. 1. ]] SLAMing on 66.086502481 meters 0.11031961292630815 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.65 [[ 0.99993922 -0.00359701 -0.01042152 2.0823878 ] [ 0.00363384 0.99998721 0.00351653 0.69418128] [ 0.01040874 -0.00355419 0.99993951 -0.64585827] [ 0. 0. 0. 1. ]] SLAMing on 66.116502481 meters 0.11012750798018672 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.65 [[ 0.99993743 -0.00355321 -0.01060724 2.0825947 ] [ 0.00359027 0.99998751 0.00347634 0.69414489] [ 0.01059475 -0.0035142 0.9999377 -0.64564501] [ 0. 0. 0. 1. ]] SLAMing on 66.146502481 meters 0.10994196527948333 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.65 [[ 0.99993533 -0.00364913 -0.01077102 2.08274601] [ 0.00368383 0.99998808 0.00320367 0.694859 ] [ 0.0107592 -0.00324314 0.99993686 -0.64541744] [ 0. 0. 0. 1. ]] SLAMing on 66.17650248099999 meters 0.10985572229059953 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.65 [[ 0.99993048 -0.00333916 -0.01130893 2.08408415] [ 0.00337673 0.99998884 0.0033045 0.69549133] [ 0.01129777 -0.00334245 0.99993059 -0.64596932] [ 0. 0. 0. 1. ]] SLAMing on 66.20650248099999 meters 0.10983425957307273 Centerline is valid? [False, False] Translation: X:2.08, Y:0.70, Z:-0.65 [[ 0.99993157 -0.00337426 -0.01120165 2.0839437 ] [ 0.0034111 0.99998883 0.00327101 0.69550469] [ 0.01119049 -0.003309 0.99993191 -0.64604687] [ 0. 0. 0. 1. ]] SLAMing on 66.23650248099999 meters 0.10972565239844931 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.65 [[ 0.9999302 -0.0029949 -0.01142918 2.08460753] [ 0.0030387 0.9999881 0.00381729 0.69414362] [ 0.01141761 -0.00385175 0.9999274 -0.64642112] [ 0. 0. 0. 1. ]] SLAMing on 66.26650248099999 meters 0.10984912517622117 Centerline is valid? [False, False] Translation: X:2.08, Y:0.69, Z:-0.65 [[ 0.99993068 -0.00282184 -0.01143107 2.0847952 ] [ 0.00286915 0.99998738 0.00412508 0.6933314 ] [ 0.01141928 -0.00415759 0.99992615 -0.64669754] [ 0. 0. 0. 1. ]] SLAMing on 66.29650248099999 meters 0.10956404240772309 Centerline is valid? [False, False] Translation: X:2.09, Y:0.69, Z:-0.65 [[ 0.99992969 -0.00237172 -0.01161876 2.08555783] [ 0.00242765 0.99998553 0.00480155 0.69177612] [ 0.0116072 -0.00482942 0.99992097 -0.64735559] [ 0. 0. 0. 1. ]] SLAMing on 66.32650248099999 meters 0.10950095112963543 Centerline is valid? [False, False] Translation: X:2.09, Y:0.69, Z:-0.65 [[ 0.9999262 -0.00220825 -0.01194682 2.08622421] [ 0.00226696 0.99998541 0.00490314 0.69167856] [ 0.01193582 -0.00492986 0.99991661 -0.64746827] [ 0. 0. 0. 1. ]] SLAMing on 66.35650248099999 meters 0.1095668983471204 Centerline is valid? [False, False] Translation: X:2.09, Y:0.69, Z:-0.65 [[ 0.99992572 -0.00235898 -0.01195773 2.08615221] [ 0.00241483 0.99998623 0.00465829 0.69226035] [ 0.01194658 -0.00468682 0.99991765 -0.64732421] [ 0. 0. 0. 1. ]] SLAMing on 66.386502481 meters 0.10957418037336505 Centerline is valid? [False, False] Translation: X:2.09, Y:0.69, Z:-0.65 [[ 9.99921935e-01 -1.96290074e-03 -1.23397996e-02 2.08739124e+00] [ 2.02503998e-03 9.99985323e-01 5.02520030e-03 6.92141872e-01] [ 1.23297545e-02 -5.04979659e-03 9.99911234e-01 -6.48149327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.416502481 meters 0.10990185705057405 Centerline is valid? [False, False] Translation: X:2.09, Y:0.69, Z:-0.65 [[ 0.99991978 -0.00211537 -0.0124887 2.08732081] [ 0.00217489 0.99998633 0.00475426 0.69251725] [ 0.01247847 -0.00478104 0.99991071 -0.64763719] [ 0. 0. 0. 1. ]] SLAMing on 66.446502481 meters 0.10994380868549615 Centerline is valid? [False, False] Translation: X:2.10, Y:0.69, Z:-0.64 [[ 9.99910819e-01 3.08852261e-03 -1.29928660e-02 2.09670545e+00] [-3.07919035e-03 9.99994987e-01 7.38203358e-04 6.92724619e-01] [ 1.29950808e-02 -6.98130016e-04 9.99915317e-01 -6.41050262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.476502481 meters 0.11003337784692646 Centerline is valid? [False, False] Translation: X:2.10, Y:0.69, Z:-0.64 [[ 9.99911598e-01 2.72126744e-03 -1.30150379e-02 2.09592854e+00] [-2.71871392e-03 9.99996281e-01 2.13886091e-04 6.93169861e-01] [ 1.30155715e-02 -1.78483019e-04 9.99915278e-01 -6.39782455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.506502481 meters 0.11007893616009365 Centerline is valid? [False, False] Translation: X:2.10, Y:0.69, Z:-0.64 [[ 9.99907582e-01 -1.81669965e-03 -1.34731836e-02 2.09568331e+00] [ 1.75595104e-03 9.99988246e-01 -4.51931316e-03 6.93057680e-01] [ 1.34812355e-02 4.49523724e-03 9.99899019e-01 -6.38207500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53650248099999 meters 0.10986456970602788 Centerline is valid? [False, False] Translation: X:2.10, Y:0.69, Z:-0.64 [[ 9.99912495e-01 -1.46603147e-03 -1.31473405e-02 2.09569341e+00] [ 1.41737666e-03 9.99992116e-01 -3.70928919e-03 6.90962014e-01] [ 1.31526748e-02 3.69032988e-03 9.99906690e-01 -6.39159706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56650248099999 meters 0.1097469426959456 Centerline is valid? [False, False] Translation: X:2.10, Y:0.69, Z:-0.64 [[ 9.99911037e-01 -6.01000247e-04 -1.33250276e-02 2.09737270e+00] [ 5.69871576e-04 9.99997100e-01 -2.33977946e-03 6.88820358e-01] [ 1.33263952e-02 2.33197775e-03 9.99908480e-01 -6.41352229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59650248099999 meters 0.10924625912048391 Centerline is valid? [False, False] Translation: X:2.10, Y:0.69, Z:-0.64 [[ 9.99909409e-01 -3.14241177e-04 -1.34564483e-02 2.09824274e+00] [ 2.87881797e-04 9.99998036e-01 -1.96075829e-03 6.88633343e-01] [ 1.34570380e-02 1.95670680e-03 9.99907535e-01 -6.42284364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62650248099999 meters 0.10938019510440121 Centerline is valid? [False, False] Translation: X:2.10, Y:0.69, Z:-0.64 [[ 9.99903512e-01 5.30339659e-05 -1.38911777e-02 2.09953751e+00] [-7.58007103e-05 9.99998655e-01 -1.63841413e-03 6.88909531e-01] [ 1.38910722e-02 1.63930900e-03 9.99902171e-01 -6.43048234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65650248099999 meters 0.10956400521404401 Centerline is valid? [False, False] Translation: X:2.11, Y:0.69, Z:-0.64 [[ 0.99994235 0.00401723 -0.00995802 2.11001843] [-0.00408185 0.99997069 -0.00647689 0.68982046] [ 0.00993171 0.00651717 0.99992944 -0.64227635] [ 0. 0. 0. 1. ]] SLAMing on 66.68650248099999 meters 0.10993512992680936 Centerline is valid? [False, False] Translation: X:2.11, Y:0.69, Z:-0.64 [[ 0.99994306 0.00389265 -0.00993635 2.1093829 ] [-0.00395877 0.9999701 -0.00664344 0.68932635] [ 0.00991019 0.0066824 0.99992856 -0.64140209] [ 0. 0. 0. 1. ]] SLAMing on 66.71650248099999 meters 0.10989873519866704 Centerline is valid? [False, False] Translation: X:2.11, Y:0.69, Z:-0.64 [[ 0.99994234 0.00387756 -0.01001413 2.10924924] [-0.0039445 0.99996995 -0.00667371 0.68907606] [ 0.00998795 0.00671282 0.99992759 -0.6410124 ] [ 0. 0. 0. 1. ]] SLAMing on 66.746502481 meters 0.10992290273644229 Centerline is valid? [False, False] Translation: X:2.11, Y:0.69, Z:-0.64 [[ 0.99993983 0.00377655 -0.01029958 2.10933611] [-0.00384796 0.99996864 -0.00692151 0.68959598] [ 0.01027312 0.00696073 0.999923 -0.64035265] [ 0. 0. 0. 1. ]] SLAMing on 66.776502481 meters 0.1100514002849264 Centerline is valid? [False, False] Translation: X:2.12, Y:0.69, Z:-0.64 [[ 9.99983328e-01 1.59458988e-04 -5.77228038e-03 2.12286079e+00] [-1.69645862e-04 9.99998429e-01 -1.76434536e-03 6.88614357e-01] [ 5.77198997e-03 1.76529519e-03 9.99981784e-01 -6.42014139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.806502481 meters 0.10963116657489462 Centerline is valid? [False, False] Translation: X:2.12, Y:0.69, Z:-0.64 [[ 0.99997535 -0.003532 -0.00606803 2.12416842] [ 0.00349987 0.99997985 -0.00529623 0.6873438 ] [ 0.00608662 0.00527486 0.99996756 -0.64323393] [ 0. 0. 0. 1. ]] SLAMing on 66.836502481 meters 0.10944534998149694 Centerline is valid? [False, False] Translation: X:2.12, Y:0.68, Z:-0.64 [[ 0.99997785 -0.00289373 -0.00599372 2.12493093] [ 0.00286873 0.99998717 -0.0041752 0.68493708] [ 0.00600573 0.00415791 0.99997332 -0.64469805] [ 0. 0. 0. 1. ]] SLAMing on 66.866502481 meters 0.10920668004198246 Centerline is valid? [False, False] Translation: X:2.13, Y:0.68, Z:-0.64 [[ 0.99997627 -0.00269186 -0.00634073 2.12562582] [ 0.0026669 0.99998867 -0.00394278 0.68472965] [ 0.00635127 0.00392577 0.99997212 -0.64482247] [ 0. 0. 0. 1. ]] SLAMing on 66.896502481 meters 0.10926541007203083 Centerline is valid? [False, False] Translation: X:2.13, Y:0.69, Z:-0.64 [[ 0.99997376 -0.00265549 -0.00673931 2.12612118] [ 0.00262841 0.99998845 -0.00402469 0.68514443] [ 0.00674992 0.00400687 0.99996919 -0.64443813] [ 0. 0. 0. 1. ]] SLAMing on 66.92650248099999 meters 0.10917647679783361 Centerline is valid? [False, False] Translation: X:2.13, Y:0.68, Z:-0.64 [[ 0.99997405 -0.00234264 -0.0068128 2.12638673] [ 0.00231891 0.99999122 -0.00348957 0.68380815] [ 0.00682092 0.00347368 0.9999707 -0.64464596] [ 0. 0. 0. 1. ]] SLAMing on 66.95650248099999 meters 0.10917766616037287 Centerline is valid? [False, False] Translation: X:2.13, Y:0.68, Z:-0.65 [[ 9.99975151e-01 -1.94139913e-03 -6.77710705e-03 2.12670564e+00] [ 1.92264757e-03 9.99994309e-01 -2.77231648e-03 6.82038180e-01] [ 6.78245065e-03 2.75921760e-03 9.99973192e-01 -6.45271397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98650248099999 meters 0.10898606140897046 Centerline is valid? [False, False] Translation: X:2.13, Y:0.68, Z:-0.65 [[ 9.99976534e-01 -1.54052239e-03 -6.67519562e-03 2.12699299e+00] [ 1.52716863e-03 9.99996824e-01 -2.00514059e-03 6.80190389e-01] [ 6.67826338e-03 1.99489939e-03 9.99975710e-01 -6.46041281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01650248099999 meters 0.10880063080921368 Centerline is valid? [False, False] Translation: X:2.13, Y:0.68, Z:-0.65 [[ 9.99978244e-01 -1.24276047e-03 -6.47822417e-03 2.12703672e+00] [ 1.23425489e-03 9.99998371e-01 -1.31678247e-03 6.78388527e-01] [ 6.47985007e-03 1.30875804e-03 9.99978149e-01 -6.46668783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04650248099999 meters 0.1087499784598867 Centerline is valid? [False, False] Translation: X:2.13, Y:0.68, Z:-0.65 [[ 9.99978206e-01 -1.05884021e-03 -6.51656725e-03 2.12730443e+00] [ 1.05225669e-03 9.99998933e-01 -1.01362052e-03 6.77881197e-01] [ 6.51763356e-03 1.00674133e-03 9.99978253e-01 -6.46944465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07650248099999 meters 0.10859382594060467 Centerline is valid? [False, False] Translation: X:2.13, Y:0.68, Z:-0.65 [[ 9.99979893e-01 -1.18712812e-03 -6.22936731e-03 2.12652780e+00] [ 1.18193335e-03 9.99998951e-01 -8.37530215e-04 6.76782825e-01] [ 6.23035503e-03 8.30150677e-04 9.99980247e-01 -6.46530971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10650248099999 meters 0.10851759781149556 Centerline is valid? [False, False] Translation: X:2.13, Y:0.68, Z:-0.65 [[ 9.99980137e-01 -9.08377283e-04 -6.23699067e-03 2.12668042e+00] [ 9.06648493e-04 9.99999550e-01 -2.80005190e-04 6.75349584e-01] [ 6.23724222e-03 2.74344870e-04 9.99980511e-01 -6.46762816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.136502481 meters 0.10832885080899367 Centerline is valid? [False, False] Translation: X:2.13, Y:0.67, Z:-0.65 [[ 0.99996543 -0.00503202 -0.0066193 2.12735619] [ 0.00500307 0.99997788 -0.00438189 0.67499157] [ 0.0066412 0.00434862 0.99996849 -0.64674614] [ 0. 0. 0. 1. ]] SLAMing on 67.166502481 meters 0.10813173180124999 Centerline is valid? [False, False] Translation: X:2.13, Y:0.67, Z:-0.65 [[ 0.99996808 -0.00462126 -0.00651856 2.12771521] [ 0.00459811 0.99998309 -0.00356165 0.67321868] [ 0.00653491 0.00353156 0.99997241 -0.64759633] [ 0. 0. 0. 1. ]] SLAMing on 67.196502481 meters 0.10797763462837827 Centerline is valid? [False, False] Translation: X:2.13, Y:0.67, Z:-0.65 [[ 0.99997057 -0.00417693 -0.0064349 2.12819766] [ 0.00416045 0.99998804 -0.00257202 0.6711908 ] [ 0.00644557 0.00254518 0.99997599 -0.64861843] [ 0. 0. 0. 1. ]] SLAMing on 67.226502481 meters 0.1080466429036624 Centerline is valid? [False, False] Translation: X:2.13, Y:0.67, Z:-0.65 [[ 0.99997081 -0.00394334 -0.00654427 2.12873843] [ 0.00392908 0.99998988 -0.00219098 0.670686 ] [ 0.00655285 0.0021652 0.99997619 -0.64910761] [ 0. 0. 0. 1. ]] SLAMing on 67.256502481 meters 0.10815320471084769 Centerline is valid? [False, False] Translation: X:2.13, Y:0.67, Z:-0.65 [[ 9.99970242e-01 -3.81502030e-03 -6.70521598e-03 2.12921485e+00] [ 3.80204432e-03 9.99990877e-01 -1.94688969e-03 6.70644535e-01] [ 6.71258223e-03 1.92133823e-03 9.99975625e-01 -6.49356142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28650248099999 meters 0.10804721868862494 Centerline is valid? [False, False] Translation: X:2.13, Y:0.67, Z:-0.65 [[ 9.99971053e-01 -3.62265592e-03 -6.69100529e-03 2.12929269e+00] [ 3.61232778e-03 9.99992266e-01 -1.55502624e-03 6.69671646e-01] [ 6.69658687e-03 1.53081113e-03 9.99976406e-01 -6.49490978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31650248099999 meters 0.10845158801424838 Centerline is valid? [False, False] Translation: X:2.13, Y:0.67, Z:-0.65 [[ 9.99977529e-01 -3.67189889e-03 -5.60873897e-03 2.12781464e+00] [ 3.66594028e-03 9.99992706e-01 -1.07229202e-03 6.65071716e-01] [ 5.61263541e-03 1.05170663e-03 9.99983696e-01 -6.49723180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34650248099999 meters 0.10855197843809783 Centerline is valid? [False, False] Translation: X:2.13, Y:0.66, Z:-0.65 [[ 9.99980095e-01 -3.47305494e-03 -5.26749752e-03 2.12758054e+00] [ 3.47092251e-03 9.99993891e-01 -4.13915734e-04 6.63232767e-01] [ 5.26890289e-03 3.95624420e-04 9.99986041e-01 -6.50308171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37650248099999 meters 0.10876899951650287 Centerline is valid? [False, False] Translation: X:2.13, Y:0.66, Z:-0.65 [[ 9.99981457e-01 -3.27821990e-03 -5.13223895e-03 2.12765726e+00] [ 3.27864779e-03 9.99994622e-01 7.49615449e-05 6.62078691e-01] [ 5.13196561e-03 -9.17869588e-05 9.99986827e-01 -6.50790307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40650248099999 meters 0.1092718075591623 Centerline is valid? [False, False] Translation: X:2.13, Y:0.66, Z:-0.65 [[ 9.99979233e-01 -3.38206076e-03 -5.48588883e-03 2.12802835e+00] [ 3.38190880e-03 9.99994281e-01 -3.69760336e-05 6.62758539e-01] [ 5.48598251e-03 1.84224900e-05 9.99984952e-01 -6.50360840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43650248099999 meters 0.10963084340035252 Centerline is valid? [False, False] Translation: X:2.13, Y:0.66, Z:-0.65 [[ 9.99978634e-01 -3.32779075e-03 -5.62652227e-03 2.12844159e+00] [ 3.32778101e-03 9.99994463e-01 -1.10928213e-05 6.63052979e-01] [ 5.62652803e-03 -7.63124964e-06 9.99984171e-01 -6.50529812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46650248099999 meters 0.10999355817662625 Centerline is valid? [False, False] Translation: X:2.13, Y:0.66, Z:-0.65 [[ 9.99979242e-01 -3.13744148e-03 -5.62779657e-03 2.12871725e+00] [ 3.13958563e-03 9.99995002e-01 3.72200321e-04 6.62222751e-01] [ 5.62660069e-03 -3.89861544e-04 9.99984095e-01 -6.50919749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.496502481 meters 0.11007230662897541 Centerline is valid? [False, False] Translation: X:2.13, Y:0.66, Z:-0.65 [[ 9.99979558e-01 -3.00231550e-03 -5.64532920e-03 2.12886124e+00] [ 3.00564997e-03 9.99995314e-01 5.82267713e-04 6.61699158e-01] [ 5.64355459e-03 -5.99223694e-04 9.99983895e-01 -6.51102494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.526502481 meters 0.11045059530492873 Centerline is valid? [False, False] Translation: X:2.13, Y:0.66, Z:-0.65 [[ 9.99978965e-01 -3.02434388e-03 -5.73778291e-03 2.12904478e+00] [ 3.02712902e-03 9.99995305e-01 4.76780869e-04 6.62070668e-01] [ 5.73631402e-03 -4.94139849e-04 9.99983425e-01 -6.51106511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.556502481 meters 0.1108739381615566 Centerline is valid? [False, False] Translation: X:2.13, Y:0.66, Z:-0.65 [[ 9.99974913e-01 -3.24914658e-03 -6.29415959e-03 2.12981936e+00] [ 3.24793810e-03 9.99994705e-01 -2.02212088e-04 6.64754605e-01] [ 6.29478327e-03 1.81763975e-04 9.99980171e-01 -6.50734350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.586502481 meters 0.11077418469932244 Centerline is valid? [False, False] Translation: X:2.13, Y:0.67, Z:-0.65 [[ 9.99971539e-01 -3.35114607e-03 -6.75945741e-03 2.13073085e+00] [ 3.34639884e-03 9.99994146e-01 -7.13498076e-04 6.67041630e-01] [ 6.76180888e-03 6.90857929e-04 9.99976900e-01 -6.50765782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.616502481 meters 0.1107701402291726 Centerline is valid? [False, False] Translation: X:2.13, Y:0.67, Z:-0.65 [[ 9.99972136e-01 -3.10705893e-03 -6.78771729e-03 2.13114768e+00] [ 3.10467186e-03 9.99995115e-01 -3.62183576e-04 6.66434463e-01] [ 6.78880946e-03 3.41099849e-04 9.99976898e-01 -6.51310104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.646502481 meters 0.11076826308770309 Centerline is valid? [False, False] Translation: X:2.13, Y:0.67, Z:-0.65 [[ 9.99973942e-01 -2.70257687e-03 -6.69418468e-03 2.13159231e+00] [ 2.70477933e-03 9.99996291e-01 3.19980138e-04 6.65022188e-01] [ 6.69329508e-03 -3.38078092e-04 9.99977542e-01 -6.52261110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67650248099999 meters 0.11081124703267847 Centerline is valid? [False, False] Translation: X:2.13, Y:0.66, Z:-0.65 [[ 9.99973384e-01 -2.50299163e-03 -6.85320184e-03 2.13228134e+00] [ 2.50660907e-03 9.99996724e-01 5.19307385e-04 6.64929750e-01] [ 6.85187957e-03 -5.36471861e-04 9.99976382e-01 -6.52879339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70650248099999 meters 0.11059689395710441 Centerline is valid? [False, False] Translation: X:2.13, Y:0.67, Z:-0.65 [[ 9.99970250e-01 -2.57743456e-03 -7.27018610e-03 2.13293986e+00] [ 2.57815418e-03 9.99996673e-01 8.96130978e-05 6.66514750e-01] [ 7.26993093e-03 -1.08354093e-04 9.99973568e-01 -6.52689655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73650248099999 meters 0.11054600947255624 Centerline is valid? [False, False] Translation: X:2.14, Y:0.67, Z:-0.65 [[ 9.99997344e-01 2.30468059e-03 2.85741099e-07 2.14130246e+00] [-2.30467426e-03 9.99994870e-01 -2.22466082e-03 6.72502309e-01] [-5.41287226e-06 2.22465426e-03 9.99997525e-01 -6.54434795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76650248099999 meters 0.11027491498094223 Centerline is valid? [False, False] Translation: X:2.14, Y:0.67, Z:-0.65 [[ 9.99997240e-01 2.33309102e-03 -2.75884711e-04 2.14188368e+00] [-2.33374925e-03 9.99994372e-01 -2.41011638e-03 6.73373815e-01] [ 2.70260137e-04 2.41075358e-03 9.99997058e-01 -6.54549185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79650248099999 meters 0.10988676567604222 Centerline is valid? [False, False] Translation: X:2.14, Y:0.67, Z:-0.65 [[ 9.99997817e-01 -1.80215954e-03 -1.05728550e-03 2.14303986e+00] [ 1.79450622e-03 9.99972502e-01 -7.19547953e-03 6.74971103e-01] [ 1.07022382e-03 7.19356652e-03 9.99973553e-01 -6.54268386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82650248099999 meters 0.1097891221854346 Centerline is valid? [False, False] Translation: X:2.14, Y:0.68, Z:-0.65 [[ 9.99997688e-01 -1.71949281e-03 -1.29089850e-03 2.14348219e+00] [ 1.71011116e-03 9.99972373e-01 -7.23379925e-03 6.75249728e-01] [ 1.30330130e-03 7.23157495e-03 9.99973003e-01 -6.54302634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.85650248099999 meters 0.10959390573844753 Centerline is valid? [False, False] Translation: X:2.14, Y:0.68, Z:-0.65 [[ 9.99996250e-01 -1.68416087e-03 -2.15936777e-03 2.14470629e+00] [ 1.66715579e-03 9.99967777e-01 -7.85279276e-03 6.77826007e-01] [ 2.17252355e-03 7.84916331e-03 9.99966835e-01 -6.53867879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.886502481 meters 0.10943943339596392 Centerline is valid? [False, False] Translation: X:2.15, Y:0.68, Z:-0.65 [[ 9.99995817e-01 -1.43150606e-03 -2.51322885e-03 2.14569718e+00] [ 1.41212081e-03 9.99969371e-01 -7.69819020e-03 6.78116160e-01] [ 2.52417188e-03 7.69460902e-03 9.99967210e-01 -6.54406028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.916502481 meters 0.10943943339596392 Centerline is valid? [False, False] Translation: X:2.15, Y:0.68, Z:-0.65 [[ 9.99995817e-01 -1.43150606e-03 -2.51322885e-03 2.14569718e+00] [ 1.41212081e-03 9.99969371e-01 -7.69819020e-03 6.78116160e-01] [ 2.52417188e-03 7.69460902e-03 9.99967210e-01 -6.54406028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.946502481 meters 0.10928578058706405 Centerline is valid? [False, False] Translation: X:2.15, Y:0.68, Z:-0.66 [[ 9.99994490e-01 -7.56262745e-04 -3.23249600e-03 2.14778288e+00] [ 7.32857219e-04 9.99973553e-01 -7.23575941e-03 6.78392724e-01] [ 3.23788264e-03 7.23335058e-03 9.99968597e-01 -6.55685863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.976502481 meters 0.1092610273147592 Centerline is valid? [False, False] Translation: X:2.15, Y:0.68, Z:-0.66 [[ 9.99993643e-01 -6.47845169e-04 -3.50632111e-03 2.14837465e+00] [ 6.22204632e-04 9.99973097e-01 -7.30881819e-03 6.78886626e-01] [ 3.51096176e-03 7.30659008e-03 9.99967143e-01 -6.55804979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.006502481 meters 0.10947411617003204 Centerline is valid? [False, False] Translation: X:2.15, Y:0.68, Z:-0.65 [[ 9.99992482e-01 -8.19552177e-04 -3.79011438e-03 2.14832520e+00] [ 7.89541676e-04 9.99968381e-01 -7.91282821e-03 6.80152912e-01] [ 3.79647951e-03 7.90977627e-03 9.99961510e-01 -6.54974947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03650248099999 meters 0.10954539120183253 Centerline is valid? [False, False] Translation: X:2.15, Y:0.68, Z:-0.66 [[ 9.99992116e-01 -7.69298165e-04 -3.89561468e-03 2.14853032e+00] [ 7.38359226e-04 9.99968227e-01 -7.93721122e-03 6.80299354e-01] [ 3.90159699e-03 7.93427228e-03 9.99960912e-01 -6.55028848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06650248099999 meters 0.10965194340175105 Centerline is valid? [False, False] Translation: X:2.15, Y:0.68, Z:-0.66 [[ 9.99991455e-01 -5.37177189e-04 -4.09902308e-03 2.14925934e+00] [ 5.05085490e-04 9.99969248e-01 -7.82613189e-03 6.80583066e-01] [ 4.10310105e-03 7.82399466e-03 9.99960974e-01 -6.55607205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09650248099999 meters 0.1096642502236449 Centerline is valid? [False, False] Translation: X:2.15, Y:0.68, Z:-0.66 [[ 9.99990627e-01 -2.64226117e-04 -4.32159867e-03 2.15005468e+00] [ 2.31611604e-04 9.99971505e-01 -7.54562301e-03 6.80443654e-01] [ 4.32346927e-03 7.54455135e-03 9.99962193e-01 -6.56219315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12650248099999 meters 0.10995638891318563 Centerline is valid? [False, False] Translation: X:2.15, Y:0.68, Z:-0.66 [[ 9.99989836e-01 3.04103904e-05 -4.50850840e-03 2.15079480e+00] [-6.29943058e-05 9.99973881e-01 -7.22723938e-03 6.80237762e-01] [ 4.50817086e-03 7.22744993e-03 9.99963720e-01 -6.56876400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15650248099999 meters 0.11001717233181511 Centerline is valid? [False, False] Translation: X:2.15, Y:0.68, Z:-0.66 [[ 9.99989061e-01 3.43905431e-04 -4.66471612e-03 2.15129962e+00] [-3.75540570e-04 9.99976927e-01 -6.78261330e-03 6.79340902e-01] [ 4.66227591e-03 6.78429090e-03 9.99966118e-01 -6.57227294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18650248099999 meters 0.11005825709500364 Centerline is valid? [False, False] Translation: X:2.15, Y:0.68, Z:-0.66 [[ 9.99989156e-01 5.72357386e-04 -4.62162749e-03 2.15133088e+00] [-6.01642182e-04 9.99979736e-01 -6.33756607e-03 6.78101472e-01] [ 4.61790648e-03 6.34027792e-03 9.99969237e-01 -6.57432441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21650248099999 meters 0.11008179690166454 Centerline is valid? [False, False] Translation: X:2.15, Y:0.67, Z:-0.66 [[ 9.99991716e-01 8.94277832e-04 -3.97083991e-03 2.15044138e+00] [-9.15270553e-04 9.99985599e-01 -5.28805443e-03 6.74383067e-01] [ 3.96605374e-03 5.29164502e-03 9.99978134e-01 -6.57856990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.246502481 meters 0.11005902804213027 Centerline is valid? [False, False] Translation: X:2.15, Y:0.67, Z:-0.66 [[ 9.99992005e-01 1.34405413e-03 -3.76608958e-03 2.15050959e+00] [-1.35981548e-03 9.99990316e-01 -4.18564060e-03 6.71518969e-01] [ 3.76042738e-03 4.19072832e-03 9.99984148e-01 -6.58595683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.276502481 meters 0.11001454742673375 Centerline is valid? [False, False] Translation: X:2.15, Y:0.67, Z:-0.66 [[ 9.99991936e-01 1.42273226e-03 -3.75548656e-03 2.15051093e+00] [-1.43766448e-03 9.99991061e-01 -3.97640720e-03 6.70939541e-01] [ 3.74979563e-03 3.98177427e-03 9.99985042e-01 -6.58627310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.306502481 meters 0.10994383607117744 Centerline is valid? [False, False] Translation: X:2.15, Y:0.67, Z:-0.66 [[ 0.99998593 -0.00271473 -0.00455706 2.15176918] [ 0.00267577 0.99996001 -0.00853362 0.67228353] [ 0.00458004 0.0085213 0.9999532 -0.65838704] [ 0. 0. 0. 1. ]] SLAMing on 68.336502481 meters 0.10974712610349159 Centerline is valid? [False, False] Translation: X:2.15, Y:0.67, Z:-0.66 [[ 9.99989777e-01 -2.16884699e-03 -3.96757065e-03 2.15170103e+00] [ 2.14059147e-03 9.99972418e-01 -7.11205518e-03 6.68649297e-01] [ 3.98288618e-03 7.10348953e-03 9.99966838e-01 -6.59920601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.366502481 meters 0.10969871692000999 Centerline is valid? [False, False] Translation: X:2.15, Y:0.67, Z:-0.66 [[ 9.99990815e-01 -1.69761073e-03 -3.93541783e-03 2.15214788e+00] [ 1.67297019e-03 9.99979031e-01 -6.25608510e-03 6.66731910e-01] [ 3.94595570e-03 6.24944380e-03 9.99972687e-01 -6.60728728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.396502481 meters 0.10968016673543944 Centerline is valid? [False, False] Translation: X:2.15, Y:0.66, Z:-0.66 [[ 9.99992256e-01 -1.19925693e-03 -3.74819413e-03 2.15261693e+00] [ 1.17963114e-03 9.99985607e-01 -5.23389884e-03 6.64685396e-01] [ 3.75441697e-03 5.22943683e-03 9.99979278e-01 -6.61978853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42650248099999 meters 0.10978879923086801 Centerline is valid? [False, False] Translation: X:2.15, Y:0.66, Z:-0.66 [[ 9.99992336e-01 -1.02658712e-03 -3.77819031e-03 2.15292336e+00] [ 1.00791014e-03 9.99987281e-01 -4.94195766e-03 6.64241966e-01] [ 3.78321560e-03 4.93811171e-03 9.99980651e-01 -6.62341881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45650248099999 meters 0.10982228830490033 Centerline is valid? [False, False] Translation: X:2.15, Y:0.66, Z:-0.66 [[ 9.99993101e-01 -7.67591151e-04 -3.63439177e-03 2.15293248e+00] [ 7.51741997e-04 9.99990212e-01 -4.36024181e-03 6.62816138e-01] [ 3.63770308e-03 4.35747961e-03 9.99983890e-01 -6.62767436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48650248099999 meters 0.10990755198681279 Centerline is valid? [False, False] Translation: X:2.15, Y:0.66, Z:-0.66 [[ 9.99993432e-01 -4.72457069e-04 -3.59355599e-03 2.15309184e+00] [ 4.58835186e-04 9.99992711e-01 -3.79052189e-03 6.61407141e-01] [ 3.59532066e-03 3.78884814e-03 9.99986359e-01 -6.63146394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51650248099999 meters 0.11011450287894077 Centerline is valid? [False, False] Translation: X:2.15, Y:0.66, Z:-0.66 [[ 9.99994194e-01 -2.57899585e-04 -3.39779622e-03 2.15305448e+00] [ 2.47185418e-04 9.99994998e-01 -3.15331211e-03 6.59845791e-01] [ 3.39859246e-03 3.15245392e-03 9.99989256e-01 -6.63649391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54650248099999 meters 0.11012570799903565 Centerline is valid? [False, False] Translation: X:2.15, Y:0.66, Z:-0.66 [[ 9.99993841e-01 -6.00978330e-05 -3.50911131e-03 2.15347957e+00] [ 5.01600071e-05 9.99995989e-01 -2.83202578e-03 6.59292472e-01] [ 3.50926743e-03 2.83183232e-03 9.99989833e-01 -6.64001341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57650248099999 meters 0.11058610463925213 Centerline is valid? [False, False] Translation: X:2.15, Y:0.66, Z:-0.66 [[ 9.99994520e-01 2.59674450e-04 -3.30033917e-03 2.15366455e+00] [-2.66491917e-04 9.99997832e-01 -2.06541482e-03 6.57594978e-01] [ 3.29979568e-03 2.06628302e-03 9.99992421e-01 -6.64863205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60650248099999 meters 0.1108267221831317 Centerline is valid? [False, False] Translation: X:2.15, Y:0.66, Z:-0.67 [[ 9.99994506e-01 5.74258747e-04 -3.26468035e-03 2.15404503e+00] [-5.79185904e-04 9.99998695e-01 -1.50848580e-03 6.56536180e-01] [ 3.26380983e-03 1.51036837e-03 9.99993533e-01 -6.65572821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.636502481 meters 0.1108529978610307 Centerline is valid? [False, False] Translation: X:2.15, Y:0.66, Z:-0.67 [[ 9.99994359e-01 7.91684502e-04 -3.26409341e-03 2.15440970e+00] [-7.95456473e-04 9.99999017e-01 -1.15445885e-03 6.55954690e-01] [ 3.26317624e-03 1.15704879e-03 9.99994006e-01 -6.66126085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.666502481 meters 0.11133983891517614 Centerline is valid? [False, False] Translation: X:2.15, Y:0.66, Z:-0.67 [[ 9.99994630e-01 7.85543201e-04 -3.18178801e-03 2.15435755e+00] [-7.89104447e-04 9.99999064e-01 -1.11815850e-03 6.55951830e-01] [ 3.18090666e-03 1.12066326e-03 9.99994313e-01 -6.66235603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.696502481 meters 0.1113033699191646 Centerline is valid? [False, False] Translation: X:2.15, Y:0.66, Z:-0.67 [[ 9.99994520e-01 7.31644508e-04 -3.22867333e-03 2.15452480e+00] [-7.35772352e-04 9.99998913e-01 -1.27749295e-03 6.56557426e-01] [ 3.22773515e-03 1.27986152e-03 9.99993972e-01 -6.66298363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.726502481 meters 0.11141033354199617 Centerline is valid? [False, False] Translation: X:2.16, Y:0.66, Z:-0.67 [[ 9.99993267e-01 5.13668062e-04 -3.63334233e-03 2.15500096e+00] [-5.20720691e-04 9.99997982e-01 -1.94040627e-03 6.58643516e-01] [ 3.63233827e-03 1.94228516e-03 9.99991517e-01 -6.65855087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.756502481 meters 0.11148993904891581 Centerline is valid? [False, False] Translation: X:2.16, Y:0.66, Z:-0.67 [[ 9.99993168e-01 5.98905201e-04 -3.64771371e-03 2.15517701e+00] [-6.05626493e-04 9.99998121e-01 -1.84177820e-03 6.58618585e-01] [ 3.64660380e-03 1.84397476e-03 9.99991651e-01 -6.66061988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78650248099999 meters 0.11163638625356403 Centerline is valid? [False, False] Translation: X:2.16, Y:0.66, Z:-0.67 [[ 9.99993356e-01 5.42167465e-04 -3.60463525e-03 2.15506115e+00] [-5.49131078e-04 9.99997985e-01 -1.93114060e-03 6.58789213e-01] [ 3.60358098e-03 1.93310719e-03 9.99991639e-01 -6.66002042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81650248099999 meters 0.1116280257893697 Centerline is valid? [False, False] Translation: X:2.16, Y:0.66, Z:-0.67 [[ 9.99992660e-01 7.38975667e-04 -3.75962196e-03 2.15569078e+00] [-7.45399594e-04 9.99998264e-01 -1.70754899e-03 6.58696447e-01] [ 3.75835360e-03 1.71033888e-03 9.99991475e-01 -6.66506530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84650248099999 meters 0.11178596900292197 Centerline is valid? [False, False] Translation: X:2.16, Y:0.66, Z:-0.67 [[ 9.99992237e-01 9.48987034e-04 -3.82431909e-03 2.15637183e+00] [-9.54544197e-04 9.99998491e-01 -1.45154867e-03 6.58733185e-01] [ 3.82293581e-03 1.45518788e-03 9.99991634e-01 -6.67334674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87650248099999 meters 0.11137481604175764 Centerline is valid? [False, False] Translation: X:2.16, Y:0.66, Z:-0.67 [[ 9.99991178e-01 1.14779014e-03 -4.04060124e-03 2.15742106e+00] [-1.15355392e-03 9.99998320e-01 -1.42442559e-03 6.59703489e-01] [ 4.03895951e-03 1.42907408e-03 9.99990822e-01 -6.68286996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90650248099999 meters 0.11150672723112283 Centerline is valid? [False, False] Translation: X:2.16, Y:0.66, Z:-0.67 [[ 9.99990538e-01 1.23973177e-03 -4.16965090e-03 2.15789979e+00] [-1.24572002e-03 9.99998196e-01 -1.43386097e-03 6.60090187e-01] [ 4.16786578e-03 1.43904163e-03 9.99990279e-01 -6.68639788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93650248099999 meters 0.1112169372143554 Centerline is valid? [False, False] Translation: X:2.16, Y:0.66, Z:-0.67 [[ 9.99988360e-01 1.23450424e-03 -4.66424635e-03 2.15883290e+00] [-1.24342760e-03 9.99997402e-01 -1.91072609e-03 6.62011981e-01] [ 4.66187543e-03 1.91650350e-03 9.99987297e-01 -6.68669006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96650248099999 meters 0.11117014233249044 Centerline is valid? [False, False] Translation: X:2.16, Y:0.66, Z:-0.67 [[ 9.99987609e-01 1.16835725e-03 -4.83911885e-03 2.15910552e+00] [-1.17895248e-03 9.99996913e-01 -2.18722064e-03 6.62941011e-01] [ 4.83654846e-03 2.19289863e-03 9.99985899e-01 -6.68552281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.996502481 meters 0.11114465084894319 Centerline is valid? [False, False] Translation: X:2.16, Y:0.67, Z:-0.67 [[ 9.99985122e-01 9.31937865e-04 -5.37474751e-03 2.15952039e+00] [-9.48381674e-04 9.99994875e-01 -3.05772028e-03 6.65378843e-01] [ 5.37187036e-03 3.06277209e-03 9.99980881e-01 -6.67648689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.026502481 meters 0.11100878702775228 Centerline is valid? [False, False] Translation: X:2.16, Y:0.67, Z:-0.67 [[ 9.99983897e-01 9.56946396e-04 -5.59372524e-03 2.15997912e+00] [-9.74755781e-04 9.99994462e-01 -3.18195610e-03 6.66008713e-01] [ 5.59064930e-03 3.18735738e-03 9.99979292e-01 -6.67702006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.056502481 meters 0.11087401422753612 Centerline is valid? [False, False] Translation: X:2.16, Y:0.67, Z:-0.67 [[ 9.99981987e-01 1.16164087e-03 -5.88857591e-03 2.16104877e+00] [-1.18026257e-03 9.99994311e-01 -3.15985592e-03 6.66869313e-01] [ 5.88487179e-03 3.16674906e-03 9.99977670e-01 -6.68459724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.086502481 meters 0.11054720772379788 Centerline is valid? [False, False] Translation: X:2.16, Y:0.67, Z:-0.67 [[ 9.99981039e-01 1.23554600e-03 -6.03286494e-03 2.16158178e+00] [-1.25467167e-03 9.99994196e-01 -3.16749033e-03 6.67343254e-01] [ 6.02891635e-03 3.17499954e-03 9.99976786e-01 -6.68848305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.116502481 meters 0.11029687419735547 Centerline is valid? [False, False] Translation: X:2.16, Y:0.67, Z:-0.67 [[ 9.99977463e-01 1.35982348e-03 -6.57450788e-03 2.16286200e+00] [-1.38279966e-03 9.99992949e-01 -3.49145678e-03 6.69196954e-01] [ 6.56971376e-03 3.50046933e-03 9.99972292e-01 -6.69279794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.146502481 meters 0.11022585374321324 Centerline is valid? [False, False] Translation: X:2.16, Y:0.67, Z:-0.67 [[ 9.99976012e-01 1.24170294e-03 -6.81425641e-03 2.16312399e+00] [-1.26828860e-03 9.99991596e-01 -3.89854313e-03 6.70377154e-01] [ 6.80935831e-03 3.90709206e-03 9.99969183e-01 -6.68969330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17650248099999 meters 0.11025276212669391 Centerline is valid? [False, False] Translation: X:2.17, Y:0.67, Z:-0.67 [[ 9.99985357e-01 5.11381548e-03 -1.77044087e-03 2.17298886e+00] [-5.12876674e-03 9.99950330e-01 -8.54598730e-03 6.73444312e-01] [ 1.72665033e-03 8.55494234e-03 9.99961915e-01 -6.68837243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20650248099999 meters 0.11019734220289128 Centerline is valid? [False, False] Translation: X:2.17, Y:0.67, Z:-0.67 [[ 9.99985321e-01 5.00686081e-03 -2.07091145e-03 2.17326748e+00] [-5.02513178e-03 9.99947646e-01 -8.91362926e-03 6.74369097e-01] [ 2.02617372e-03 8.92390502e-03 9.99958128e-01 -6.68395341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23650248099999 meters 0.11023579474732348 Centerline is valid? [False, False] Translation: X:2.17, Y:0.68, Z:-0.67 [[ 0.99998529 0.00479033 -0.00254388 2.17367 ] [-0.00481485 0.99994114 -0.00972273 0.67656413] [ 0.00249715 0.00973484 0.9999495 -0.66766581] [ 0. 0. 0. 1. ]] SLAMing on 69.26650248099999 meters 0.11030158476143831 Centerline is valid? [False, False] Translation: X:2.18, Y:0.68, Z:-0.67 [[ 0.99998113 -0.0038657 -0.00477429 2.18077818] [ 0.00384362 0.99998192 -0.00462525 0.6790256 ] [ 0.00479209 0.00460681 0.99997791 -0.66601568] [ 0. 0. 0. 1. ]] SLAMing on 69.29650248099999 meters 0.110229858438541 Centerline is valid? [False, False] Translation: X:2.18, Y:0.68, Z:-0.67 [[ 0.99998044 -0.00377202 -0.00498877 2.18136593] [ 0.00374881 0.99998214 -0.00465467 0.67958917] [ 0.00500624 0.00463588 0.99997672 -0.66629243] [ 0. 0. 0. 1. ]] SLAMing on 69.32650248099999 meters 0.11013832800080975 Centerline is valid? [False, False] Translation: X:2.18, Y:0.68, Z:-0.67 [[ 0.9999802 -0.00345708 -0.00525885 2.18258926] [ 0.00343371 0.99998421 -0.00444749 0.68027267] [ 0.00527415 0.00442935 0.99997628 -0.6673797 ] [ 0. 0. 0. 1. ]] SLAMing on 69.35650248099999 meters 0.11011867076353897 Centerline is valid? [False, False] Translation: X:2.18, Y:0.68, Z:-0.67 [[ 0.9999802 -0.00319956 -0.00541811 2.18325076] [ 0.00317729 0.99998649 -0.00411478 0.67993761] [ 0.0054312 0.00409748 0.99997686 -0.66795627] [ 0. 0. 0. 1. ]] SLAMing on 69.386502481 meters 0.1103723536453659 Centerline is valid? [False, False] Translation: X:2.18, Y:0.68, Z:-0.67 [[ 0.99998073 -0.00297451 -0.00544821 2.183545 ] [ 0.00295406 0.99998857 -0.00375892 0.67920906] [ 0.00545933 0.00374276 0.99997809 -0.66833845] [ 0. 0. 0. 1. ]] SLAMing on 69.416502481 meters 0.11023112198081665 Centerline is valid? [False, False] Translation: X:2.18, Y:0.68, Z:-0.67 [[ 0.99998077 -0.00282376 -0.0055216 2.18379084] [ 0.00280418 0.99998977 -0.00354969 0.67875957] [ 0.00553157 0.00353414 0.99997846 -0.66851753] [ 0. 0. 0. 1. ]] SLAMing on 69.446502481 meters 0.1101444952012439 Centerline is valid? [False, False] Translation: X:2.18, Y:0.68, Z:-0.67 [[ 0.99998023 -0.00268188 -0.00568803 2.18443196] [ 0.00266208 0.99999038 -0.00348497 0.67919681] [ 0.00569732 0.00346976 0.99997775 -0.66900813] [ 0. 0. 0. 1. ]] SLAMing on 69.476502481 meters 0.11014296510350571 Centerline is valid? [False, False] Translation: X:2.19, Y:0.68, Z:-0.67 [[ 0.99997995 -0.00243752 -0.00584492 2.18528724] [ 0.00241872 0.99999189 -0.00322135 0.67934138] [ 0.00585272 0.00320714 0.99997773 -0.66983937] [ 0. 0. 0. 1. ]] SLAMing on 69.506502481 meters 0.11008824887112306 Centerline is valid? [False, False] Translation: X:2.19, Y:0.68, Z:-0.67 [[ 9.99980137e-01 -2.15052208e-03 -5.92452350e-03 2.18599166e+00] [ 2.13373858e-03 9.99993697e-01 -2.83775194e-03 6.79026094e-01] [ 5.93058881e-03 2.82505419e-03 9.99978423e-01 -6.70664816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53650248099999 meters 0.10994411762064145 Centerline is valid? [False, False] Translation: X:2.19, Y:0.68, Z:-0.67 [[ 9.99981012e-01 -1.67225624e-03 -5.93113591e-03 2.18675883e+00] [ 1.65996139e-03 9.99996465e-01 -2.07725080e-03 6.77671984e-01] [ 5.93458864e-03 2.06736590e-03 9.99980253e-01 -6.71836514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56650248099999 meters 0.10992679056039971 Centerline is valid? [False, False] Translation: X:2.19, Y:0.68, Z:-0.67 [[ 9.99980499e-01 -1.63339668e-03 -6.02781459e-03 2.18676809e+00] [ 1.62103198e-03 9.99996573e-01 -2.05559061e-03 6.77392182e-01] [ 6.03115153e-03 2.04577924e-03 9.99979720e-01 -6.71567613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59650248099999 meters 0.10993414430998756 Centerline is valid? [False, False] Translation: X:2.19, Y:0.68, Z:-0.67 [[ 9.99980414e-01 -1.54387588e-03 -6.06531291e-03 2.18685901e+00] [ 1.53228020e-03 9.99996991e-01 -1.91598357e-03 6.77042718e-01] [ 6.06825270e-03 1.90665229e-03 9.99979770e-01 -6.71583570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62650248099999 meters 0.10981750978536904 Centerline is valid? [False, False] Translation: X:2.19, Y:0.68, Z:-0.67 [[ 9.99980417e-01 -1.44069382e-03 -6.09010849e-03 2.18692316e+00] [ 1.43021021e-03 9.99997489e-01 -1.72542076e-03 6.76487815e-01] [ 6.09257899e-03 1.71667684e-03 9.99979967e-01 -6.71606142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65650248099999 meters 0.10962846263410954 Centerline is valid? [False, False] Translation: X:2.19, Y:0.68, Z:-0.67 [[ 9.99978986e-01 -1.26611782e-03 -6.35797638e-03 2.18749600e+00] [ 1.25650637e-03 9.99998062e-01 -1.51548349e-03 6.76304512e-01] [ 6.35988284e-03 1.50746280e-03 9.99978639e-01 -6.71714763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68650248099999 meters 0.10960907253186293 Centerline is valid? [False, False] Translation: X:2.19, Y:0.68, Z:-0.67 [[ 9.99978561e-01 -9.66498432e-04 -6.47630688e-03 2.18818833e+00] [ 9.59688034e-04 9.99998983e-01 -1.05461182e-03 6.75695776e-01] [ 6.47731958e-03 1.04837397e-03 9.99978472e-01 -6.72408146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71650248099999 meters 0.10927497192744694 Centerline is valid? [False, False] Translation: X:2.19, Y:0.67, Z:-0.67 [[ 9.99978902e-01 -6.72778414e-04 -6.46082513e-03 2.18860266e+00] [ 6.69531042e-04 9.99999648e-01 -5.04774810e-04 6.74517276e-01] [ 6.46116246e-03 5.00438437e-04 9.99979001e-01 -6.73074127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.746502481 meters 0.1095112829451257 Centerline is valid? [False, False] Translation: X:2.19, Y:0.67, Z:-0.67 [[ 9.99978500e-01 -4.87694950e-04 -6.53928577e-03 2.18895078e+00] [ 4.86371688e-04 9.99999861e-01 -2.03944514e-04 6.73967312e-01] [ 6.53938432e-03 2.00759605e-04 9.99978598e-01 -6.73373317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.776502481 meters 0.10944811208197548 Centerline is valid? [False, False] Translation: X:2.19, Y:0.67, Z:-0.67 [[ 9.99978189e-01 -3.43465747e-04 -6.59577018e-03 2.18925061e+00] [ 3.43705009e-04 9.99999940e-01 3.51415491e-05 6.73569432e-01] [ 6.59575772e-03 -3.74077819e-05 9.99978247e-01 -6.73651169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.806502481 meters 0.10931922823215301 Centerline is valid? [False, False] Translation: X:2.19, Y:0.67, Z:-0.67 [[ 9.99979601e-01 -1.03466069e-04 -6.38645467e-03 2.18942400e+00] [ 1.07280933e-04 9.99999816e-01 5.96997047e-04 6.72162526e-01] [ 6.38639173e-03 -5.97670014e-04 9.99979428e-01 -6.74454621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.836502481 meters 0.10931922823215301 Centerline is valid? [False, False] Translation: X:2.19, Y:0.67, Z:-0.67 [[ 9.99979601e-01 -1.03466069e-04 -6.38645467e-03 2.18942400e+00] [ 1.07280933e-04 9.99999816e-01 5.96997047e-04 6.72162526e-01] [ 6.38639173e-03 -5.97670014e-04 9.99979428e-01 -6.74454621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.866502481 meters 0.10922849511100584 Centerline is valid? [False, False] Translation: X:2.19, Y:0.67, Z:-0.67 [[ 0.99996499 -0.00434268 -0.00715267 2.19079032] [ 0.0043136 0.99998239 -0.00407577 0.67394784] [ 0.00717024 0.00404478 0.99996611 -0.67438805] [ 0. 0. 0. 1. ]] SLAMing on 69.89650248099998 meters 0.109283469319205 Centerline is valid? [False, False] Translation: X:2.19, Y:0.67, Z:-0.67 [[ 0.99996311 -0.00441049 -0.00737123 2.19114842] [ 0.00437908 0.99998129 -0.00427191 0.67474639] [ 0.00738993 0.00423947 0.99996371 -0.67428162] [ 0. 0. 0. 1. ]] SLAMing on 69.92650248099999 meters 0.10952833591265468 Centerline is valid? [False, False] Translation: X:2.19, Y:0.68, Z:-0.67 [[ 0.99995989 -0.00467444 -0.00764047 2.19111662] [ 0.00463782 0.99997771 -0.00480366 0.6760502 ] [ 0.00766275 0.00476803 0.99995927 -0.67344107] [ 0. 0. 0. 1. ]] SLAMing on 69.95650248099999 meters 0.10964112254164403 Centerline is valid? [False, False] Translation: X:2.19, Y:0.68, Z:-0.67 [[ 0.99995444 -0.00513631 -0.00804571 2.19072712] [ 0.00509068 0.9999709 -0.0056823 0.67775574] [ 0.00807466 0.00564108 0.99995149 -0.67169867] [ 0. 0. 0. 1. ]] SLAMing on 69.98650248099999 meters 0.10968999880972835 Centerline is valid? [False, False] Translation: X:2.19, Y:0.68, Z:-0.67 [[ 0.99995452 -0.00503577 -0.00809901 2.19085237] [ 0.00499088 0.99997212 -0.00555373 0.67740392] [ 0.00812675 0.00551306 0.99995178 -0.67172257] [ 0. 0. 0. 1. ]] SLAMing on 70.01650248099999 meters 0.10963770428833773 Centerline is valid? [False, False] Translation: X:2.19, Y:0.68, Z:-0.67 [[ 0.99995488 -0.00490655 -0.00813373 2.19106479] [ 0.00486298 0.99997377 -0.00536842 0.67700538] [ 0.00815986 0.00532863 0.99995251 -0.67193054] [ 0. 0. 0. 1. ]] SLAMing on 70.04650248099999 meters 0.1097778368430263 Centerline is valid? [False, False] Translation: X:2.19, Y:0.68, Z:-0.67 [[ 0.99995225 -0.00489092 -0.00846002 2.19190116] [ 0.00484429 0.99997301 -0.00552328 0.67820821] [ 0.00848681 0.00548204 0.99994896 -0.67223391] [ 0. 0. 0. 1. ]] SLAMing on 70.07650248099999 meters 0.10974217020857538 Centerline is valid? [False, False] Translation: X:2.19, Y:0.68, Z:-0.67 [[ 0.99995179 -0.00465855 -0.00864361 2.19284397] [ 0.00461323 0.99997555 -0.0052554 0.67845277] [ 0.00866788 0.00521527 0.99994883 -0.67308968] [ 0. 0. 0. 1. ]] SLAMing on 70.10650248099999 meters 0.1096262144484638 Centerline is valid? [False, False] Translation: X:2.19, Y:0.68, Z:-0.68 [[ 0.99995572 -0.00410439 -0.00846833 2.19377705] [ 0.00406823 0.99998255 -0.00428302 0.67718775] [ 0.00848576 0.00424838 0.99995497 -0.67502054] [ 0. 0. 0. 1. ]] SLAMing on 70.136502481 meters 0.10977495778787257 Centerline is valid? [False, False] Translation: X:2.19, Y:0.68, Z:-0.68 [[ 0.99995656 -0.00389795 -0.00846629 2.19413375] [ 0.00386439 0.99998463 -0.00397613 0.67664739] [ 0.00848165 0.00394324 0.99995626 -0.67554949] [ 0. 0. 0. 1. ]] SLAMing on 70.166502481 meters 0.10981013951845947 Centerline is valid? [False, False] Translation: X:2.19, Y:0.68, Z:-0.68 [[ 0.99995524 -0.00392944 -0.00860637 2.19443369] [ 0.00389395 0.99998386 -0.0041364 0.67733843] [ 0.00862248 0.0041027 0.99995441 -0.67558872] [ 0. 0. 0. 1. ]] SLAMing on 70.196502481 meters 0.10990568398530573 Centerline is valid? [False, False] Translation: X:2.19, Y:0.68, Z:-0.68 [[ 0.99995276 -0.00398276 -0.00886623 2.19485669] [ 0.00394402 0.99998262 -0.00438307 0.67831993] [ 0.00888353 0.0043479 0.99995109 -0.67544986] [ 0. 0. 0. 1. ]] SLAMing on 70.226502481 meters 0.11002204068861986 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.67 [[ 0.99994546 -0.00437774 -0.00948235 2.19510385] [ 0.00432666 0.99997606 -0.00539974 0.68109293] [ 0.00950576 0.00535842 0.99994046 -0.67408837] [ 0. 0. 0. 1. ]] SLAMing on 70.256502481 meters 0.10996176471985032 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.67 [[ 0.99994394 -0.00434949 -0.00965374 2.19528818] [ 0.00429711 0.99997597 -0.0054405 0.68119499] [ 0.00967717 0.00539871 0.9999386 -0.67387965] [ 0. 0. 0. 1. ]] SLAMing on 70.28650248099999 meters 0.10996498307110208 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.67 [[ 0.99994668 -0.00417118 -0.00944691 2.1952104 ] [ 0.00412307 0.99997846 -0.0051061 0.68014014] [ 0.009468 0.00506688 0.99994234 -0.67431416] [ 0. 0. 0. 1. ]] SLAMing on 70.31650248099999 meters 0.11007332399692135 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.67 [[ 0.9999481 -0.00403059 -0.00935687 2.19547662] [ 0.00398532 0.99998029 -0.00485222 0.67985346] [ 0.00937624 0.00481467 0.99994445 -0.6749523 ] [ 0. 0. 0. 1. ]] SLAMing on 70.34650248099999 meters 0.10990996253591764 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.68 [[ 0.99994677 -0.00379012 -0.00959611 2.19660504] [ 0.00374547 0.99998209 -0.00466735 0.6805686 ] [ 0.00961363 0.00463115 0.99994306 -0.67593343] [ 0. 0. 0. 1. ]] SLAMing on 70.37650248099999 meters 0.11007128176440557 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.68 [[ 0.9999465 -0.00350503 -0.00973177 2.19752337] [ 0.00346329 0.99998474 -0.00430349 0.68053924] [ 0.0097467 0.00426955 0.99994338 -0.67692035] [ 0. 0. 0. 1. ]] SLAMing on 70.40650248099999 meters 0.10998943065262648 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.68 [[ 0.99994823 -0.00296797 -0.00973315 2.19870456] [ 0.00293335 0.99998933 -0.003569 0.67994783] [ 0.00974364 0.00354027 0.99994626 -0.67870233] [ 0. 0. 0. 1. ]] SLAMing on 70.43650248099999 meters 0.10974423338552973 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.68 [[ 0.99994757 -0.0027986 -0.00984963 2.19918604] [ 0.00276531 0.99999042 -0.00339196 0.67984716] [ 0.00985903 0.00336454 0.99994574 -0.67911649] [ 0. 0. 0. 1. ]] SLAMing on 70.46650248099999 meters 0.10978279822478733 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.68 [[ 0.99994544 -0.00283396 -0.01005397 2.1993258 ] [ 0.0027981 0.99998968 -0.00357848 0.68028348] [ 0.01006401 0.00355015 0.99994305 -0.67874484] [ 0. 0. 0. 1. ]] SLAMing on 70.496502481 meters 0.11008365594803018 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.68 [[ 0.99993933 -0.00300476 -0.01059724 2.19967123] [ 0.00295921 0.99998633 -0.00431137 0.68234563] [ 0.01061005 0.00427975 0.99993455 -0.67775829] [ 0. 0. 0. 1. ]] SLAMing on 70.526502481 meters 0.11003393192712266 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.68 [[ 0.9999385 -0.00280579 -0.01072994 2.20014923] [ 0.00276211 0.99998785 -0.00408329 0.68207538] [ 0.01074126 0.0040534 0.9999341 -0.6781098 ] [ 0. 0. 0. 1. ]] SLAMing on 70.556502481 meters 0.11002338496123855 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.68 [[ 0.99993803 -0.0024996 -0.01084833 2.20074252] [ 0.00245952 0.99999011 -0.0037063 0.6814837 ] [ 0.01085749 0.00367939 0.99993429 -0.67870635] [ 0. 0. 0. 1. ]] SLAMing on 70.586502481 meters 0.1100754049321868 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.68 [[ 0.99993732 -0.00236011 -0.01094439 2.20112587] [ 0.00232139 0.99999101 -0.00354887 0.68135167] [ 0.01095267 0.00352324 0.99993381 -0.67902981] [ 0. 0. 0. 1. ]] SLAMing on 70.616502481 meters 0.1101855885889071 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.68 [[ 0.99993617 -0.00227078 -0.01106758 2.20155722] [ 0.00223203 0.99999134 -0.00351263 0.68161532] [ 0.01107546 0.00348771 0.99993258 -0.67933001] [ 0. 0. 0. 1. ]] SLAMing on 70.64650248099998 meters 0.1101713361230898 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.68 [[ 9.99936416e-01 -1.89793127e-03 -1.11158577e-02 2.20219083e+00] [ 1.86537113e-03 9.99993942e-01 -2.93879688e-03 6.80657925e-01] [ 1.11213680e-02 2.91787482e-03 9.99933898e-01 -6.80175673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67650248099999 meters 0.11020534186022606 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.68 [[ 9.99938159e-01 -1.26388986e-03 -1.10490052e-02 2.20309701e+00] [ 1.24343231e-03 9.99997500e-01 -1.85820261e-03 6.78720678e-01] [ 1.10513262e-02 1.84434901e-03 9.99937231e-01 -6.81825372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70650248099999 meters 0.11024138181971303 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.68 [[ 9.99938103e-01 -1.03107697e-03 -1.10782352e-02 2.20351587e+00] [ 1.01464141e-03 9.99998377e-01 -1.48910849e-03 6.78051410e-01] [ 1.10797526e-02 1.47777589e-03 9.99937526e-01 -6.82394811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73650248099999 meters 0.11028540047578017 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.68 [[ 9.99936366e-01 -1.00274711e-03 -1.12364937e-02 2.20364990e+00] [ 9.86188579e-04 9.99998420e-01 -1.47908236e-03 6.78008377e-01] [ 1.12379591e-02 1.46790693e-03 9.99935775e-01 -6.82165282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76650248099999 meters 0.11063921998692597 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.68 [[ 9.99934023e-01 -9.75411411e-04 -1.14454400e-02 2.20375175e+00] [ 9.58299077e-04 9.99998415e-01 -1.50051148e-03 6.77887998e-01] [ 1.14468855e-02 1.48944433e-03 9.99933373e-01 -6.81744344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79650248099999 meters 0.1105954257905257 Centerline is valid? [False, False] Translation: X:2.20, Y:0.68, Z:-0.68 [[ 9.99934129e-01 -7.53036807e-04 -1.14529857e-02 2.20393510e+00] [ 7.40433177e-04 9.99999116e-01 -1.10466718e-03 6.76931841e-01] [ 1.14538074e-02 1.09611424e-03 9.99933802e-01 -6.82038091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82650248099999 meters 0.11077458513370217 Centerline is valid? [False, False] Translation: X:2.20, Y:0.67, Z:-0.68 [[ 0.9999489 -0.00228064 -0.00984869 2.20241225] [ 0.00225657 0.99999444 -0.00245433 0.67345501] [ 0.00985424 0.00243198 0.99994849 -0.68318513] [ 0. 0. 0. 1. ]] SLAMing on 70.85650248099999 meters 0.11074779432768175 Centerline is valid? [False, False] Translation: X:2.20, Y:0.67, Z:-0.68 [[ 9.99950449e-01 -1.72991692e-03 -9.80340826e-03 2.20322264e+00] [ 1.71511553e-03 9.99997377e-01 -1.51802721e-03 6.71702381e-01] [ 9.80600860e-03 1.50113801e-03 9.99950793e-01 -6.84588254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.886502481 meters 0.11078400455785427 Centerline is valid? [False, False] Translation: X:2.20, Y:0.67, Z:-0.68 [[ 9.99948647e-01 -1.66714942e-03 -9.99615123e-03 2.20357706e+00] [ 1.65233331e-03 9.99997524e-01 -1.49025670e-03 6.71814016e-01] [ 9.99861096e-03 1.47366320e-03 9.99948927e-01 -6.84570691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.916502481 meters 0.11093920207135205 Centerline is valid? [False, False] Translation: X:2.20, Y:0.67, Z:-0.68 [[ 9.99946949e-01 -1.62978056e-03 -1.01707126e-02 2.20380715e+00] [ 1.61472764e-03 9.99997589e-01 -1.48806234e-03 6.71954051e-01] [ 1.01731132e-02 1.47156047e-03 9.99947170e-01 -6.84440459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.946502481 meters 0.111195915846161 Centerline is valid? [False, False] Translation: X:2.20, Y:0.67, Z:-0.68 [[ 9.99946388e-01 -1.59344416e-03 -1.02314699e-02 2.20373008e+00] [ 1.57887797e-03 9.99997729e-01 -1.43158494e-03 6.71514933e-01] [ 1.02337278e-02 1.41535395e-03 9.99946632e-01 -6.84159414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.976502481 meters 0.11118251790916779 Centerline is valid? [False, False] Translation: X:2.20, Y:0.67, Z:-0.68 [[ 9.99947255e-01 -1.43718436e-03 -1.01696773e-02 2.20387011e+00] [ 1.42549946e-03 9.99998316e-01 -1.15614976e-03 6.70859826e-01] [ 1.01713218e-02 1.14159191e-03 9.99947619e-01 -6.84570001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.006502481 meters 0.11108507847483702 Centerline is valid? [False, False] Translation: X:2.21, Y:0.67, Z:-0.69 [[ 9.99947137e-01 -9.05211939e-04 -1.02422963e-02 2.20500861e+00] [ 9.00833671e-04 9.99999501e-01 -4.32074723e-04 6.70006235e-01] [ 1.02426823e-02 4.22825277e-04 9.99947453e-01 -6.86141197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03650248099999 meters 0.11117955854695169 Centerline is valid? [False, False] Translation: X:2.21, Y:0.67, Z:-0.69 [[ 9.99946158e-01 -6.45615461e-04 -1.03568677e-02 2.20568004e+00] [ 6.44430423e-04 9.99999785e-01 -1.17757382e-04 6.69749090e-01] [ 1.03569415e-02 1.11076761e-04 9.99946359e-01 -6.86856689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06650248099999 meters 0.11135033014369121 Centerline is valid? [False, False] Translation: X:2.21, Y:0.67, Z:-0.69 [[ 9.99939945e-01 -7.99546216e-04 -1.09301149e-02 2.20609932e+00] [ 7.90169494e-04 9.99999316e-01 -8.62171097e-04 6.71404861e-01] [ 1.09307968e-02 8.53482676e-04 9.99939893e-01 -6.85917016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09650248099999 meters 0.11152520872451106 Centerline is valid? [False, False] Translation: X:2.21, Y:0.67, Z:-0.69 [[ 9.99936013e-01 -6.95380903e-04 -1.12910222e-02 2.20679041e+00] [ 6.84432741e-04 9.99999292e-01 -9.73469431e-04 6.72028179e-01] [ 1.12916912e-02 9.65679195e-04 9.99935781e-01 -6.85961250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12650248099999 meters 0.11171792315790602 Centerline is valid? [False, False] Translation: X:2.21, Y:0.67, Z:-0.69 [[ 9.99935438e-01 -6.28660354e-04 -1.13457305e-02 2.20679593e+00] [ 6.17717251e-04 9.99999341e-01 -9.67991488e-04 6.71629292e-01] [ 1.13463315e-02 9.60920539e-04 9.99935167e-01 -6.85855555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15650248099999 meters 0.11203286455235933 Centerline is valid? [False, False] Translation: X:2.21, Y:0.67, Z:-0.69 [[ 9.99934377e-01 -5.33080605e-04 -1.14436780e-02 2.20696037e+00] [ 5.23213057e-04 9.99999489e-01 -8.65247226e-04 6.71202591e-01] [ 1.14441334e-02 8.59202964e-04 9.99934145e-01 -6.85889066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18650248099999 meters 0.11226345512848585 Centerline is valid? [False, False] Translation: X:2.21, Y:0.67, Z:-0.69 [[ 9.99932017e-01 -3.71086214e-04 -1.16543148e-02 2.20754019e+00] [ 3.62314520e-04 9.99999650e-01 -7.54758653e-04 6.71313663e-01] [ 1.16545908e-02 7.50484815e-04 9.99931801e-01 -6.86178644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21650248099999 meters 0.11269500528162953 Centerline is valid? [False, False] Translation: X:2.21, Y:0.67, Z:-0.69 [[ 9.99926567e-01 -5.19736530e-04 -1.21074895e-02 2.20787832e+00] [ 5.03976699e-04 9.99999022e-01 -1.30467440e-03 6.72818651e-01] [ 1.21081558e-02 1.29847671e-03 9.99925851e-01 -6.85437559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.246502481 meters 0.11276828646260591 Centerline is valid? [False, False] Translation: X:2.21, Y:0.67, Z:-0.69 [[ 9.99930219e-01 -4.97693899e-05 -1.18132868e-02 2.20797073e+00] [ 4.58770538e-05 9.99999945e-01 -3.29758754e-04 6.70306661e-01] [ 1.18133026e-02 3.29193784e-04 9.99930166e-01 -6.86442648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.276502481 meters 0.11271251143740427 Centerline is valid? [False, False] Translation: X:2.21, Y:0.67, Z:-0.69 [[ 0.99991465 -0.00419466 -0.01237317 2.20898719] [ 0.00413728 0.99998059 -0.00465874 0.67064773] [ 0.01239247 0.00460715 0.9999126 -0.68645494] [ 0. 0. 0. 1. ]] SLAMing on 71.306502481 meters 0.11268588023276958 Centerline is valid? [False, False] Translation: X:2.21, Y:0.67, Z:-0.69 [[ 0.99991705 -0.00357985 -0.01237223 2.2098863 ] [ 0.0035357 0.99998731 -0.00358828 0.66864341] [ 0.01238492 0.00354424 0.99991702 -0.68792557] [ 0. 0. 0. 1. ]] SLAMing on 71.336502481 meters 0.11271010801088911 Centerline is valid? [False, False] Translation: X:2.21, Y:0.67, Z:-0.69 [[ 0.99991576 -0.00337768 -0.01253291 2.21029927] [ 0.00333708 0.99998912 -0.00325927 0.66801001] [ 0.01254379 0.00321717 0.99991615 -0.68812374] [ 0. 0. 0. 1. ]] SLAMing on 71.366502481 meters 0.11281944929402687 Centerline is valid? [False, False] Translation: X:2.21, Y:0.67, Z:-0.69 [[ 0.99990879 -0.00360126 -0.01301698 2.21011497] [ 0.00355369 0.99998693 -0.00367554 0.66833807] [ 0.01303005 0.00362894 0.99990852 -0.68656002] [ 0. 0. 0. 1. ]] SLAMing on 71.39650248099998 meters 0.11279612674987269 Centerline is valid? [False, False] Translation: X:2.21, Y:0.67, Z:-0.69 [[ 0.99991069 -0.00329027 -0.01295353 2.21029886] [ 0.00325078 0.99999001 -0.00306819 0.66683356] [ 0.0129635 0.00302581 0.99991139 -0.68706579] [ 0. 0. 0. 1. ]] SLAMing on 71.42650248099999 meters 0.11274314204831976 Centerline is valid? [False, False] Translation: X:2.21, Y:0.66, Z:-0.69 [[ 9.99912562e-01 -2.73265666e-03 -1.29383804e-02 2.21098506e+00] [ 2.70585742e-03 9.99994159e-01 -2.08835066e-03 6.64685392e-01] [ 1.29440116e-02 2.05315864e-03 9.99914115e-01 -6.88205814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45650248099999 meters 0.11239304765169701 Centerline is valid? [False, False] Translation: X:2.21, Y:0.66, Z:-0.69 [[ 9.99918076e-01 -1.94011215e-03 -1.26521636e-02 2.21169919e+00] [ 1.93333421e-03 9.99997981e-01 -5.47923298e-04 6.61138854e-01] [ 1.26532011e-02 5.23417549e-04 9.99919808e-01 -6.90118860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48650248099999 meters 0.11258634760482208 Centerline is valid? [False, False] Translation: X:2.21, Y:0.66, Z:-0.69 [[ 9.99915350e-01 -1.66252966e-03 -1.29046074e-02 2.21234612e+00] [ 1.66061266e-03 9.99998608e-01 -1.59265799e-04 6.60418595e-01] [ 1.29048542e-02 1.37822763e-04 9.99916719e-01 -6.90427636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51650248099999 meters 0.11245959133513232 Centerline is valid? [False, False] Translation: X:2.21, Y:0.66, Z:-0.69 [[ 9.99916608e-01 -1.52083905e-03 -1.28243293e-02 2.21235270e+00] [ 1.52364647e-03 9.99998817e-01 2.09146064e-04 6.59350522e-01] [ 1.28239960e-02 -2.28668367e-04 9.99917743e-01 -6.90663203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54650248099999 meters 0.11243743147339158 Centerline is valid? [False, False] Translation: X:2.21, Y:0.66, Z:-0.69 [[ 9.99916683e-01 -1.23937477e-03 -1.28487395e-02 2.21269716e+00] [ 1.24846567e-03 9.99998976e-01 6.99535692e-04 6.58185841e-01] [ 1.28478594e-02 -7.15518620e-04 9.99917207e-01 -6.91153120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57650248099999 meters 0.11278642541422511 Centerline is valid? [False, False] Translation: X:2.21, Y:0.66, Z:-0.69 [[ 9.99913549e-01 -1.20778008e-03 -1.30933236e-02 2.21277559e+00] [ 1.21717746e-03 9.99999007e-01 7.09778164e-04 6.57748242e-01] [ 1.30924533e-02 -7.25653701e-04 9.99914027e-01 -6.90630318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60650248099999 meters 0.11341139432515669 Centerline is valid? [False, False] Translation: X:2.21, Y:0.66, Z:-0.69 [[ 9.99910079e-01 -1.56218583e-03 -1.33189307e-02 2.21239515e+00] [ 1.56309404e-03 9.99998777e-01 5.77798561e-05 6.58780867e-01] [ 1.33188242e-02 -7.85934017e-05 9.99911297e-01 -6.89422576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.636502481 meters 0.11305535822691394 Centerline is valid? [False, False] Translation: X:2.21, Y:0.66, Z:-0.69 [[ 9.99905010e-01 -1.46956584e-03 -1.37044403e-02 2.21293810e+00] [ 1.46984420e-03 9.99998920e-01 1.02399006e-05 6.59049188e-01] [ 1.37044105e-02 -3.03823201e-05 9.99906090e-01 -6.89194946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.666502481 meters 0.11353450964024338 Centerline is valid? [False, False] Translation: X:2.21, Y:0.66, Z:-0.69 [[ 9.99906652e-01 -9.65689895e-04 -1.36292113e-02 2.21359648e+00] [ 9.76886677e-04 9.99999191e-01 8.14894763e-04 6.57229137e-01] [ 1.36284134e-02 -8.28132889e-04 9.99906786e-01 -6.90416000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.696502481 meters 0.11350911500662132 Centerline is valid? [False, False] Translation: X:2.22, Y:0.66, Z:-0.69 [[ 0.99988855 -0.0047642 -0.01414884 2.21523928] [ 0.00472004 0.99998389 -0.00315312 0.65756236] [ 0.01416363 0.00308598 0.99989493 -0.69161197] [ 0. 0. 0. 1. ]] SLAMing on 71.726502481 meters 0.11350911500662132 Centerline is valid? [False, False] Translation: X:2.22, Y:0.66, Z:-0.69 [[ 0.99988855 -0.0047642 -0.01414884 2.21523928] [ 0.00472004 0.99998389 -0.00315312 0.65756236] [ 0.01416363 0.00308598 0.99989493 -0.69161197] [ 0. 0. 0. 1. ]] SLAMing on 71.756502481 meters 0.11351026311327328 Centerline is valid? [False, False] Translation: X:2.22, Y:0.66, Z:-0.69 [[ 0.99988696 -0.0044946 -0.01434815 2.21592501] [ 0.00445471 0.99998613 -0.00281118 0.65711812] [ 0.01436059 0.00274694 0.99989311 -0.69210546] [ 0. 0. 0. 1. ]] SLAMing on 71.78650248099999 meters 0.11360818354935531 Centerline is valid? [False, False] Translation: X:2.22, Y:0.66, Z:-0.69 [[ 0.99987928 -0.00443438 -0.01489151 2.2165306 ] [ 0.00439144 0.99998611 -0.00291522 0.65751127] [ 0.01490423 0.00284948 0.99988487 -0.69157722] [ 0. 0. 0. 1. ]] SLAMing on 71.81650248099999 meters 0.11367612898685883 Centerline is valid? [False, False] Translation: X:2.22, Y:0.66, Z:-0.69 [[ 0.99987667 -0.00426872 -0.01511346 2.21695601] [ 0.00422833 0.99998741 -0.00270322 0.65714169] [ 0.01512481 0.00263898 0.99988213 -0.69161279] [ 0. 0. 0. 1. ]] SLAMing on 71.84650248099999 meters 0.11365581439445642 Centerline is valid? [False, False] Translation: X:2.22, Y:0.66, Z:-0.69 [[ 9.99875729e-01 -3.92445506e-03 -1.52684581e-02 2.21743095e+00] [ 3.89221120e-03 9.99990133e-01 -2.14093838e-03 6.55874380e-01] [ 1.52767095e-02 2.08124426e-03 9.99881138e-01 -6.91899475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87650248099999 meters 0.11346295562383249 Centerline is valid? [False, False] Translation: X:2.22, Y:0.65, Z:-0.69 [[ 9.99880012e-01 -3.49439086e-03 -1.50914172e-02 2.21745139e+00] [ 3.47852282e-03 9.99993369e-01 -1.07758306e-03 6.52895407e-01] [ 1.50950826e-02 1.02495793e-03 9.99885537e-01 -6.92462393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90650248099999 meters 0.11313943860708998 Centerline is valid? [False, False] Translation: X:2.22, Y:0.65, Z:-0.69 [[ 9.99880831e-01 -3.16435567e-03 -1.51099490e-02 2.21770913e+00] [ 3.15822651e-03 9.99994921e-01 -4.29482137e-04 6.51252304e-01] [ 1.51112313e-02 3.81710315e-04 9.99885746e-01 -6.92832198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93650248099999 meters 0.11304963273140589 Centerline is valid? [False, False] Translation: X:2.22, Y:0.65, Z:-0.69 [[ 9.99885534e-01 -3.07672893e-03 -1.48139053e-02 2.21718589e+00] [ 3.07892654e-03 9.99995252e-01 1.25543670e-04 6.49272148e-01] [ 1.48134487e-02 -1.71140225e-04 9.99890260e-01 -6.92855703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96650248099999 meters 0.11261693785169904 Centerline is valid? [False, False] Translation: X:2.22, Y:0.65, Z:-0.69 [[ 9.99885797e-01 -2.69738116e-03 -1.48700171e-02 2.21763287e+00] [ 2.71095257e-03 9.99995927e-01 8.92588405e-04 6.47505724e-01] [ 1.48675488e-02 -9.32798379e-04 9.99889037e-01 -6.93397857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.996502481 meters 0.11250591793840854 Centerline is valid? [False, False] Translation: X:2.22, Y:0.65, Z:-0.69 [[ 9.99887179e-01 -2.41938960e-03 -1.48248202e-02 2.21784958e+00] [ 2.44140425e-03 9.99995944e-01 1.46706846e-03 6.46096677e-01] [ 1.48212107e-02 -1.50309632e-03 9.99889030e-01 -6.93873234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.026502481 meters 0.11251407034197207 Centerline is valid? [False, False] Translation: X:2.22, Y:0.64, Z:-0.69 [[ 9.99889096e-01 -2.09820113e-03 -1.47442822e-02 2.21811761e+00] [ 2.12977306e-03 9.99995472e-01 2.12592454e-03 6.44519268e-01] [ 1.47397549e-02 -2.15709074e-03 9.99889037e-01 -6.94512585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.056502481 meters 0.11207517473839758 Centerline is valid? [False, False] Translation: X:2.22, Y:0.64, Z:-0.69 [[ 9.99862605e-01 -6.25810045e-03 -1.53494998e-02 2.21914919e+00] [ 6.22644104e-03 9.99978391e-01 -2.10949273e-03 6.44798465e-01] [ 1.53623695e-02 2.01363014e-03 9.99879964e-01 -6.94437296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.086502481 meters 0.11198336449950043 Centerline is valid? [False, False] Translation: X:2.22, Y:0.64, Z:-0.69 [[ 9.99859744e-01 -6.26450496e-03 -1.55321936e-02 2.21907422e+00] [ 6.23381928e-03 9.99978523e-01 -2.02324733e-03 6.44230607e-01] [ 1.55445346e-02 1.92613866e-03 9.99877321e-01 -6.93800724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.116502481 meters 0.11208925242431494 Centerline is valid? [False, False] Translation: X:2.22, Y:0.64, Z:-0.69 [[ 9.99855147e-01 -6.12402346e-03 -1.58801993e-02 2.21954583e+00] [ 6.09461386e-03 9.99979623e-01 -1.89970081e-03 6.43936811e-01] [ 1.58915095e-02 1.80264195e-03 9.99872097e-01 -6.93556704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14650248099998 meters 0.11174260137979844 Centerline is valid? [False, False] Translation: X:2.22, Y:0.64, Z:-0.69 [[ 9.99856328e-01 -5.80896929e-03 -1.59241800e-02 2.21973917e+00] [ 5.79015803e-03 9.99982484e-01 -1.22715221e-03 6.42118991e-01] [ 1.59310296e-02 1.13477238e-03 9.99872449e-01 -6.93696831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17650248099999 meters 0.1115753710842926 Centerline is valid? [False, False] Translation: X:2.22, Y:0.64, Z:-0.69 [[ 9.99861044e-01 -5.55168968e-03 -1.57185243e-02 2.21974212e+00] [ 5.54257020e-03 9.99984445e-01 -6.23677614e-04 6.40621408e-01] [ 1.57217423e-02 5.36469925e-04 9.99876262e-01 -6.94279497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20650248099999 meters 0.11163393615230163 Centerline is valid? [False, False] Translation: X:2.22, Y:0.64, Z:-0.69 [[ 9.99864931e-01 -5.23974799e-03 -1.55776976e-02 2.21991800e+00] [ 5.24116290e-03 9.99986264e-01 5.00052010e-05 6.39012719e-01] [ 1.55772216e-02 -1.31643697e-04 9.99878659e-01 -6.94922186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23650248099999 meters 0.11127154584599523 Centerline is valid? [False, False] Translation: X:2.22, Y:0.64, Z:-0.70 [[ 9.99876552e-01 -4.51125123e-03 -1.50508921e-02 2.22035292e+00] [ 4.53813556e-03 9.99988167e-01 1.75255305e-03 6.35072605e-01] [ 1.50428077e-02 -1.82063969e-03 9.99885193e-01 -6.96921654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26650248099999 meters 0.11114809779304868 Centerline is valid? [False, False] Translation: X:2.22, Y:0.63, Z:-0.70 [[ 0.99988031 -0.00413294 -0.01490921 2.22066369] [ 0.00417153 0.99998803 0.00255804 0.63328566] [ 0.01489846 -0.00261993 0.99988558 -0.69777741] [ 0. 0. 0. 1. ]] SLAMing on 72.29650248099999 meters 0.11077237615108967 Centerline is valid? [False, False] Translation: X:2.22, Y:0.63, Z:-0.70 [[ 0.99988528 -0.00383982 -0.01465234 2.22080758] [ 0.0038899 0.99998669 0.00339087 0.63141667] [ 0.01463913 -0.00344748 0.9998869 -0.69866403] [ 0. 0. 0. 1. ]] SLAMing on 72.32650248099999 meters 0.11084410319384766 Centerline is valid? [False, False] Translation: X:2.22, Y:0.63, Z:-0.70 [[ 0.99988145 -0.0035297 -0.01498745 2.22165126] [ 0.00358694 0.99998637 0.00379426 0.63081843] [ 0.01497385 -0.00384756 0.99988048 -0.69897282] [ 0. 0. 0. 1. ]] SLAMing on 72.35650248099999 meters 0.11077645030650943 Centerline is valid? [False, False] Translation: X:2.22, Y:0.63, Z:-0.70 [[ 0.99988478 -0.003746 -0.01471014 2.22087833] [ 0.00380164 0.99998572 0.00375682 0.63038785] [ 0.01469586 -0.00381231 0.99988474 -0.69849118] [ 0. 0. 0. 1. ]] SLAMing on 72.386502481 meters 0.11074915051620937 Centerline is valid? [False, False] Translation: X:2.22, Y:0.63, Z:-0.70 [[ 0.99988626 -0.00371854 -0.01461658 2.22069749] [ 0.00377624 0.99998518 0.00392193 0.62977513] [ 0.01460177 -0.00397668 0.99988548 -0.69847461] [ 0. 0. 0. 1. ]] SLAMing on 72.416502481 meters 0.11071076705279227 Centerline is valid? [False, False] Translation: X:2.22, Y:0.63, Z:-0.70 [[ 0.99988515 -0.00356325 -0.01473062 2.22089769] [ 0.0036255 0.9999846 0.00420132 0.62896825] [ 0.01471542 -0.00425424 0.99988267 -0.69848089] [ 0. 0. 0. 1. ]] SLAMing on 72.446502481 meters 0.11099152971661513 Centerline is valid? [False, False] Translation: X:2.23, Y:0.63, Z:-0.69 [[ 9.99892649e-01 -1.59880778e-03 -1.45648234e-02 2.23137986e+00] [ 1.55399089e-03 9.99994025e-01 -3.08786149e-03 6.29276532e-01] [ 1.45696732e-02 3.06489640e-03 9.99889159e-01 -6.93858492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.476502481 meters 0.11105841990698728 Centerline is valid? [False, False] Translation: X:2.24, Y:0.63, Z:-0.69 [[ 0.99989706 0.00272403 -0.01408742 2.24375003] [-0.00283142 0.99996704 -0.00760898 0.62929152] [ 0.01406622 0.00764809 0.99987182 -0.6924553 ] [ 0. 0. 0. 1. ]] SLAMing on 72.506502481 meters 0.1107468978483877 Centerline is valid? [False, False] Translation: X:2.24, Y:0.63, Z:-0.69 [[ 0.99989664 0.00290083 -0.01408155 2.24409805] [-0.00300444 0.99996853 -0.0073428 0.62894128] [ 0.01405981 0.00738435 0.99987389 -0.69297374] [ 0. 0. 0. 1. ]] SLAMing on 72.53650248099999 meters 0.11058589983876321 Centerline is valid? [False, False] Translation: X:2.24, Y:0.63, Z:-0.70 [[ 9.99994640e-01 4.19861808e-04 3.24720750e-03 2.24309193e+00] [-4.07741874e-04 9.99992952e-01 -3.73217929e-03 6.28272676e-01] [-3.24875161e-03 3.73083527e-03 9.99987763e-01 -7.02738066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56650248099999 meters 0.11037027007832884 Centerline is valid? [False, False] Translation: X:2.24, Y:0.63, Z:-0.70 [[ 9.99995350e-01 4.59637991e-04 3.01483078e-03 2.24361448e+00] [-4.48064157e-04 9.99992532e-01 -3.83851912e-03 6.28924869e-01] [-3.01657260e-03 3.83715043e-03 9.99988088e-01 -7.02871454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59650248099999 meters 0.11018570749561953 Centerline is valid? [False, False] Translation: X:2.24, Y:0.63, Z:-0.70 [[ 9.99997376e-01 2.73865691e-04 2.27456786e-03 2.24418736e+00] [-2.63381316e-04 9.99989347e-01 -4.60841330e-03 6.31189562e-01] [-2.27580571e-03 4.60780213e-03 9.99986794e-01 -7.01741618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62650248099999 meters 0.110112466326471 Centerline is valid? [False, False] Translation: X:2.24, Y:0.63, Z:-0.70 [[ 9.99997789e-01 3.33522197e-04 2.07636698e-03 2.24457237e+00] [-3.23890766e-04 9.99989196e-01 -4.63720704e-03 6.31501315e-01] [-2.07789115e-03 4.63652427e-03 9.99987092e-01 -7.01764612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65650248099999 meters 0.10971040239210139 Centerline is valid? [False, False] Translation: X:2.24, Y:0.63, Z:-0.70 [[ 9.99997609e-01 5.84362634e-04 2.10730728e-03 2.24472441e+00] [-5.75407903e-04 9.99990814e-01 -4.24747687e-03 6.30377095e-01] [-2.10976999e-03 4.24625415e-03 9.99988759e-01 -7.02110914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68650248099999 meters 0.10959377494646291 Centerline is valid? [False, False] Translation: X:2.25, Y:0.63, Z:-0.70 [[ 9.99997439e-01 9.41450546e-04 2.05817808e-03 2.24536587e+00] [-9.33818875e-04 9.99992698e-01 -3.70579582e-03 6.29510671e-01] [-2.06165188e-03 3.70386437e-03 9.99991015e-01 -7.02987656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71650248099999 meters 0.10942898949126202 Centerline is valid? [False, False] Translation: X:2.25, Y:0.63, Z:-0.70 [[ 9.99997472e-01 1.07060687e-03 1.97720380e-03 2.24578729e+00] [-1.06355209e-03 9.99993077e-01 -3.56566678e-03 6.29457195e-01] [-1.98100754e-03 3.56355491e-03 9.99991688e-01 -7.03415766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.746502481 meters 0.1093687443999903 Centerline is valid? [False, False] Translation: X:2.25, Y:0.63, Z:-0.70 [[ 9.99998235e-01 1.46027253e-03 1.18227824e-03 2.24760351e+00] [-1.45608262e-03 9.99992684e-01 -3.53706904e-03 6.30776995e-01] [-1.18743468e-03 3.53534130e-03 9.99993046e-01 -7.04025902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.776502481 meters 0.10931432674202304 Centerline is valid? [False, False] Translation: X:2.25, Y:0.63, Z:-0.70 [[ 9.99998372e-01 1.60713088e-03 8.20489179e-04 2.24836571e+00] [-1.60413847e-03 9.99992107e-01 -3.63482222e-03 6.31713495e-01] [-8.26324338e-04 3.63350012e-03 9.99993057e-01 -7.04207088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.806502481 meters 0.10931012171936995 Centerline is valid? [False, False] Translation: X:2.25, Y:0.63, Z:-0.70 [[ 9.99998330e-01 1.64108905e-03 8.04566737e-04 2.24824330e+00] [-1.63819243e-03 9.99992222e-01 -3.58776339e-03 6.31332881e-01] [-8.10448318e-04 3.58643936e-03 9.99993240e-01 -7.04004940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.836502481 meters 0.10933530624793457 Centerline is valid? [False, False] Translation: X:2.25, Y:0.63, Z:-0.70 [[ 9.99998002e-01 1.79425246e-03 8.81651844e-04 2.24810857e+00] [-1.79133509e-03 9.99992955e-01 -3.29870291e-03 6.30301785e-01] [-8.87564338e-04 3.29711699e-03 9.99994171e-01 -7.04068808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.866502481 meters 0.10933494607396836 Centerline is valid? [False, False] Translation: X:2.25, Y:0.63, Z:-0.70 [[ 9.99997105e-01 -2.39801268e-03 1.96483865e-04 2.24894694e+00] [ 2.39949270e-03 9.99965801e-01 -7.91456000e-03 6.31352723e-01] [-1.77497930e-04 7.91500855e-03 9.99968660e-01 -7.03595061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89650248099998 meters 0.10926255171595184 Centerline is valid? [False, False] Translation: X:2.25, Y:0.63, Z:-0.70 [[ 9.99997413e-01 -2.27436927e-03 2.53545358e-05 2.24947729e+00] [ 2.27449790e-03 9.99966946e-01 -7.80593428e-03 6.31508244e-01] [-7.60012061e-06 7.80597176e-03 9.99969533e-01 -7.03922275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92650248099999 meters 0.109086223499777 Centerline is valid? [False, False] Translation: X:2.25, Y:0.63, Z:-0.71 [[ 9.99998217e-01 -1.84284959e-03 -4.11845689e-04 2.25101189e+00] [ 1.83973393e-03 9.99970619e-01 -7.44160452e-03 6.32085001e-01] [ 4.25547346e-04 7.44083357e-03 9.99972226e-01 -7.05060651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95650248099999 meters 0.10905922434051017 Centerline is valid? [False, False] Translation: X:2.25, Y:0.63, Z:-0.71 [[ 9.99998976e-01 -1.36324179e-03 -4.35968279e-04 2.25184729e+00] [ 1.36029328e-03 9.99976674e-01 -6.69338698e-03 6.30995702e-01] [ 4.45082814e-04 6.69278708e-03 9.99977504e-01 -7.06289259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98650248099999 meters 0.10887452795170058 Centerline is valid? [False, False] Translation: X:2.25, Y:0.63, Z:-0.71 [[ 9.99999724e-01 -7.40123177e-04 -5.93064567e-05 2.25195341e+00] [ 7.39787599e-04 9.99984757e-01 -5.47157706e-03 6.27570163e-01] [ 6.33551937e-05 5.47153168e-03 9.99985029e-01 -7.07524147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01650248099999 meters 0.10881604261533155 Centerline is valid? [False, False] Translation: X:2.25, Y:0.63, Z:-0.71 [[ 9.99999899e-01 -4.30623600e-04 -1.30613609e-04 2.25238993e+00] [ 4.29967562e-04 9.99987498e-01 -4.98184989e-03 6.26577308e-01] [ 1.32757278e-04 4.98179322e-03 9.99987582e-01 -7.08047530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04650248099999 meters 0.10905633617786446 Centerline is valid? [False, False] Translation: X:2.25, Y:0.63, Z:-0.71 [[ 9.99999527e-01 -5.86042540e-04 -7.75831806e-04 2.25278791e+00] [ 5.81776879e-04 9.99984777e-01 -5.48703268e-03 6.28035770e-01] [ 7.79035630e-04 5.48657872e-03 9.99984645e-01 -7.06933062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07650248099999 meters 0.10900142534106125 Centerline is valid? [False, False] Translation: X:2.25, Y:0.63, Z:-0.71 [[ 9.99999228e-01 -5.94624464e-04 -1.09084053e-03 2.25319649e+00] [ 5.88402966e-04 9.99983611e-01 -5.69488092e-03 6.28800560e-01] [ 1.09420897e-03 5.69423467e-03 9.99983189e-01 -7.06644311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10650248099999 meters 0.10908771018990668 Centerline is valid? [False, False] Translation: X:2.25, Y:0.63, Z:-0.71 [[ 9.99999125e-01 -4.69711469e-04 -1.23682824e-03 2.25356438e+00] [ 4.62808370e-04 9.99984349e-01 -5.57567518e-03 6.28737475e-01] [ 1.23942784e-03 5.57509788e-03 9.99983691e-01 -7.06801864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.136502481 meters 0.1088953288229584 Centerline is valid? [False, False] Translation: X:2.25, Y:0.63, Z:-0.71 [[ 9.99999706e-01 8.68142678e-05 -7.61931434e-04 2.25347032e+00] [-9.02906788e-05 9.99989582e-01 -4.56378193e-03 6.25455765e-01] [ 7.61527295e-04 4.56384938e-03 9.99989296e-01 -7.07930285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.166502481 meters 0.10863977027430366 Centerline is valid? [False, False] Translation: X:2.25, Y:0.62, Z:-0.71 [[ 9.99999793e-01 3.45087238e-04 -5.43815921e-04 2.25353962e+00] [-3.47277007e-04 9.99991812e-01 -4.03173559e-03 6.24039395e-01] [ 5.42420168e-04 4.03192361e-03 9.99991725e-01 -7.08694256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.196502481 meters 0.10876588808576979 Centerline is valid? [False, False] Translation: X:2.25, Y:0.62, Z:-0.71 [[ 9.99999612e-01 4.54077948e-04 -7.54882036e-04 2.25412708e+00] [-4.57064465e-04 9.99992051e-01 -3.96081668e-03 6.24319968e-01] [ 7.53077516e-04 3.96116017e-03 9.99991871e-01 -7.08973766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.226502481 meters 0.10848786992548387 Centerline is valid? [False, False] Translation: X:2.25, Y:0.62, Z:-0.71 [[ 9.99999155e-01 6.36228712e-04 -1.13386161e-03 2.25490477e+00] [-6.40509257e-04 9.99992655e-01 -3.77883549e-03 6.24526539e-01] [ 1.13144907e-03 3.77955855e-03 9.99992217e-01 -7.09070438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.256502481 meters 0.10836584730253433 Centerline is valid? [False, False] Translation: X:2.26, Y:0.62, Z:-0.71 [[ 9.99998764e-01 9.83249394e-04 -1.22664166e-03 2.25546635e+00] [-9.87154769e-04 9.99994433e-01 -3.18726259e-03 6.23478682e-01] [ 1.22350095e-03 3.18846954e-03 9.99994168e-01 -7.09665743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28650248099999 meters 0.10826874368942413 Centerline is valid? [False, False] Translation: X:2.26, Y:0.62, Z:-0.71 [[ 9.99998597e-01 1.23459119e-03 -1.13221318e-03 2.25552701e+00] [-1.23755030e-03 9.99995811e-01 -2.61659487e-03 6.21998536e-01] [ 1.12897801e-03 2.61799237e-03 9.99995936e-01 -7.10052946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31650248099999 meters 0.10799561886550964 Centerline is valid? [False, False] Translation: X:2.26, Y:0.62, Z:-0.71 [[ 9.99995717e-01 -2.63178635e-03 -1.28079715e-03 2.25639676e+00] [ 2.62378383e-03 9.99977275e-01 -6.21015756e-03 6.20775479e-01] [ 1.29711185e-03 6.20677042e-03 9.99979897e-01 -7.11029836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34650248099999 meters 0.1080494267889253 Centerline is valid? [False, False] Translation: X:2.26, Y:0.62, Z:-0.71 [[ 9.99996749e-01 -2.29807584e-03 -1.10509796e-03 2.25657714e+00] [ 2.29204588e-03 9.99982646e-01 -5.42715545e-03 6.18996373e-01] [ 1.11755079e-03 5.42460487e-03 9.99984662e-01 -7.11786606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37650248099999 meters 0.10826951713418291 Centerline is valid? [False, False] Translation: X:2.26, Y:0.62, Z:-0.71 [[ 9.99996731e-01 -2.22484498e-03 -1.26000717e-03 2.25678741e+00] [ 2.21812376e-03 9.99983438e-01 -5.31077841e-03 6.18767684e-01] [ 1.27180196e-03 5.30796620e-03 9.99985104e-01 -7.11644784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40650248099999 meters 0.10835080771077073 Centerline is valid? [False, False] Translation: X:2.26, Y:0.62, Z:-0.71 [[ 9.99996394e-01 -2.26605152e-03 -1.44135606e-03 2.25679423e+00] [ 2.25828316e-03 9.99983039e-01 -5.36860398e-03 6.18810590e-01] [ 1.45349714e-03 5.36532963e-03 9.99984550e-01 -7.11085801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43650248099999 meters 0.10859874108184292 Centerline is valid? [False, False] Translation: X:2.26, Y:0.62, Z:-0.71 [[ 9.99996807e-01 -2.07405961e-03 -1.44348262e-03 2.25696103e+00] [ 2.06682849e-03 9.99985399e-01 -4.99308420e-03 6.17902065e-01] [ 1.45381749e-03 4.99008483e-03 9.99986493e-01 -7.11346833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46650248099999 meters 0.10855144496433844 Centerline is valid? [False, False] Translation: X:2.26, Y:0.62, Z:-0.71 [[ 9.99998129e-01 -1.61973405e-03 -1.05721827e-03 2.25702572e+00] [ 1.61554633e-03 9.99990894e-01 -3.94998287e-03 6.15286848e-01] [ 1.06360656e-03 3.94826749e-03 9.99991640e-01 -7.12507381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.496502481 meters 0.1085979530396074 Centerline is valid? [False, False] Translation: X:2.26, Y:0.61, Z:-0.71 [[ 9.99998422e-01 -1.39171015e-03 -1.10377318e-03 2.25742383e+00] [ 1.38776208e-03 9.99992666e-01 -3.56962503e-03 6.14603669e-01] [ 1.10873297e-03 3.56808762e-03 9.99993020e-01 -7.12996638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.526502481 meters 0.10859817488489983 Centerline is valid? [False, False] Translation: X:2.26, Y:0.62, Z:-0.71 [[ 9.99998207e-01 -1.26017072e-03 -1.41376055e-03 2.25832346e+00] [ 1.25517565e-03 9.99992987e-01 -3.52851696e-03 6.15408002e-01] [ 1.41819717e-03 3.52673612e-03 9.99992775e-01 -7.13458880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.556502481 meters 0.10855165156237226 Centerline is valid? [False, False] Translation: X:2.26, Y:0.62, Z:-0.71 [[ 9.99998045e-01 -1.09821814e-03 -1.64416454e-03 2.25901596e+00] [ 1.09262941e-03 9.99993636e-01 -3.39617816e-03 6.15584750e-01] [ 1.64788382e-03 3.39437506e-03 9.99992881e-01 -7.13854855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.586502481 meters 0.10837861151156243 Centerline is valid? [False, False] Translation: X:2.26, Y:0.62, Z:-0.71 [[ 9.99997907e-01 -9.31543123e-04 -1.82161106e-03 2.25969846e+00] [ 9.25439806e-04 9.99993966e-01 -3.34848205e-03 6.15995578e-01] [ 1.82471932e-03 3.34678925e-03 9.99992735e-01 -7.14424503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.616502481 meters 0.1080007565572384 Centerline is valid? [False, False] Translation: X:2.26, Y:0.62, Z:-0.71 [[ 9.99997650e-01 -8.75960381e-04 -1.98316859e-03 2.26002687e+00] [ 8.69252370e-04 9.99993907e-01 -3.38081008e-03 6.16201134e-01] [ 1.98611797e-03 3.37907826e-03 9.99992319e-01 -7.14508084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64650248099998 meters 0.1080007565572384 Centerline is valid? [False, False] Translation: X:2.26, Y:0.62, Z:-0.71 [[ 9.99997650e-01 -8.75960381e-04 -1.98316859e-03 2.26002687e+00] [ 8.69252370e-04 9.99993907e-01 -3.38081008e-03 6.16201134e-01] [ 1.98611797e-03 3.37907826e-03 9.99992319e-01 -7.14508084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67650248099999 meters 0.10780717679927952 Centerline is valid? [False, False] Translation: X:2.26, Y:0.62, Z:-0.71 [[ 9.99996403e-01 -1.06836010e-03 -2.46011386e-03 2.26036309e+00] [ 1.05789856e-03 9.99990410e-01 -4.24984047e-03 6.18415553e-01] [ 2.46463062e-03 4.24722264e-03 9.99987943e-01 -7.13724945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70650248099999 meters 0.10778808451877699 Centerline is valid? [False, False] Translation: X:2.26, Y:0.62, Z:-0.71 [[ 9.99994998e-01 -1.09341425e-03 -2.96787005e-03 2.26110316e+00] [ 1.07936229e-03 9.99988221e-01 -4.73217616e-03 6.20031319e-01] [ 2.97300932e-03 4.72894908e-03 9.99984399e-01 -7.13495506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73650248099999 meters 0.10757734383761593 Centerline is valid? [False, False] Translation: X:2.26, Y:0.62, Z:-0.71 [[ 9.99991989e-01 -9.02632811e-04 -3.89968067e-03 2.26281062e+00] [ 8.81581620e-04 9.99985050e-01 -5.39653393e-03 6.23060441e-01] [ 3.90449346e-03 5.39305281e-03 9.99977835e-01 -7.13657676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76650248099999 meters 0.10733914396261252 Centerline is valid? [False, False] Translation: X:2.26, Y:0.62, Z:-0.71 [[ 9.99990281e-01 -7.17445661e-04 -4.35001166e-03 2.26382649e+00] [ 6.93647962e-04 9.99984800e-01 -5.46976353e-03 6.23883834e-01] [ 4.35386980e-03 5.46669299e-03 9.99975579e-01 -7.14008892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79650248099999 meters 0.10727663424958805 Centerline is valid? [False, False] Translation: X:2.26, Y:0.62, Z:-0.71 [[ 9.99989258e-01 -5.76665377e-04 -4.59907152e-03 2.26451993e+00] [ 5.51525743e-04 9.99984911e-01 -5.46563750e-03 6.24378244e-01] [ 4.60215397e-03 5.46304228e-03 9.99974487e-01 -7.14397191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82650248099999 meters 0.10731805550368224 Centerline is valid? [False, False] Translation: X:2.27, Y:0.63, Z:-0.71 [[ 9.99987954e-01 -3.78165277e-04 -4.89371427e-03 2.26533743e+00] [ 3.51258451e-04 9.99984825e-01 -5.49793405e-03 6.25069278e-01] [ 4.89571913e-03 5.49614887e-03 9.99972912e-01 -7.14886094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85650248099999 meters 0.10741482964745591 Centerline is valid? [False, False] Translation: X:2.27, Y:0.63, Z:-0.72 [[ 9.99987305e-01 -2.99395846e-04 -5.02985439e-03 2.26581705e+00] [ 2.71672005e-04 9.99984774e-01 -5.51163704e-03 6.25521235e-01] [ 5.03142796e-03 5.51020060e-03 9.99972161e-01 -7.15239330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.886502481 meters 0.1072756925032605 Centerline is valid? [False, False] Translation: X:2.27, Y:0.63, Z:-0.72 [[ 9.99986804e-01 -2.85947759e-05 -5.13714193e-03 2.26666381e+00] [ 1.48424899e-06 9.99986075e-01 -5.27728233e-03 6.25912018e-01] [ 5.13722130e-03 5.27720507e-03 9.99972880e-01 -7.16210287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.916502481 meters 0.10719504116456584 Centerline is valid? [False, False] Translation: X:2.27, Y:0.63, Z:-0.72 [[ 9.99986489e-01 2.27768588e-04 -5.19330876e-03 2.26709672e+00] [-2.53158114e-04 9.99988018e-01 -4.88875902e-03 6.25256214e-01] [ 5.19213303e-03 4.89000769e-03 9.99974564e-01 -7.16721597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.946502481 meters 0.10712574444055385 Centerline is valid? [False, False] Translation: X:2.27, Y:0.63, Z:-0.72 [[ 0.9999733 -0.00422334 -0.00596339 2.26771704] [ 0.00416441 0.99994272 -0.00986016 0.62691423] [ 0.00600469 0.00983506 0.99993361 -0.71562765] [ 0. 0. 0. 1. ]] SLAMing on 73.976502481 meters 0.10689183830588861 Centerline is valid? [False, False] Translation: X:2.27, Y:0.62, Z:-0.72 [[ 9.99988826e-01 -9.12093432e-04 -4.63859539e-03 2.26569793e+00] [ 8.83176810e-04 9.99980190e-01 -6.23214984e-03 6.22930334e-01] [ 4.64418780e-03 6.22798350e-03 9.99969821e-01 -7.15560558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.006502481 meters 0.10687837364726599 Centerline is valid? [False, False] Translation: X:2.27, Y:0.62, Z:-0.72 [[ 9.99988498e-01 -7.77257136e-04 -4.73283444e-03 2.26608137e+00] [ 7.48506760e-04 9.99981277e-01 -6.07340749e-03 6.22852367e-01] [ 4.73746643e-03 6.06979507e-03 9.99970357e-01 -7.15899176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03650248099999 meters 0.10688952555788456 Centerline is valid? [False, False] Translation: X:2.27, Y:0.62, Z:-0.72 [[ 9.99988115e-01 -6.31241841e-04 -4.83431907e-03 2.26648084e+00] [ 6.02776979e-04 9.99982488e-01 -5.88727620e-03 6.22691131e-01] [ 4.83795071e-03 5.88429222e-03 9.99970984e-01 -7.16230056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06650248099999 meters 0.1067808788338461 Centerline is valid? [False, False] Translation: X:2.27, Y:0.62, Z:-0.72 [[ 9.99987848e-01 -4.27093738e-04 -4.91145351e-03 2.26698701e+00] [ 3.99611035e-04 9.99984267e-01 -5.59525591e-03 6.22420536e-01] [ 4.91376593e-03 5.59322525e-03 9.99972285e-01 -7.16783774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09650248099999 meters 0.1066028547749057 Centerline is valid? [False, False] Translation: X:2.27, Y:0.62, Z:-0.72 [[ 9.99987905e-01 -2.31313066e-04 -4.91279950e-03 2.26741022e+00] [ 2.05360391e-04 9.99986026e-01 -5.28251293e-03 6.22115532e-01] [ 4.91395277e-03 5.28144015e-03 9.99973979e-01 -7.17397427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12650248099999 meters 0.10651319918253621 Centerline is valid? [False, False] Translation: X:2.27, Y:0.62, Z:-0.72 [[ 9.99989135e-01 -2.32096435e-04 -4.65575536e-03 2.26684807e+00] [ 2.08852613e-04 9.99987516e-01 -4.99235718e-03 6.20900775e-01] [ 4.65685595e-03 4.99133058e-03 9.99976700e-01 -7.17192589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15650248099999 meters 0.1064509893471996 Centerline is valid? [False, False] Translation: X:2.27, Y:0.62, Z:-0.72 [[ 9.99989809e-01 -1.50206522e-04 -4.51202680e-03 2.26660330e+00] [ 1.29112349e-04 9.99989064e-01 -4.67502667e-03 6.19872772e-01] [ 4.51267967e-03 4.67439647e-03 9.99978893e-01 -7.17207285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18650248099999 meters 0.10637012319199189 Centerline is valid? [False, False] Translation: X:2.27, Y:0.62, Z:-0.72 [[ 9.99989879e-01 9.93709742e-05 -4.49799624e-03 2.26680385e+00] [-1.18076177e-04 9.99991346e-01 -4.15848899e-03 6.18687205e-01] [ 4.49754408e-03 4.15897801e-03 9.99981237e-01 -7.17578127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21650248099999 meters 0.10665884650692059 Centerline is valid? [False, False] Translation: X:2.27, Y:0.62, Z:-0.72 [[ 9.99990021e-01 3.13417845e-04 -4.45645734e-03 2.26703020e+00] [-3.29603633e-04 9.99993351e-01 -3.63171491e-03 6.17592555e-01] [ 4.45528946e-03 3.63314754e-03 9.99983475e-01 -7.18004226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.246502481 meters 0.10669225620435546 Centerline is valid? [False, False] Translation: X:2.27, Y:0.62, Z:-0.72 [[ 9.99990977e-01 6.03675352e-04 -4.20486353e-03 2.26720926e+00] [-6.15960377e-04 9.99995544e-01 -2.92094087e-03 6.16218452e-01] [ 4.20308149e-03 2.92350455e-03 9.99986894e-01 -7.18965734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.276502481 meters 0.10669608344374255 Centerline is valid? [False, False] Translation: X:2.27, Y:0.61, Z:-0.72 [[ 9.99990917e-01 1.02551407e-03 -4.13682407e-03 2.26767533e+00] [-1.03436154e-03 9.99997181e-01 -2.13713886e-03 6.14618005e-01] [ 4.13462074e-03 2.14139842e-03 9.99989160e-01 -7.19893442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.306502481 meters 0.10676752606572339 Centerline is valid? [False, False] Translation: X:2.27, Y:0.62, Z:-0.72 [[ 0.99998401 -0.00323226 -0.00464058 2.26855691] [ 0.00320152 0.99997299 -0.00661523 0.61549439] [ 0.00466183 0.00660027 0.99996735 -0.71984224] [ 0. 0. 0. 1. ]] SLAMing on 74.336502481 meters 0.10713358241881821 Centerline is valid? [False, False] Translation: X:2.27, Y:0.61, Z:-0.72 [[ 0.9999863 -0.00285863 -0.00438573 2.26884719] [ 0.00283333 0.99997938 -0.00576344 0.61386552] [ 0.00440211 0.00575094 0.99997377 -0.7210297 ] [ 0. 0. 0. 1. ]] SLAMing on 74.366502481 meters 0.10724849028185458 Centerline is valid? [False, False] Translation: X:2.27, Y:0.61, Z:-0.72 [[ 0.99998569 -0.00273897 -0.00459456 2.26941753] [ 0.00271301 0.99998038 -0.00564533 0.61398703] [ 0.00460993 0.00563279 0.99997351 -0.7212858 ] [ 0. 0. 0. 1. ]] SLAMing on 74.39650248099998 meters 0.10746416869857521 Centerline is valid? [False, False] Translation: X:2.27, Y:0.61, Z:-0.72 [[ 0.99998519 -0.00256978 -0.00479754 2.27007639] [ 0.00254359 0.99998187 -0.0054571 0.61414675] [ 0.00481148 0.00544482 0.9999736 -0.72169441] [ 0. 0. 0. 1. ]] SLAMing on 74.42650248099999 meters 0.10761399837040282 Centerline is valid? [False, False] Translation: X:2.27, Y:0.61, Z:-0.72 [[ 0.99998613 -0.00229532 -0.0047406 2.27047845] [ 0.0022716 0.9999849 -0.005003 0.61346304] [ 0.00475201 0.00499216 0.99997625 -0.72246584] [ 0. 0. 0. 1. ]] SLAMing on 74.45650248099999 meters 0.10796245784210343 Centerline is valid? [False, False] Translation: X:2.27, Y:0.61, Z:-0.72 [[ 9.99987126e-01 -2.16116656e-03 -4.59103521e-03 2.27053188e+00] [ 2.13951877e-03 9.99986596e-01 -4.71492079e-03 6.12919860e-01] [ 4.60116340e-03 4.70503748e-03 9.99978346e-01 -7.22980577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48650248099999 meters 0.10805192632202193 Centerline is valid? [False, False] Translation: X:2.27, Y:0.61, Z:-0.72 [[ 9.99985692e-01 -2.20495190e-03 -4.87384502e-03 2.27088598e+00] [ 2.18103795e-03 9.99985585e-01 -4.90646872e-03 6.13507593e-01] [ 4.88459329e-03 4.89576848e-03 9.99976086e-01 -7.22721648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51650248099999 meters 0.1079186235636591 Centerline is valid? [False, False] Translation: X:2.27, Y:0.61, Z:-0.72 [[ 9.99985119e-01 -2.27689103e-03 -4.95759532e-03 2.27111082e+00] [ 2.25160216e-03 9.99984457e-01 -5.10065530e-03 6.14234457e-01] [ 4.96913190e-03 5.08941686e-03 9.99974702e-01 -7.22780381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54650248099999 meters 0.10829303744665845 Centerline is valid? [False, False] Translation: X:2.27, Y:0.61, Z:-0.72 [[ 9.99985080e-01 -2.08973673e-03 -5.04702514e-03 2.27164309e+00] [ 2.06517354e-03 9.99986023e-01 -4.86718245e-03 6.14136037e-01] [ 5.05712573e-03 4.85668685e-03 9.99975419e-01 -7.23346228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57650248099999 meters 0.10816200402127331 Centerline is valid? [False, False] Translation: X:2.27, Y:0.61, Z:-0.72 [[ 9.99985219e-01 -1.67899416e-03 -5.17130697e-03 2.27267843e+00] [ 1.65662105e-03 9.99989263e-01 -4.32764272e-03 6.13696283e-01] [ 5.17851754e-03 4.31901185e-03 9.99977264e-01 -7.24610681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60650248099999 meters 0.10823926005823378 Centerline is valid? [False, False] Translation: X:2.27, Y:0.61, Z:-0.72 [[ 9.99984220e-01 -1.66955625e-03 -5.36391854e-03 2.27314774e+00] [ 1.64571401e-03 9.99988761e-01 -4.44627228e-03 6.14404365e-01] [ 5.37128155e-03 4.43737464e-03 9.99975729e-01 -7.24766805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.636502481 meters 0.10824299007986873 Centerline is valid? [False, False] Translation: X:2.27, Y:0.62, Z:-0.72 [[ 9.99982665e-01 -1.77923372e-03 -5.61284003e-03 2.27355610e+00] [ 1.75234630e-03 9.99986985e-01 -4.79162761e-03 6.15612767e-01] [ 5.62129240e-03 4.78170891e-03 9.99972768e-01 -7.24628887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.666502481 meters 0.10843239210811437 Centerline is valid? [False, False] Translation: X:2.27, Y:0.62, Z:-0.72 [[ 9.99979681e-01 -2.08094205e-03 -6.02549202e-03 2.27386307e+00] [ 2.04740381e-03 9.99982409e-01 -5.56688757e-03 6.17838356e-01] [ 6.03697039e-03 5.55443784e-03 9.99966351e-01 -7.23894066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.696502481 meters 0.10847235387923355 Centerline is valid? [False, False] Translation: X:2.27, Y:0.62, Z:-0.72 [[ 9.99979907e-01 -2.03572138e-03 -6.00348345e-03 2.27401508e+00] [ 2.00252376e-03 9.99982701e-01 -5.53056279e-03 6.17961344e-01] [ 6.01463828e-03 5.51842954e-03 9.99966685e-01 -7.24156775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.726502481 meters 0.10841023142146901 Centerline is valid? [False, False] Translation: X:2.27, Y:0.62, Z:-0.72 [[ 9.99980487e-01 -1.86911306e-03 -5.96087723e-03 2.27412099e+00] [ 1.83762786e-03 9.99984356e-01 -5.28308507e-03 6.17269124e-01] [ 5.97065866e-03 5.27202811e-03 9.99968278e-01 -7.24465986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.756502481 meters 0.10838763889543399 Centerline is valid? [False, False] Translation: X:2.28, Y:0.62, Z:-0.73 [[ 9.99979387e-01 -1.73407201e-03 -6.18205606e-03 2.27504189e+00] [ 1.70152131e-03 9.99984683e-01 -5.26672843e-03 6.18147925e-01] [ 6.19109426e-03 5.25610097e-03 9.99967021e-01 -7.25231585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78650248099999 meters 0.10841239657393995 Centerline is valid? [False, False] Translation: X:2.28, Y:0.62, Z:-0.73 [[ 9.99977452e-01 -1.70023593e-03 -6.49651496e-03 2.27577995e+00] [ 1.66512268e-03 9.99983998e-01 -5.40652821e-03 6.19087335e-01] [ 6.50560338e-03 5.39558881e-03 9.99964282e-01 -7.25422919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81650248099999 meters 0.10845596004103045 Centerline is valid? [False, False] Translation: X:2.28, Y:0.62, Z:-0.73 [[ 9.99975462e-01 -1.61378094e-03 -6.81702730e-03 2.27663062e+00] [ 1.57639345e-03 9.99983708e-01 -5.48624462e-03 6.20013325e-01] [ 6.82576984e-03 5.47536368e-03 9.99961714e-01 -7.25780312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84650248099999 meters 0.10840528059370816 Centerline is valid? [False, False] Translation: X:2.28, Y:0.62, Z:-0.73 [[ 9.99972880e-01 -1.43539041e-03 -7.22353319e-03 2.27782992e+00] [ 1.39533613e-03 9.99983642e-01 -5.54695870e-03 6.21225090e-01] [ 7.23137708e-03 5.53672901e-03 9.99958525e-01 -7.26466239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87650248099999 meters 0.10825697997243094 Centerline is valid? [False, False] Translation: X:2.28, Y:0.62, Z:-0.73 [[ 9.99971484e-01 -1.33244058e-03 -7.43343449e-03 2.27837260e+00] [ 1.29135397e-03 9.99983879e-01 -5.52933670e-03 6.21501854e-01] [ 7.44068217e-03 5.51957983e-03 9.99957084e-01 -7.26699261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90650248099999 meters 0.10825506530652824 Centerline is valid? [False, False] Translation: X:2.28, Y:0.62, Z:-0.73 [[ 9.99970599e-01 -1.38865895e-03 -7.54133855e-03 2.27862406e+00] [ 1.34525289e-03 9.99982519e-01 -5.75777620e-03 6.22254355e-01] [ 7.54920231e-03 5.74746191e-03 9.99954987e-01 -7.26757728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93650248099999 meters 0.10845912577082331 Centerline is valid? [False, False] Translation: X:2.28, Y:0.62, Z:-0.73 [[ 9.99969313e-01 -1.39206830e-03 -7.70937247e-03 2.27895759e+00] [ 1.34692535e-03 9.99981936e-01 -5.85769241e-03 6.22781639e-01] [ 7.71738752e-03 5.84712871e-03 9.99953125e-01 -7.26779243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96650248099999 meters 0.10858267029207873 Centerline is valid? [False, False] Translation: X:2.28, Y:0.62, Z:-0.73 [[ 9.99966719e-01 -1.37805489e-03 -8.04131596e-03 2.27976772e+00] [ 1.32915213e-03 9.99980611e-01 -6.08361578e-03 6.24113319e-01] [ 8.04954361e-03 6.07272517e-03 9.99949162e-01 -7.27031427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.996502481 meters 0.10859773188449777 Centerline is valid? [False, False] Translation: X:2.28, Y:0.62, Z:-0.73 [[ 9.99965503e-01 -1.26683884e-03 -8.20903232e-03 2.28033689e+00] [ 1.21763972e-03 9.99981285e-01 -5.99551962e-03 6.24369225e-01] [ 8.21647405e-03 5.98531714e-03 9.99948331e-01 -7.27404655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.026502481 meters 0.10855939302455629 Centerline is valid? [False, False] Translation: X:2.28, Y:0.63, Z:-0.73 [[ 9.99962617e-01 -1.42155777e-03 -8.52894956e-03 2.28070636e+00] [ 1.36661632e-03 9.99978303e-01 -6.44413380e-03 6.25803535e-01] [ 8.53792521e-03 6.43223710e-03 9.99942863e-01 -7.27035083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.056502481 meters 0.10882520222565129 Centerline is valid? [False, False] Translation: X:2.28, Y:0.63, Z:-0.73 [[ 9.99960934e-01 -1.52048307e-03 -8.70739968e-03 2.28086635e+00] [ 1.46225105e-03 9.99976552e-01 -6.69011250e-03 6.26461764e-01] [ 8.71736771e-03 6.67711874e-03 9.99939710e-01 -7.26748192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.086502481 meters 0.10911467279065533 Centerline is valid? [False, False] Translation: X:2.28, Y:0.63, Z:-0.73 [[ 9.99959900e-01 -1.79303663e-03 -8.77401763e-03 2.28057316e+00] [ 1.73011675e-03 9.99972773e-01 -7.17350201e-03 6.27405721e-01] [ 8.78664110e-03 7.15803428e-03 9.99935777e-01 -7.26078362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.116502481 meters 0.10905268266238527 Centerline is valid? [False, False] Translation: X:2.28, Y:0.63, Z:-0.73 [[ 9.99958999e-01 -1.79705996e-03 -8.87530771e-03 2.28085289e+00] [ 1.73263483e-03 9.99972136e-01 -7.26128052e-03 6.27857095e-01] [ 8.88810936e-03 7.24560513e-03 9.99934249e-01 -7.26184589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14650248099998 meters 0.10915872697654508 Centerline is valid? [False, False] Translation: X:2.28, Y:0.63, Z:-0.73 [[ 9.99957367e-01 -1.72177689e-03 -9.07191760e-03 2.28143377e+00] [ 1.65575347e-03 9.99972128e-01 -7.28027199e-03 6.28347075e-01] [ 9.08419975e-03 7.26494076e-03 9.99932347e-01 -7.26483070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17650248099999 meters 0.10904800994201702 Centerline is valid? [False, False] Translation: X:2.28, Y:0.63, Z:-0.73 [[ 9.99954803e-01 -1.45251606e-03 -9.39580684e-03 2.28282155e+00] [ 1.38499650e-03 9.99973202e-01 -7.18865693e-03 6.29539874e-01] [ 9.40599669e-03 7.17531887e-03 9.99930019e-01 -7.27626065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20650248099999 meters 0.10881685679162538 Centerline is valid? [False, False] Translation: X:2.28, Y:0.63, Z:-0.73 [[ 9.99953195e-01 -1.26205391e-03 -9.59245479e-03 2.28365230e+00] [ 1.19436907e-03 9.99974375e-01 -7.05850616e-03 6.29908254e-01] [ 9.60111720e-03 7.04671885e-03 9.99929079e-01 -7.28287634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.23650248099999 meters 0.1087307674659058 Centerline is valid? [False, False] Translation: X:2.28, Y:0.63, Z:-0.73 [[ 9.99951852e-01 -1.20609576e-03 -9.73853106e-03 2.28423519e+00] [ 1.13651501e-03 9.99973812e-01 -7.14726805e-03 6.30719530e-01] [ 9.74689632e-03 7.13585593e-03 9.99927036e-01 -7.28721141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26650248099999 meters 0.10875660348260927 Centerline is valid? [False, False] Translation: X:2.28, Y:0.63, Z:-0.73 [[ 9.99950231e-01 -1.18001868e-03 -9.90670165e-03 2.28456822e+00] [ 1.10842030e-03 9.99973251e-01 -7.22965037e-03 6.31131867e-01] [ 9.91496778e-03 7.21830977e-03 9.99924792e-01 -7.28729056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29650248099999 meters 0.1088439537715809 Centerline is valid? [False, False] Translation: X:2.28, Y:0.63, Z:-0.74 [[ 9.99972554e-01 -3.43325691e-04 7.40088268e-03 2.28280487e+00] [ 3.63837085e-04 9.99996096e-01 -2.77031116e-03 6.32534886e-01] [-7.39990267e-03 2.77292784e-03 9.99968776e-01 -7.36890074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32650248099999 meters 0.1088718345626431 Centerline is valid? [False, False] Translation: X:2.28, Y:0.63, Z:-0.74 [[ 9.99976459e-01 -5.14489006e-04 6.84222403e-03 2.28343165e+00] [ 5.37974205e-04 9.99993969e-01 -3.43099509e-03 6.34549303e-01] [-6.84041755e-03 3.43459526e-03 9.99970706e-01 -7.36227825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35650248099999 meters 0.10885191422176059 Centerline is valid? [False, False] Translation: X:2.28, Y:0.64, Z:-0.74 [[ 9.99979571e-01 -6.39200772e-04 6.35994365e-03 2.28408797e+00] [ 6.64786995e-04 9.99991692e-01 -4.02172630e-03 6.36448520e-01] [-6.35732012e-03 4.02587214e-03 9.99971688e-01 -7.35828703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.386502481 meters 0.10871205976991073 Centerline is valid? [False, False] Translation: X:2.29, Y:0.64, Z:-0.74 [[ 9.99983812e-01 -2.43405349e-04 5.68474391e-03 2.28594227e+00] [ 2.66368683e-04 9.99991807e-01 -4.03905919e-03 6.37901066e-01] [-5.68371421e-03 4.04050805e-03 9.99975685e-01 -7.36795588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.416502481 meters 0.10870185420085512 Centerline is valid? [False, False] Translation: X:2.29, Y:0.64, Z:-0.74 [[ 9.99984244e-01 5.41583815e-05 5.61333717e-03 2.28675875e+00] [-3.34921808e-05 9.99993222e-01 -3.68165330e-03 6.37739773e-01] [-5.61349852e-03 3.68140729e-03 9.99977468e-01 -7.37857904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.446502481 meters 0.1088280368692163 Centerline is valid? [False, False] Translation: X:2.29, Y:0.64, Z:-0.74 [[ 9.99986290e-01 1.97345979e-04 5.23259436e-03 2.28779902e+00] [-1.77426803e-04 9.99992738e-01 -3.80694040e-03 6.38890764e-01] [-5.23330765e-03 3.80595980e-03 9.99979063e-01 -7.38360769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.476502481 meters 0.10896553389718917 Centerline is valid? [False, False] Translation: X:2.29, Y:0.64, Z:-0.74 [[ 9.99988842e-01 2.26714335e-05 4.72389301e-03 2.28845808e+00] [-1.54476523e-06 9.99989999e-01 -4.47225598e-03 6.41237450e-01] [-4.72394716e-03 4.47219878e-03 9.99978842e-01 -7.37883739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.506502481 meters 0.10884135212107315 Centerline is valid? [False, False] Translation: X:2.29, Y:0.64, Z:-0.74 [[ 9.99989984e-01 1.25162980e-04 4.47389361e-03 2.28906579e+00] [-1.05232857e-04 9.99990072e-01 -4.45471789e-03 6.41619497e-01] [-4.47440675e-03 4.45420247e-03 9.99980070e-01 -7.38065114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53650248099999 meters 0.10884135212107315 Centerline is valid? [False, False] Translation: X:2.29, Y:0.64, Z:-0.74 [[ 9.99989984e-01 1.25162980e-04 4.47389361e-03 2.28906579e+00] [-1.05232857e-04 9.99990072e-01 -4.45471789e-03 6.41619497e-01] [-4.47440675e-03 4.45420247e-03 9.99980070e-01 -7.38065114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56650248099999 meters 0.10899159155783678 Centerline is valid? [False, False] Translation: X:2.29, Y:0.64, Z:-0.74 [[ 9.99990426e-01 2.33993706e-04 4.36959473e-03 2.28943563e+00] [-2.14982399e-04 9.99990512e-01 -4.35077986e-03 6.41624905e-01] [-4.37057133e-03 4.34979882e-03 9.99980988e-01 -7.38319309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59650248099999 meters 0.1090862671516563 Centerline is valid? [False, False] Translation: X:2.29, Y:0.64, Z:-0.74 [[ 9.99990512e-01 3.09213389e-04 4.34509915e-03 2.28949391e+00] [-2.91069696e-04 9.99991239e-01 -4.17568049e-03 6.41179815e-01] [-4.34635226e-03 4.17437615e-03 9.99981842e-01 -7.38331533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62650248099999 meters 0.10921321314497204 Centerline is valid? [False, False] Translation: X:2.29, Y:0.64, Z:-0.74 [[ 9.99990745e-01 2.91144183e-04 4.29239944e-03 2.28947768e+00] [-2.73467517e-04 9.99991483e-01 -4.11814343e-03 6.40981089e-01] [-4.29356185e-03 4.11693148e-03 9.99982308e-01 -7.38114928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65650248099999 meters 0.10928052275400527 Centerline is valid? [False, False] Translation: X:2.29, Y:0.64, Z:-0.74 [[ 9.99991812e-01 4.84428387e-04 4.01760328e-03 2.29010539e+00] [-4.68727148e-04 9.99992253e-01 -3.90813222e-03 6.40693348e-01] [-4.01946537e-03 3.90621706e-03 9.99984293e-01 -7.38262086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68650248099999 meters 0.10933436981099327 Centerline is valid? [False, False] Translation: X:2.31, Y:0.64, Z:-0.74 [[ 9.99970392e-01 -4.01793947e-03 6.56288724e-03 2.30626069e+00] [ 4.01805439e-03 9.99991928e-01 -4.32488333e-06 6.40267585e-01] [-6.56281689e-03 3.06947932e-05 9.99978464e-01 -7.39501694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71650248099999 meters 0.10932896774455922 Centerline is valid? [False, False] Translation: X:2.31, Y:0.64, Z:-0.74 [[ 9.99970828e-01 -3.88467073e-03 6.57667502e-03 2.30639417e+00] [ 3.88278982e-03 9.99992417e-01 2.98741498e-04 6.39481403e-01] [-6.57778566e-03 -2.73196936e-04 9.99978329e-01 -7.39703833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.746502481 meters 0.10951140970327716 Centerline is valid? [False, False] Translation: X:2.31, Y:0.64, Z:-0.74 [[ 9.99972383e-01 -3.65749528e-03 6.46961042e-03 2.30699513e+00] [ 3.65361515e-03 9.99993139e-01 6.11464311e-04 6.39152492e-01] [-6.47180246e-03 -5.87809957e-04 9.99978885e-01 -7.40298887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.776502481 meters 0.10960421016880546 Centerline is valid? [False, False] Translation: X:2.31, Y:0.64, Z:-0.74 [[ 9.99974271e-01 -3.56827117e-03 6.22284934e-03 2.30784303e+00] [ 3.56455856e-03 9.99993462e-01 6.07598417e-04 6.40046743e-01] [-6.22497673e-03 -5.85401074e-04 9.99980453e-01 -7.40838009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.806502481 meters 0.10973580455567009 Centerline is valid? [False, False] Translation: X:2.31, Y:0.64, Z:-0.74 [[ 9.99976377e-01 -3.61106740e-03 5.84851682e-03 2.30860798e+00] [ 3.60926425e-03 9.99993436e-01 3.18834767e-04 6.41492382e-01] [-5.84962976e-03 -2.97718393e-04 9.99982846e-01 -7.40892094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.836502481 meters 0.1098787434484043 Centerline is valid? [False, False] Translation: X:2.31, Y:0.64, Z:-0.74 [[ 9.99978400e-01 -3.51258229e-03 5.55533675e-03 2.30926435e+00] [ 3.51083269e-03 9.99993784e-01 3.24661291e-04 6.41900979e-01] [-5.55644262e-03 -3.05150420e-04 9.99984516e-01 -7.41029448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.866502481 meters 0.10981271352974324 Centerline is valid? [False, False] Translation: X:2.31, Y:0.64, Z:-0.74 [[ 9.99978753e-01 -3.55399632e-03 5.46471395e-03 2.30947112e+00] [ 3.55313977e-03 9.99993674e-01 1.66442208e-04 6.42529415e-01] [-5.46527092e-03 -1.47021779e-04 9.99985054e-01 -7.41034019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89650248099998 meters 0.10981426108610648 Centerline is valid? [False, False] Translation: X:2.31, Y:0.64, Z:-0.74 [[ 9.99979084e-01 -3.71275031e-03 5.29588986e-03 2.30979745e+00] [ 3.71421653e-03 9.99993067e-01 -2.67050375e-04 6.44103367e-01] [-5.29486165e-03 2.86714871e-04 9.99985941e-01 -7.40974634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92650248099999 meters 0.10983211973235432 Centerline is valid? [False, False] Translation: X:2.31, Y:0.65, Z:-0.74 [[ 9.99980158e-01 -3.82405311e-03 5.00603153e-03 2.31026301e+00] [ 3.82743300e-03 9.99992454e-01 -6.65757052e-04 6.45471470e-01] [-5.00344786e-03 6.84904093e-04 9.99987248e-01 -7.40819517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.95650248099999 meters 0.10979899066686413 Centerline is valid? [False, False] Translation: X:2.31, Y:0.65, Z:-0.74 [[ 9.99983832e-01 -4.14989830e-03 3.88766180e-03 2.31138245e+00] [ 4.15606884e-03 9.99990115e-01 -1.58047683e-03 6.51323071e-01] [-3.88106455e-03 1.59660867e-03 9.99991194e-01 -7.39879329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98650248099999 meters 0.10969695196759552 Centerline is valid? [False, False] Translation: X:2.31, Y:0.65, Z:-0.74 [[ 9.99984663e-01 -4.32532079e-03 3.45909829e-03 2.31189446e+00] [ 4.33293594e-03 9.99988199e-01 -2.19702839e-03 6.53234654e-01] [-3.44955462e-03 2.21198274e-03 9.99991604e-01 -7.39381581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01650248099999 meters 0.10954844763790254 Centerline is valid? [False, False] Translation: X:2.31, Y:0.66, Z:-0.74 [[ 0.99998591 -0.00455143 0.00273365 2.31299419] [ 0.00456029 0.99998435 -0.00324186 0.65721769] [-0.00271886 0.00325428 0.99999101 -0.73901125] [ 0. 0. 0. 1. ]] SLAMing on 76.04650248099999 meters 0.10939237211457112 Centerline is valid? [False, False] Translation: X:2.31, Y:0.66, Z:-0.74 [[ 9.99987035e-01 -4.52940453e-03 2.32668603e-03 2.31404727e+00] [ 4.53783965e-03 9.99983105e-01 -3.63298418e-03 6.59239231e-01] [-2.31019146e-03 3.64349521e-03 9.99990694e-01 -7.39415291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07650248099999 meters 0.10909549413412513 Centerline is valid? [False, False] Translation: X:2.31, Y:0.66, Z:-0.74 [[ 9.99997027e-01 -4.56190630e-04 2.39555502e-03 2.31460861e+00] [ 4.56117497e-04 9.99999895e-01 3.10750146e-05 6.62346539e-01] [-2.39556895e-03 -2.99822676e-05 9.99997130e-01 -7.40388888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10650248099999 meters 0.10912284270202428 Centerline is valid? [False, False] Translation: X:2.32, Y:0.67, Z:-0.74 [[ 9.99998158e-01 -6.69506555e-04 1.79898729e-03 2.31540509e+00] [ 6.71130515e-04 9.99999368e-01 -9.02255856e-04 6.65268214e-01] [-1.79838208e-03 9.03461549e-04 9.99997975e-01 -7.39840483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.136502481 meters 0.10912086994199584 Centerline is valid? [False, False] Translation: X:2.32, Y:0.67, Z:-0.74 [[ 9.99999508e-01 -6.55234937e-04 7.45370265e-04 2.31716315e+00] [ 6.56522252e-04 9.99998291e-01 -1.72815064e-03 6.71097501e-01] [-7.44236647e-04 1.72863914e-03 9.99998229e-01 -7.39849397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.166502481 meters 0.10911131391990876 Centerline is valid? [False, False] Translation: X:2.32, Y:0.67, Z:-0.74 [[ 9.99999592e-01 -7.93136555e-04 4.31578132e-04 2.31772861e+00] [ 7.94126534e-04 9.99997043e-01 -2.29854107e-03 6.73076795e-01] [-4.29753798e-04 2.29888286e-03 9.99997265e-01 -7.39730919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.196502481 meters 0.10914479479796298 Centerline is valid? [False, False] Translation: X:2.32, Y:0.68, Z:-0.74 [[ 9.99999422e-01 -1.07391099e-03 5.04748060e-05 2.31846561e+00] [ 1.07407087e-03 9.99994037e-01 -3.28200666e-03 6.76737535e-01] [-4.69499221e-05 3.28205898e-03 9.99994613e-01 -7.39695905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.226502481 meters 0.10917222040336497 Centerline is valid? [False, False] Translation: X:2.32, Y:0.68, Z:-0.74 [[ 9.99999164e-01 -1.28100202e-03 -1.77649250e-04 2.31886611e+00] [ 1.28031084e-03 9.99991816e-01 -3.83771393e-03 6.78808127e-01] [ 1.82563916e-04 3.83748328e-03 9.99992620e-01 -7.39592554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.256502481 meters 0.10925694758942985 Centerline is valid? [False, False] Translation: X:2.32, Y:0.68, Z:-0.74 [[ 9.99997937e-01 -1.93974899e-03 -6.02480239e-04 2.31906716e+00] [ 1.93667439e-03 9.99985310e-01 -5.06256338e-03 6.83533542e-01] [ 6.12291491e-04 5.06138613e-03 9.99987004e-01 -7.38806345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28650248099999 meters 0.10952851622222637 Centerline is valid? [False, False] Translation: X:2.32, Y:0.69, Z:-0.74 [[ 9.99997150e-01 -2.26223279e-03 -7.62555372e-04 2.31895763e+00] [ 2.25780808e-03 9.99980895e-01 -5.75424961e-03 6.85344914e-01] [ 7.75558256e-04 5.75251151e-03 9.99983153e-01 -7.38105937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31650248099999 meters 0.10964761239505799 Centerline is valid? [False, False] Translation: X:2.32, Y:0.69, Z:-0.74 [[ 9.99995398e-01 -2.87974634e-03 -9.54011885e-04 2.31871658e+00] [ 2.87301584e-03 9.99971493e-01 -6.98274811e-03 6.88860429e-01] [ 9.74093232e-04 6.97997508e-03 9.99975165e-01 -7.37097632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34650248099999 meters 0.10965148881909778 Centerline is valid? [False, False] Translation: X:2.32, Y:0.69, Z:-0.74 [[ 9.99995226e-01 -2.93013756e-03 -9.80549416e-04 2.31899364e+00] [ 2.92304998e-03 9.99970143e-01 -7.15317953e-03 6.89837832e-01] [ 1.00147994e-03 7.15027919e-03 9.99973935e-01 -7.37409450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37650248099999 meters 0.10962142730732317 Centerline is valid? [False, False] Translation: X:2.32, Y:0.69, Z:-0.74 [[ 9.99995499e-01 -2.84848344e-03 -9.42014755e-04 2.31945212e+00] [ 2.84177907e-03 9.99971157e-01 -7.04342256e-03 6.90326980e-01] [ 9.62050657e-04 7.04071386e-03 9.99974751e-01 -7.38216437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40650248099999 meters 0.10978800831062835 Centerline is valid? [False, False] Translation: X:2.32, Y:0.69, Z:-0.74 [[ 9.99995237e-01 -2.90309602e-03 -1.04743729e-03 2.32016588e+00] [ 2.89530803e-03 9.99968711e-01 -7.36172103e-03 6.92341227e-01] [ 1.06877630e-03 7.35865332e-03 9.99972354e-01 -7.38997367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43650248099999 meters 0.10998670739085861 Centerline is valid? [False, False] Translation: X:2.32, Y:0.69, Z:-0.74 [[ 9.99994344e-01 -3.06039261e-03 -1.39499310e-03 2.32065183e+00] [ 3.04923413e-03 9.99963891e-01 -7.93209644e-03 6.94169767e-01] [ 1.41921805e-03 7.92779792e-03 9.99967567e-01 -7.38652453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46650248099999 meters 0.11019641069583747 Centerline is valid? [False, False] Translation: X:2.32, Y:0.70, Z:-0.74 [[ 9.99998813e-01 1.04558871e-03 -1.13174942e-03 2.32048076e+00] [-1.05009263e-03 9.99991503e-01 -3.98635356e-03 6.95862249e-01] [ 1.12757172e-03 3.98753727e-03 9.99991414e-01 -7.39119304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.496502481 meters 0.1103371271977834 Centerline is valid? [False, False] Translation: X:2.32, Y:0.70, Z:-0.74 [[ 9.99998181e-01 1.05018042e-03 -1.59247451e-03 2.32118483e+00] [-1.05719752e-03 9.99989708e-01 -4.41198935e-03 6.97248465e-01] [ 1.58782474e-03 4.41366488e-03 9.99988999e-01 -7.38774628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.526502481 meters 0.11075742708077622 Centerline is valid? [False, False] Translation: X:2.32, Y:0.70, Z:-0.74 [[ 9.99996962e-01 7.84520110e-04 -2.33688939e-03 2.32198850e+00] [-7.97656785e-04 9.99983857e-01 -5.62581865e-03 7.01077583e-01] [ 2.33243810e-03 5.62766559e-03 9.99981444e-01 -7.37777710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.556502481 meters 0.1109987030246644 Centerline is valid? [False, False] Translation: X:2.32, Y:0.70, Z:-0.74 [[ 9.99996160e-01 7.95797476e-04 -2.65442520e-03 2.32266012e+00] [-8.11483817e-04 9.99982185e-01 -5.91367317e-03 7.02360432e-01] [ 2.64967183e-03 5.91580448e-03 9.99978991e-01 -7.37816597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.586502481 meters 0.11108220867092881 Centerline is valid? [False, False] Translation: X:2.32, Y:0.70, Z:-0.74 [[ 9.99995456e-01 8.90142814e-04 -2.88011305e-03 2.32334233e+00] [-9.07417141e-04 9.99981576e-01 -6.00205747e-03 7.03111961e-01] [ 2.87471729e-03 6.00464366e-03 9.99977840e-01 -7.38150522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.616502481 meters 0.1114182681388999 Centerline is valid? [False, False] Translation: X:2.32, Y:0.70, Z:-0.74 [[ 9.99994359e-01 1.08482029e-03 -3.17881818e-03 2.32439894e+00] [-1.10415513e-03 9.99980865e-01 -6.08696864e-03 7.04428789e-01] [ 3.17215409e-03 6.09044421e-03 9.99976422e-01 -7.38890891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64650248099998 meters 0.11164072691437821 Centerline is valid? [False, False] Translation: X:2.33, Y:0.71, Z:-0.74 [[ 9.99992888e-01 1.07824377e-03 -3.61413809e-03 2.32511601e+00] [-1.10181387e-03 9.99978098e-01 -6.52600367e-03 7.05986060e-01] [ 3.60702231e-03 6.52993936e-03 9.99972174e-01 -7.38633868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67650248099999 meters 0.11217696016213784 Centerline is valid? [False, False] Translation: X:2.33, Y:0.71, Z:-0.74 [[ 9.99991687e-01 1.18911674e-03 -3.90023230e-03 2.32563225e+00] [-1.21457757e-03 9.99977928e-01 -6.53217007e-03 7.06217442e-01] [ 3.89237870e-03 6.53685291e-03 9.99971059e-01 -7.38567865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70650248099999 meters 0.11204754863420634 Centerline is valid? [False, False] Translation: X:2.33, Y:0.71, Z:-0.74 [[ 9.99990477e-01 1.20175874e-03 -4.19535224e-03 2.32604424e+00] [-1.22990268e-03 9.99976716e-01 -6.71224069e-03 7.06765985e-01] [ 4.18718806e-03 6.71733664e-03 9.99968672e-01 -7.38296067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73650248099999 meters 0.11184216536488273 Centerline is valid? [False, False] Translation: X:2.33, Y:0.71, Z:-0.74 [[ 9.99989280e-01 1.23176269e-03 -4.46339707e-03 2.32644659e+00] [-1.26241571e-03 9.99975595e-01 -6.87134587e-03 7.07277297e-01] [ 4.45482427e-03 6.87690687e-03 9.99966431e-01 -7.38068661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76650248099999 meters 0.11215995166958538 Centerline is valid? [False, False] Translation: X:2.33, Y:0.71, Z:-0.74 [[ 9.99988665e-01 1.61989136e-03 -4.47736165e-03 2.32710990e+00] [-1.64778014e-03 9.99979222e-01 -6.23218808e-03 7.06277729e-01] [ 4.46717315e-03 6.23949514e-03 9.99970556e-01 -7.39100462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79650248099999 meters 0.11178810331983446 Centerline is valid? [False, False] Translation: X:2.33, Y:0.70, Z:-0.74 [[ 9.99988509e-01 2.06736510e-03 -4.32521667e-03 2.32752154e+00] [-2.09069208e-03 9.99983258e-01 -5.39570082e-03 7.04248873e-01] [ 4.31398937e-03 5.40468151e-03 9.99976089e-01 -7.40228356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82650248099999 meters 0.11172215623416257 Centerline is valid? [False, False] Translation: X:2.33, Y:0.70, Z:-0.74 [[ 9.99988427e-01 2.25306517e-03 -4.25075307e-03 2.32742502e+00] [-2.27412766e-03 9.99985130e-01 -4.95669421e-03 7.02787721e-01] [ 4.23952210e-03 4.96630360e-03 9.99978681e-01 -7.40354094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85650248099999 meters 0.11161190508027104 Centerline is valid? [False, False] Translation: X:2.33, Y:0.70, Z:-0.74 [[ 0.99998765 0.00239502 -0.00435434 2.32759819] [-0.00241566 0.99998584 -0.00474177 0.70207497] [ 0.00434292 0.00475223 0.99997928 -0.74034018] [ 0. 0. 0. 1. ]] SLAMing on 76.886502481 meters 0.11158013707886398 Centerline is valid? [False, False] Translation: X:2.33, Y:0.70, Z:-0.74 [[ 9.99983001e-01 -1.89356716e-03 -5.51468104e-03 2.32887285e+00] [ 1.84001244e-03 9.99951259e-01 -9.70023521e-03 7.04000233e-01] [ 5.53278029e-03 9.68992323e-03 9.99937745e-01 -7.38999649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.916502481 meters 0.11117074945069716 Centerline is valid? [False, False] Translation: X:2.33, Y:0.70, Z:-0.74 [[ 9.99984693e-01 -1.54316203e-03 -5.31344605e-03 2.32885584e+00] [ 1.49629704e-03 9.99960047e-01 -8.81278352e-03 7.01546670e-01] [ 5.32683332e-03 8.80469813e-03 9.99947050e-01 -7.39657854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.946502481 meters 0.11098211029601215 Centerline is valid? [False, False] Translation: X:2.33, Y:0.70, Z:-0.74 [[ 9.99985266e-01 -1.29982525e-03 -5.27047219e-03 2.32893351e+00] [ 1.25618310e-03 9.99964969e-01 -8.27537358e-03 7.00097324e-01] [ 5.28104410e-03 8.26863097e-03 9.99951869e-01 -7.39972105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.976502481 meters 0.11109350225242325 Centerline is valid? [False, False] Translation: X:2.33, Y:0.70, Z:-0.74 [[ 9.99986605e-01 -1.29763840e-03 -5.01058988e-03 2.32823192e+00] [ 1.25784761e-03 9.99967716e-01 -7.93634021e-03 6.98400466e-01] [ 5.02072662e-03 7.92993134e-03 9.99955953e-01 -7.39651425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.006502481 meters 0.11101863083137276 Centerline is valid? [False, False] Translation: X:2.33, Y:0.70, Z:-0.74 [[ 9.99986435e-01 -1.15726959e-03 -5.07836908e-03 2.32827510e+00] [ 1.11824220e-03 9.99969874e-01 -7.68114669e-03 6.97500595e-01] [ 5.08710525e-03 7.67536365e-03 9.99957604e-01 -7.39536800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03650248099999 meters 0.11100107975505878 Centerline is valid? [False, False] Translation: X:2.33, Y:0.70, Z:-0.74 [[ 9.99986607e-01 -1.06226282e-03 -5.06533991e-03 2.32819185e+00] [ 1.02461763e-03 9.99971882e-01 -7.42873070e-03 6.96599698e-01] [ 5.07308874e-03 7.42344117e-03 9.99959577e-01 -7.39464772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06650248099999 meters 0.11086967497204048 Centerline is valid? [False, False] Translation: X:2.33, Y:0.70, Z:-0.74 [[ 9.99985688e-01 -8.96801651e-04 -5.27449346e-03 2.32865425e+00] [ 8.58514009e-04 9.99973300e-01 -7.25680775e-03 6.96342539e-01] [ 5.28086055e-03 7.25217566e-03 9.99959758e-01 -7.39562761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09650248099999 meters 0.11081922308591186 Centerline is valid? [False, False] Translation: X:2.33, Y:0.70, Z:-0.74 [[ 9.99985081e-01 -7.54285950e-04 -5.41009861e-03 2.32913487e+00] [ 7.15927833e-04 9.99974620e-01 -7.08853145e-03 6.96317004e-01] [ 5.41530808e-03 7.08455245e-03 9.99960241e-01 -7.39890835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12650248099999 meters 0.11076429442799637 Centerline is valid? [False, False] Translation: X:2.33, Y:0.70, Z:-0.74 [[ 9.99983403e-01 -6.35097291e-04 -5.72633424e-03 2.32982099e+00] [ 5.94462089e-04 9.99974653e-01 -7.09510983e-03 6.96749337e-01] [ 5.73069518e-03 7.09158798e-03 9.99958433e-01 -7.39986859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15650248099999 meters 0.11082833503288 Centerline is valid? [False, False] Translation: X:2.33, Y:0.70, Z:-0.74 [[ 9.99980921e-01 -4.33015395e-04 -6.16204094e-03 2.33088399e+00] [ 3.88855222e-04 9.99974249e-01 -7.16587932e-03 6.97578236e-01] [ 6.16498519e-03 7.16334646e-03 9.99955339e-01 -7.40289265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18650248099999 meters 0.11089250620781174 Centerline is valid? [False, False] Translation: X:2.33, Y:0.70, Z:-0.74 [[ 9.99979174e-01 -2.64086690e-04 -6.44838431e-03 2.33171130e+00] [ 2.18149304e-04 9.99974604e-01 -7.12352425e-03 6.98049251e-01] [ 6.45010177e-03 7.12196918e-03 9.99953836e-01 -7.40674324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21650248099999 meters 0.1110361515138027 Centerline is valid? [False, False] Translation: X:2.33, Y:0.70, Z:-0.74 [[ 9.99976304e-01 -1.59501287e-04 -6.88230018e-03 2.33257374e+00] [ 1.09512541e-04 9.99973617e-01 -7.26314336e-03 6.98908988e-01] [ 6.88327708e-03 7.26221755e-03 9.99949939e-01 -7.40701702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.246502481 meters 0.11137581149744642 Centerline is valid? [False, False] Translation: X:2.33, Y:0.70, Z:-0.74 [[ 9.99968804e-01 -2.47914139e-04 -7.89489335e-03 2.33374919e+00] [ 1.83059186e-04 9.99966244e-01 -8.21446122e-03 7.02077631e-01] [ 7.89666333e-03 8.21275973e-03 9.99935095e-01 -7.39592532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.276502481 meters 0.11188605705903579 Centerline is valid? [False, False] Translation: X:2.33, Y:0.70, Z:-0.74 [[ 9.99964400e-01 -1.87530967e-04 -8.43583056e-03 2.33452288e+00] [ 1.15602719e-04 9.99963645e-01 -8.52619614e-03 7.03046115e-01] [ 8.43712279e-03 8.52491740e-03 9.99928068e-01 -7.39138920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.306502481 meters 0.11221597573098516 Centerline is valid? [False, False] Translation: X:2.34, Y:0.70, Z:-0.74 [[ 9.99961065e-01 -3.97183151e-05 -8.82423648e-03 2.33533664e+00] [-3.76736789e-05 9.99961542e-01 -8.77005051e-03 7.04121839e-01] [ 8.82424545e-03 8.77004149e-03 9.99922607e-01 -7.39170569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.336502481 meters 0.11283963820630619 Centerline is valid? [False, False] Translation: X:2.34, Y:0.70, Z:-0.74 [[ 9.99957328e-01 1.61787657e-04 -9.23662231e-03 2.33618721e+00] [-2.42851177e-04 9.99961462e-01 -8.77586961e-03 7.04438416e-01] [ 9.23484652e-03 8.77773825e-03 9.99918831e-01 -7.39241302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.366502481 meters 0.113454860093476 Centerline is valid? [False, False] Translation: X:2.34, Y:0.71, Z:-0.74 [[ 9.99951462e-01 3.13520999e-04 -9.84757137e-03 2.33704151e+00] [-4.03071194e-04 9.99958577e-01 -9.09296463e-03 7.05360506e-01] [ 9.84431262e-03 9.09649255e-03 9.99910168e-01 -7.38718495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39650248099998 meters 0.11414518965817193 Centerline is valid? [False, False] Translation: X:2.34, Y:0.71, Z:-0.74 [[ 9.99947986e-01 4.67840452e-04 -1.01885520e-02 2.33773215e+00] [-5.60611810e-04 9.99958396e-01 -9.10449909e-03 7.05726564e-01] [ 1.01838686e-02 9.10973735e-03 9.99906646e-01 -7.38772191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42650248099999 meters 0.11521688897274007 Centerline is valid? [False, False] Translation: X:2.34, Y:0.71, Z:-0.74 [[ 9.99942943e-01 7.21304621e-04 -1.06579234e-02 2.33847741e+00] [-8.17801220e-04 9.99958692e-01 -9.05239504e-03 7.05693477e-01] [ 1.06509537e-02 9.06059460e-03 9.99902227e-01 -7.38532524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45650248099999 meters 0.11521688897274007 Centerline is valid? [False, False] Translation: X:2.34, Y:0.71, Z:-0.74 [[ 9.99942943e-01 7.21304621e-04 -1.06579234e-02 2.33847741e+00] [-8.17801220e-04 9.99958692e-01 -9.05239504e-03 7.05693477e-01] [ 1.06509537e-02 9.06059460e-03 9.99902227e-01 -7.38532524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48650248099999 meters 0.11507599851148564 Centerline is valid? [False, False] Translation: X:2.34, Y:0.70, Z:-0.74 [[ 9.99940966e-01 1.07565164e-03 -1.08123611e-02 2.33898056e+00] [-1.16827532e-03 9.99962648e-01 -8.56379903e-03 7.04516921e-01] [ 1.08027455e-02 8.57592529e-03 9.99904873e-01 -7.38885008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51650248099999 meters 0.1155995873970106 Centerline is valid? [False, False] Translation: X:2.34, Y:0.70, Z:-0.74 [[ 9.99940126e-01 1.49546302e-03 -1.08400698e-02 2.33899499e+00] [-1.58062153e-03 9.99967927e-01 -7.85159488e-03 7.01905484e-01] [ 1.08279804e-02 7.86825883e-03 9.99910419e-01 -7.38856376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54650248099999 meters 0.11606568831054562 Centerline is valid? [False, False] Translation: X:2.34, Y:0.70, Z:-0.74 [[ 9.99937341e-01 1.90628416e-03 -1.10308586e-02 2.33944098e+00] [-1.98627363e-03 9.99971782e-01 -7.24502154e-03 7.00106849e-01] [ 1.10167363e-02 7.26647788e-03 9.99912911e-01 -7.39019106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57650248099999 meters 0.11603438580329802 Centerline is valid? [False, False] Translation: X:2.34, Y:0.70, Z:-0.74 [[ 0.99993994 0.0025581 -0.01065693 2.33922643] [-0.00262025 0.99997962 -0.00582253 0.69536547] [ 0.01064182 0.0058501 0.99992626 -0.73977358] [ 0. 0. 0. 1. ]] SLAMing on 77.60650248099999 meters 0.11552298284695971 Centerline is valid? [False, False] Translation: X:2.34, Y:0.69, Z:-0.74 [[ 0.99994174 0.00297153 -0.01037742 2.33907104] [-0.00302122 0.99998403 -0.00477558 0.69233817] [ 0.01036307 0.00480665 0.99993475 -0.74042164] [ 0. 0. 0. 1. ]] SLAMing on 77.636502481 meters 0.11431956869324289 Centerline is valid? [False, False] Translation: X:2.34, Y:0.69, Z:-0.74 [[ 9.99943377e-01 -8.77943977e-04 -1.06052742e-02 2.33933801e+00] [ 7.91469812e-04 9.99966432e-01 -8.15532988e-03 6.89232318e-01] [ 1.06120781e-02 8.14647434e-03 9.99910505e-01 -7.40293623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.666502481 meters 0.11372322083207267 Centerline is valid? [False, False] Translation: X:2.34, Y:0.69, Z:-0.74 [[ 9.99945548e-01 -2.81413471e-04 -1.04317879e-02 2.33967144e+00] [ 2.09994641e-04 9.99976539e-01 -6.84673260e-03 6.86102911e-01] [ 1.04334699e-02 6.84416916e-03 9.99922147e-01 -7.41434018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.696502481 meters 0.11362322086293716 Centerline is valid? [False, False] Translation: X:2.34, Y:0.68, Z:-0.74 [[ 9.99949128e-01 2.41681132e-04 -1.00838230e-02 2.33979691e+00] [-2.97784140e-04 9.99984485e-01 -5.56253406e-03 6.83004815e-01] [ 1.00823222e-02 5.56525388e-03 9.99933685e-01 -7.42716712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.726502481 meters 0.1123768640932955 Centerline is valid? [False, False] Translation: X:2.34, Y:0.68, Z:-0.74 [[ 0.99994315 -0.00348223 -0.01007828 2.34004471] [ 0.00339537 0.99995706 -0.0086226 0.67926068] [ 0.01010788 0.00858789 0.99991204 -0.74317414] [ 0. 0. 0. 1. ]] SLAMing on 77.756502481 meters 0.11202484309959211 Centerline is valid? [False, False] Translation: X:2.34, Y:0.68, Z:-0.74 [[ 0.99994783 -0.0031189 -0.00972637 2.33978431] [ 0.0030452 0.99996661 -0.00758316 0.67639557] [ 0.0097497 0.00755315 0.99992394 -0.7438601 ] [ 0. 0. 0. 1. ]] SLAMing on 77.78650248099999 meters 0.11139068360987654 Centerline is valid? [False, False] Translation: X:2.34, Y:0.67, Z:-0.74 [[ 0.99995414 -0.00303293 -0.0090839 2.33852454] [ 0.00297244 0.99997337 -0.00666511 0.67264208] [ 0.00910387 0.0066378 0.99993653 -0.74366299] [ 0. 0. 0. 1. ]] SLAMing on 77.81650248099999 meters 0.11129928854932924 Centerline is valid? [False, False] Translation: X:2.34, Y:0.67, Z:-0.74 [[ 0.99995631 -0.00271232 -0.00894517 2.33859217] [ 0.00265977 0.99997917 -0.00588173 0.67067348] [ 0.00896094 0.00585768 0.99994269 -0.74417828] [ 0. 0. 0. 1. ]] SLAMing on 77.84650248099999 meters 0.11062979226321643 Centerline is valid? [False, False] Translation: X:2.34, Y:0.67, Z:-0.75 [[ 9.99964645e-01 -2.36903903e-03 -8.06819648e-03 2.33804597e+00] [ 2.33353948e-03 9.99987569e-01 -4.40651152e-03 6.66572915e-01] [ 8.07853537e-03 4.38752827e-03 9.99957743e-01 -7.45762677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87650248099999 meters 0.11056562151197084 Centerline is valid? [False, False] Translation: X:2.34, Y:0.67, Z:-0.75 [[ 9.99967742e-01 -2.20416639e-03 -7.72379299e-03 2.33784088e+00] [ 2.17475368e-03 9.99990360e-01 -3.81439704e-03 6.65201895e-01] [ 7.73212610e-03 3.79747664e-03 9.99962896e-01 -7.46465602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90650248099999 meters 0.11042686404588416 Centerline is valid? [False, False] Translation: X:2.34, Y:0.66, Z:-0.75 [[ 0.99997248 -0.00239656 -0.00702146 2.33670242] [ 0.00237165 0.99999087 -0.00355384 0.66414344] [ 0.00702991 0.00353709 0.99996903 -0.74665197] [ 0. 0. 0. 1. ]] SLAMing on 77.93650248099999 meters 0.11049918035161536 Centerline is valid? [False, False] Translation: X:2.34, Y:0.66, Z:-0.75 [[ 0.99997283 -0.00239913 -0.00697002 2.33668365] [ 0.00237463 0.99999098 -0.00352072 0.66419151] [ 0.0069784 0.00350407 0.99996951 -0.74675142] [ 0. 0. 0. 1. ]] SLAMing on 77.96650248099999 meters 0.11038185916536868 Centerline is valid? [False, False] Translation: X:2.34, Y:0.66, Z:-0.75 [[ 0.9999727 -0.00246809 -0.00696434 2.33676816] [ 0.00244275 0.99999037 -0.00364461 0.66469316] [ 0.00697327 0.0036275 0.99996911 -0.74686241] [ 0. 0. 0. 1. ]] SLAMing on 77.996502481 meters 0.11034201427087859 Centerline is valid? [False, False] Translation: X:2.34, Y:0.67, Z:-0.75 [[ 0.99997036 -0.00297691 -0.00710034 2.3365885 ] [ 0.00294369 0.99998469 -0.00468471 0.66758568] [ 0.00711418 0.00466367 0.99996382 -0.74610855] [ 0. 0. 0. 1. ]] SLAMing on 78.026502481 meters 0.11048227179437096 Centerline is valid? [False, False] Translation: X:2.34, Y:0.67, Z:-0.75 [[ 9.99971849e-01 -1.59596532e-03 -7.33178214e-03 2.33749961e+00] [ 1.56729887e-03 9.99991112e-01 -3.91397060e-03 6.73072800e-01] [ 7.33796354e-03 3.90236933e-03 9.99965462e-01 -7.46747572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.056502481 meters 0.11063911815117732 Centerline is valid? [False, False] Translation: X:2.34, Y:0.68, Z:-0.75 [[ 9.99969788e-01 -1.86654077e-03 -7.54581693e-03 2.33776301e+00] [ 1.83118671e-03 9.99987328e-01 -4.68945091e-03 6.75413412e-01] [ 7.55447436e-03 4.67549144e-03 9.99960534e-01 -7.46414867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.086502481 meters 0.11054571897807969 Centerline is valid? [False, False] Translation: X:2.34, Y:0.68, Z:-0.75 [[ 0.99996537 -0.00272485 -0.00786383 2.33748899] [ 0.00267434 0.99997577 -0.00642698 0.68099737] [ 0.00788115 0.00640573 0.99994843 -0.74518537] [ 0. 0. 0. 1. ]] SLAMing on 78.116502481 meters 0.11057673982444376 Centerline is valid? [False, False] Translation: X:2.34, Y:0.68, Z:-0.74 [[ 0.99996196 -0.00317784 -0.00812277 2.33740572] [ 0.00311703 0.99996711 -0.00748788 0.68366462] [ 0.0081463 0.00746227 0.99993897 -0.74418124] [ 0. 0. 0. 1. ]] SLAMing on 78.14650248099998 meters 0.1107809391458106 Centerline is valid? [False, False] Translation: X:2.34, Y:0.69, Z:-0.74 [[ 0.99995922 -0.00366193 -0.00825543 2.3371174 ] [ 0.0035914 0.99995706 -0.00854238 0.686212 ] [ 0.00828636 0.00851239 0.99992944 -0.74320548] [ 0. 0. 0. 1. ]] SLAMing on 78.17650248099999 meters 0.1110015685524659 Centerline is valid? [False, False] Translation: X:2.34, Y:0.69, Z:-0.74 [[ 9.99972129e-01 8.06518372e-05 -7.46557720e-03 2.33563972e+00] [-1.16940371e-04 9.99988181e-01 -4.86047186e-03 6.87550033e-01] [ 7.46509696e-03 4.86120942e-03 9.99960320e-01 -7.43069973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20650248099999 meters 0.11092389417019292 Centerline is valid? [False, False] Translation: X:2.33, Y:0.69, Z:-0.74 [[ 9.99972415e-01 -6.79322000e-04 -7.39650044e-03 2.33493105e+00] [ 6.33011023e-04 9.99980195e-01 -6.26174295e-03 6.91125678e-01] [ 7.40060769e-03 6.25688815e-03 9.99953040e-01 -7.42042598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.23650248099999 meters 0.11073231139502823 Centerline is valid? [False, False] Translation: X:2.33, Y:0.69, Z:-0.74 [[ 9.99973067e-01 -1.05887306e-03 -7.26254154e-03 2.33449447e+00] [ 1.00880582e-03 9.99975727e-01 -6.89410238e-03 6.92759406e-01] [ 7.26966523e-03 6.88659021e-03 9.99949862e-01 -7.41674958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26650248099999 meters 0.11080531752245666 Centerline is valid? [False, False] Translation: X:2.33, Y:0.69, Z:-0.74 [[ 9.99972775e-01 -1.53000218e-03 -7.21864215e-03 2.33392384e+00] [ 1.47448319e-03 9.99969344e-01 -7.69012019e-03 6.94499490e-01] [ 7.23018676e-03 7.67926706e-03 9.99944375e-01 -7.40862701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29650248099999 meters 0.11125772365600664 Centerline is valid? [False, False] Translation: X:2.34, Y:0.70, Z:-0.74 [[ 0.99997721 0.00422091 -0.00526995 2.34407068] [-0.00428082 0.99992574 -0.01141013 0.69554065] [ 0.00522139 0.01143242 0.99992102 -0.73672716] [ 0. 0. 0. 1. ]] SLAMing on 78.32650248099999 meters 0.1114887689851068 Centerline is valid? [False, False] Translation: X:2.34, Y:0.70, Z:-0.73 [[ 0.99998343 0.00319778 -0.00478771 2.34216084] [-0.00326016 0.99990915 -0.01307895 0.69869367] [ 0.00474545 0.01309434 0.999903 -0.73486096] [ 0. 0. 0. 1. ]] SLAMing on 78.35650248099999 meters 0.1120677926971665 Centerline is valid? [False, False] Translation: X:2.34, Y:0.70, Z:-0.73 [[ 0.99998331 -0.00446594 -0.00366573 2.34367394] [ 0.00444971 0.99998031 -0.00442386 0.69969123] [ 0.00368542 0.00440747 0.9999835 -0.73430701] [ 0. 0. 0. 1. ]] SLAMing on 78.386502481 meters 0.11192908892089543 Centerline is valid? [False, False] Translation: X:2.34, Y:0.70, Z:-0.73 [[ 0.99998217 -0.00473354 -0.00364125 2.34324797] [ 0.00471546 0.99997659 -0.00495732 0.70066308] [ 0.00366463 0.00494006 0.99998108 -0.73365504] [ 0. 0. 0. 1. ]] SLAMing on 78.416502481 meters 0.1124781545584179 Centerline is valid? [False, False] Translation: X:2.34, Y:0.70, Z:-0.73 [[ 0.99998296 -0.00492137 -0.00313915 2.34236211] [ 0.0049049 0.99997429 -0.00523156 0.70068539] [ 0.00316481 0.00521608 0.99998139 -0.73355874] [ 0. 0. 0. 1. ]] SLAMing on 78.446502481 meters 0.11305576262876912 Centerline is valid? [False, False] Translation: X:2.34, Y:0.70, Z:-0.73 [[ 0.99998405 -0.00473406 -0.00308046 2.34240038] [ 0.00471877 0.99997661 -0.0049507 0.6998057 ] [ 0.00310383 0.00493608 0.999983 -0.7337882 ] [ 0. 0. 0. 1. ]] SLAMing on 78.476502481 meters 0.11449781443060086 Centerline is valid? [False, False] Translation: X:2.34, Y:0.70, Z:-0.73 [[ 0.99998484 -0.00482665 -0.00264938 2.34126829] [ 0.004813 0.99997523 -0.00513622 0.69855541] [ 0.00267411 0.00512339 0.9999833 -0.73294564] [ 0. 0. 0. 1. ]] SLAMing on 78.506502481 meters 0.11521833122080646 Centerline is valid? [False, False] Translation: X:2.34, Y:0.70, Z:-0.73 [[ 0.99998578 -0.00478057 -0.00236365 2.34056413] [ 0.00476881 0.99997634 -0.00495861 0.69719304] [ 0.0023873 0.00494727 0.99998491 -0.73261239] [ 0. 0. 0. 1. ]] SLAMing on 78.53650248099999 meters 0.11676668869502545 Centerline is valid? [False, False] Translation: X:2.34, Y:0.69, Z:-0.73 [[ 9.99988512e-01 -4.67334844e-03 -1.06567988e-03 2.33876722e+00] [ 4.66827239e-03 9.99977979e-01 -4.71695611e-03 6.90533319e-01] [ 1.08770039e-03 4.71192704e-03 9.99988307e-01 -7.32433705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56650248099999 meters 0.11794928797535381 Centerline is valid? [False, False] Translation: X:2.34, Y:0.69, Z:-0.73 [[ 9.99991829e-01 -3.99097999e-03 -6.43505979e-04 2.33873057e+00] [ 3.98875345e-03 9.99986180e-01 -3.42495844e-03 6.86629009e-01] [ 6.57166027e-04 3.42236367e-03 9.99993928e-01 -7.33550826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59650248099999 meters 0.118793894286965 Centerline is valid? [False, False] Translation: X:2.34, Y:0.68, Z:-0.74 [[ 9.99986727e-01 -5.01255144e-03 1.19198081e-03 2.33721980e+00] [ 5.01638199e-03 9.99982193e-01 -3.23262309e-03 6.76083645e-01] [-1.17575590e-03 3.23855961e-03 9.99994065e-01 -7.35418330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62650248099999 meters 0.11728153505371196 Centerline is valid? [False, False] Translation: X:2.34, Y:0.67, Z:-0.74 [[ 9.99992349e-01 -3.71550746e-03 1.22325192e-03 2.33848307e+00] [ 3.71681670e-03 9.99992520e-01 -1.06977189e-03 6.70771502e-01] [-1.21926803e-03 1.07431031e-03 9.99998680e-01 -7.37457377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65650248099999 meters 0.11900339943099045 Centerline is valid? [False, False] Translation: X:2.34, Y:0.66, Z:-0.74 [[ 9.99988211e-01 -4.85569069e-03 1.15494592e-05 2.34333054e+00] [ 4.85570155e-03 9.99987379e-01 -1.28970299e-03 6.60256278e-01] [-5.28691460e-06 1.28974387e-03 9.99999168e-01 -7.41092542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68650248099999 meters 0.11919067621149776 Centerline is valid? [False, False] Translation: X:2.34, Y:0.65, Z:-0.74 [[ 9.99989050e-01 -4.52386027e-03 1.19770523e-03 2.34330890e+00] [ 4.52311275e-03 9.99989575e-01 6.26097038e-04 6.50600977e-01] [-1.20052512e-03 -6.20672826e-04 9.99999087e-01 -7.43957065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71650248099999 meters 0.12021499229947039 Centerline is valid? [False, False] Translation: X:2.35, Y:0.64, Z:-0.75 [[ 9.99984320e-01 -5.59915314e-03 9.67158316e-05 2.34793483e+00] [ 5.59911059e-03 9.99984230e-01 4.34768960e-04 6.37346728e-01] [-9.91486445e-05 -4.34220621e-04 9.99999901e-01 -7.46907870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.746502481 meters 0.1186447951546196 Centerline is valid? [False, False] Translation: X:2.35, Y:0.63, Z:-0.75 [[ 9.99992526e-01 -3.86459702e-03 -1.14357802e-04 2.34997358e+00] [ 3.86495746e-03 9.99986952e-01 3.34021016e-03 6.30744562e-01] [ 1.01447744e-04 -3.34062718e-03 9.99994415e-01 -7.49583677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.776502481 meters 0.1180159869602924 Centerline is valid? [False, False] Translation: X:2.35, Y:0.62, Z:-0.75 [[ 9.99986757e-01 -5.06847636e-03 -8.92309498e-04 2.35417233e+00] [ 5.07255546e-03 9.99976416e-01 4.63007198e-03 6.16676086e-01] [ 8.68821043e-04 -4.63453696e-03 9.99988883e-01 -7.54854206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.806502481 meters 0.1183649295723072 Centerline is valid? [False, False] Translation: X:2.36, Y:0.61, Z:-0.76 [[ 9.99967780e-01 -7.82974296e-03 -1.77026240e-03 2.35684339e+00] [ 7.83421671e-03 9.99966100e-01 2.53452111e-03 6.11864418e-01] [ 1.75035774e-03 -2.54830807e-03 9.99995221e-01 -7.56521838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.836502481 meters 0.11909652217628834 Centerline is valid? [False, False] Translation: X:2.36, Y:0.60, Z:-0.76 [[ 9.99980947e-01 -5.95977845e-03 -1.60821817e-03 2.35882620e+00] [ 5.96907784e-03 9.99965126e-01 5.84093514e-03 6.03867905e-01] [ 1.57335141e-03 -5.85042343e-03 9.99981648e-01 -7.60108823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.866502481 meters 0.11634125503566174 Centerline is valid? [False, False] Translation: X:2.35, Y:0.59, Z:-0.77 [[ 9.99952355e-01 -4.27620182e-03 -8.77512537e-03 2.35499006e+00] [ 4.28457276e-03 9.99990384e-01 9.35362034e-04 5.90001896e-01] [ 8.77104119e-03 -9.72915132e-04 9.99961060e-01 -7.66660220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89650248099998 meters 0.11679825518760482 Centerline is valid? [False, False] Translation: X:2.36, Y:0.58, Z:-0.77 [[ 9.99934206e-01 -7.19563924e-03 -8.93340427e-03 2.35692271e+00] [ 7.18883936e-03 9.99973845e-01 -7.93052628e-04 5.84985103e-01] [ 8.93887714e-03 7.28779642e-04 9.99959782e-01 -7.69459056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92650248099999 meters 0.11487835364735399 Centerline is valid? [False, False] Translation: X:2.36, Y:0.57, Z:-0.78 [[ 9.99916144e-01 -1.08440460e-02 -7.07899246e-03 2.35710304e+00] [ 1.08433840e-02 9.99941200e-01 -1.31900012e-04 5.71231175e-01] [ 7.08000654e-03 5.51287178e-05 9.99974935e-01 -7.76634707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95650248099999 meters 0.11459407139573777 Centerline is valid? [False, False] Translation: X:2.36, Y:0.56, Z:-0.78 [[ 0.9999336 -0.00935407 -0.00673003 2.35851588] [ 0.00937477 0.9999514 0.00305163 0.56439306] [ 0.00670116 -0.00311452 0.9999727 -0.7801482 ] [ 0. 0. 0. 1. ]] SLAMing on 78.98650248099999 meters 0.11307800072965263 Centerline is valid? [False, False] Translation: X:2.36, Y:0.55, Z:-0.79 [[ 9.99867194e-01 -7.52369476e-03 -1.44564563e-02 2.35718195e+00] [ 7.49493469e-03 9.99969826e-01 -2.04257758e-03 5.51088178e-01] [ 1.44713878e-02 1.93395612e-03 9.99893414e-01 -7.88088021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01650248099999 meters 0.11206204278083695 Centerline is valid? [False, False] Translation: X:2.36, Y:0.55, Z:-0.79 [[ 0.99984138 -0.01010066 -0.01466931 2.35993943] [ 0.01005951 0.99994526 -0.00287644 0.54520996] [ 0.01469756 0.00272842 0.99988826 -0.79253255] [ 0. 0. 0. 1. ]] SLAMing on 79.04650248099999 meters 0.11056815337318535 Centerline is valid? [False, False] Translation: X:2.36, Y:0.53, Z:-0.80 [[ 9.99811864e-01 -1.18971253e-02 -1.53197582e-02 2.36405157e+00] [ 1.19022699e-02 9.99929136e-01 2.44679724e-04 5.32491351e-01] [ 1.53157616e-02 -4.26973587e-04 9.99882616e-01 -8.02130679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07650248099999 meters 0.109141761849483 Centerline is valid? [False, False] Translation: X:2.37, Y:0.53, Z:-0.81 [[ 0.99982962 -0.0102683 -0.01533902 2.36628521] [ 0.0103252 0.99994009 0.00363478 0.52666097] [ 0.01530077 -0.00379253 0.99987574 -0.80652981] [ 0. 0. 0. 1. ]] SLAMing on 79.10650248099999 meters 0.10844875620514567 Centerline is valid? [False, False] Translation: X:2.36, Y:0.51, Z:-0.82 [[ 0.99995567 -0.00493898 -0.008017 2.35745167] [ 0.00496429 0.99998275 0.00313931 0.51253127] [ 0.00800136 -0.00317897 0.99996294 -0.81869301] [ 0. 0. 0. 1. ]] SLAMing on 79.136502481 meters 0.10695907453509118 Centerline is valid? [False, False] Translation: X:2.36, Y:0.51, Z:-0.82 [[ 9.99936695e-01 -7.30085600e-03 -8.56172139e-03 2.36093347e+00] [ 7.31737858e-03 9.99971422e-01 1.90008458e-03 5.07972983e-01] [ 8.54760447e-03 -1.96261365e-03 9.99961543e-01 -8.23261834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.166502481 meters 0.10631389871068112 Centerline is valid? [False, False] Translation: X:2.37, Y:0.49, Z:-0.83 [[ 0.99978011 -0.010941 -0.01788931 2.36529209] [ 0.01074998 0.99988455 -0.01073911 0.49144471] [ 0.01800474 0.01054443 0.9997823 -0.8318941 ] [ 0. 0. 0. 1. ]] SLAMing on 79.196502481 meters 0.10524839034302366 Centerline is valid? [False, False] Translation: X:2.37, Y:0.48, Z:-0.83 [[ 0.99967539 -0.01773905 -0.01828796 2.3679876 ] [ 0.01744049 0.99971409 -0.01635771 0.48445315] [ 0.0185729 0.01603345 0.99969894 -0.83459288] [ 0. 0. 0. 1. ]] SLAMing on 79.226502481 meters 0.10395055393593776 Centerline is valid? [False, False] Translation: X:2.37, Y:0.47, Z:-0.84 [[ 0.99970441 -0.01793773 -0.01641142 2.36578636] [ 0.01775022 0.9997763 -0.01150136 0.46888097] [ 0.01661406 0.01120666 0.99979917 -0.83750491] [ 0. 0. 0. 1. ]] SLAMing on 79.256502481 meters 0.10317377812259665 Centerline is valid? [False, False] Translation: X:2.37, Y:0.46, Z:-0.84 [[ 0.99966384 -0.02027237 -0.01616292 2.36737025] [ 0.02009303 0.99973558 -0.01118235 0.45932956] [ 0.01638533 0.01085383 0.99980684 -0.84158289] [ 0. 0. 0. 1. ]] SLAMing on 79.28650248099999 meters 0.10123588115797352 Centerline is valid? [False, False] Translation: X:2.37, Y:0.44, Z:-0.85 [[ 0.99962339 -0.02191778 -0.0165136 2.36947177] [ 0.02178503 0.99972925 -0.00817599 0.44465649] [ 0.01668833 0.00781316 0.99983021 -0.84673537] [ 0. 0. 0. 1. ]] SLAMing on 79.31650248099999 meters 0.09986469579568626 Centerline is valid? [False, True] Translation: X:2.37, Y:0.44, Z:-0.85 [[ 0.99957189 -0.024248 -0.0163731 2.37137809] [ 0.02411671 0.99967577 -0.00816898 0.43565391] [ 0.01656587 0.00777061 0.99983258 -0.85074883] [ 0. 0. 0. 1. ]] SLAMing on 79.34650248099999 meters 0.09986469579568626 Centerline is valid? [True, True] Translation: X:2.40, Y:0.43, Z:-0.85 [[ 9.99571675e-01 -2.39871931e-02 -1.67654667e-02 2.40326057e+00] [ 2.39753890e-02 9.99712140e-01 -9.04739713e-04 4.34628612e-01] [ 1.67823427e-02 5.02393605e-04 9.99859040e-01 -8.52888911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37650248099999 meters 0.09964851990653534 Centerline is valid? [True, True] Translation: X:2.44, Y:0.42, Z:-0.85 [[ 9.99526005e-01 -2.37820610e-02 -1.95494206e-02 2.43619165e+00] [ 2.37660139e-02 9.99716994e-01 -1.05280283e-03 4.22759979e-01] [ 1.95689258e-02 5.87692003e-04 9.99808338e-01 -8.54162705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40650248099999 meters 0.09912280134160738 Centerline is valid? [True, True] Translation: X:2.47, Y:0.41, Z:-0.86 [[ 9.99433578e-01 -2.38154834e-02 -2.37769892e-02 2.46770818e+00] [ 2.37918161e-02 9.99716118e-01 -1.27781913e-03 4.13470266e-01] [ 2.38006712e-02 7.11397590e-04 9.99716471e-01 -8.64666608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43650248099999 meters 0.09901626029778408 Centerline is valid? [True, True] Translation: X:2.50, Y:0.40, Z:-0.88 [[ 9.99118526e-01 -2.36143589e-02 -3.47063695e-02 2.49717021e+00] [ 2.35637706e-02 9.99720594e-01 -1.86597294e-03 4.02971316e-01] [ 3.47407361e-02 1.04651520e-03 9.99395811e-01 -8.81579867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46650248099999 meters 0.09792218234833754 Centerline is valid? [True, True] Translation: X:2.53, Y:0.39, Z:-0.89 [[ 9.98876753e-01 -2.65024403e-02 -3.92791731e-02 2.52558358e+00] [ 2.64395573e-02 9.99648167e-01 -2.11961313e-03 3.89923678e-01] [ 3.93215283e-02 1.07870833e-03 9.99226027e-01 -8.89786022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.496502481 meters 0.09687711226108002 Centerline is valid? [True, True] Translation: X:2.55, Y:0.37, Z:-0.91 [[ 9.98134644e-01 -3.36767701e-02 -5.09225662e-02 2.55483731e+00] [ 3.35796188e-02 9.99432228e-01 -2.76239866e-03 3.70369547e-01] [ 5.09866825e-02 1.04728544e-03 9.98698784e-01 -9.05141987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.526502481 meters 0.0964287325429818 Centerline is valid? [True, True] Translation: X:2.59, Y:0.36, Z:-0.91 [[ 9.98025726e-01 -3.67391490e-02 -5.09400155e-02 2.58508523e+00] [ 3.66453480e-02 9.99324482e-01 -2.77445866e-03 3.55651221e-01] [ 5.10075359e-02 9.02266521e-04 9.98697861e-01 -9.10883802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.556502481 meters 0.09662615681873242 Centerline is valid? [True, True] Translation: X:2.61, Y:0.33, Z:-0.92 [[ 9.97464633e-01 -4.17597942e-02 -5.76231390e-02 2.61483492e+00] [ 4.16474517e-02 9.99127404e-01 -3.14968349e-03 3.30766399e-01] [ 5.77043874e-02 7.41840994e-04 9.98333438e-01 -9.22450468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.586502481 meters 0.09665915964926047 Centerline is valid? [True, True] Translation: X:2.64, Y:0.32, Z:-0.94 [[ 9.97356960e-01 -4.52610970e-02 -5.68377226e-02 2.64346986e+00] [ 4.51571459e-02 9.98975047e-01 -3.11259467e-03 3.20438811e-01] [ 5.69203460e-02 5.37738633e-04 9.98378578e-01 -9.40519992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.616502481 meters 0.09697392194601435 Centerline is valid? [True, True] Translation: X:2.67, Y:0.31, Z:-0.95 [[ 9.97109817e-01 -4.58987961e-02 -6.05418347e-02 2.67338609e+00] [ 4.57816901e-02 9.98945949e-01 -3.32074125e-03 3.10625285e-01] [ 6.06304386e-02 5.39436180e-04 9.98160137e-01 -9.45626646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64650248099998 meters 0.09734486056813729 Centerline is valid? [True, True] Translation: X:2.70, Y:0.29, Z:-0.95 [[ 9.96976929e-01 -4.78340973e-02 -6.12282856e-02 2.70239568e+00] [ 4.77174665e-02 9.98855200e-01 -3.36647688e-03 2.88937732e-01] [ 6.13192238e-02 4.34641118e-04 9.98118111e-01 -9.50050153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67650248099999 meters 0.0973475222304879 Centerline is valid? [True, True] Translation: X:2.73, Y:0.27, Z:-0.92 [[ 9.97228972e-01 -4.68722414e-02 -5.77699829e-02 2.73103481e+00] [ 4.67663742e-02 9.98900780e-01 -3.18392434e-03 2.67713187e-01] [ 5.78557186e-02 4.73408959e-04 9.98324843e-01 -9.21651065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70650248099999 meters 0.09779434423354334 Centerline is valid? [True, True] Translation: X:2.76, Y:0.26, Z:-0.91 [[ 9.97396510e-01 -4.74430377e-02 -5.43080060e-02 2.76034026e+00] [ 4.73500476e-02 9.98873857e-01 -2.99841355e-03 2.55620433e-01] [ 5.43891013e-02 4.19120543e-04 9.98519729e-01 -9.07253579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73650248099999 meters 0.09860546185829516 Centerline is valid? [True, True] Translation: X:2.79, Y:0.23, Z:-0.89 [[ 9.97798863e-01 -5.14431493e-02 -4.18453377e-02 2.79141386e+00] [ 5.13914029e-02 9.98675912e-01 -2.31210384e-03 2.27281519e-01] [ 4.19088727e-02 1.56523974e-04 9.99121425e-01 -8.87077236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76650248099999 meters 0.09937006665430934 Centerline is valid? [True, True] Translation: X:2.82, Y:0.21, Z:-0.88 [[ 9.97786262e-01 -5.39927346e-02 -3.88247228e-02 2.82099561e+00] [ 5.39499148e-02 9.98541327e-01 -2.15051270e-03 2.14663087e-01] [ 3.88842023e-02 5.11615372e-05 9.99243722e-01 -8.76081043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79650248099999 meters 0.10075649293420916 Centerline is valid? [True, False] Translation: X:2.82, Y:0.19, Z:-0.87 [[ 9.98230638e-01 -5.26828081e-02 -2.75701862e-02 2.81851465e+00] [ 5.27243087e-02 9.98608802e-01 7.79989792e-04 1.93134472e-01] [ 2.74907385e-02 -2.23222871e-03 9.99619566e-01 -8.67597756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82650248099999 meters 0.10154823434147606 Centerline is valid? [False, False] Translation: X:2.82, Y:0.18, Z:-0.86 [[ 9.98753703e-01 -4.53612931e-02 -2.08181129e-02 2.82101677e+00] [ 4.53836999e-02 9.98969446e-01 6.04883940e-04 1.84003247e-01] [ 2.07692204e-02 -1.54893306e-03 9.99783097e-01 -8.63171459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85650248099999 meters 0.10249906739093315 Centerline is valid? [False, False] Translation: X:2.82, Y:0.17, Z:-0.86 [[ 9.99119780e-01 -4.11216081e-02 -8.28728870e-03 2.81601362e+00] [ 4.11257233e-02 9.99153926e-01 3.26692758e-04 1.66259300e-01] [ 8.26684291e-03 -6.67225938e-04 9.99965606e-01 -8.58260208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.886502481 meters 0.1027732787102649 Centerline is valid? [False, False] Translation: X:2.81, Y:0.16, Z:-0.86 [[ 9.99467183e-01 -3.25862369e-02 -1.86733531e-03 2.81465925e+00] [ 3.25786138e-02 9.99461264e-01 -3.97686537e-03 1.57228455e-01] [ 1.99592038e-03 3.91391124e-03 9.99990349e-01 -8.56337974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.916502481 meters 0.103379095702326 Centerline is valid? [False, False] Translation: X:2.81, Y:0.15, Z:-0.85 [[ 9.99441893e-01 -3.33969410e-02 -7.38889498e-04 2.81111447e+00] [ 3.33948540e-02 9.99438653e-01 -2.67639185e-03 1.47676035e-01] [ 8.27858025e-04 2.65022303e-03 9.99996145e-01 -8.53148198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.946502481 meters 0.10368982796901043 Centerline is valid? [False, False] Translation: X:2.81, Y:0.14, Z:-0.85 [[ 9.99855645e-01 -1.69285745e-02 -1.45329654e-03 2.80982997e+00] [ 1.69230113e-02 9.99849731e-01 -3.75854163e-03 1.42211750e-01] [ 1.51670491e-03 3.73340491e-03 9.99991881e-01 -8.51371137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.976502481 meters 0.10422194463903124 Centerline is valid? [False, False] Translation: X:2.81, Y:0.14, Z:-0.85 [[ 9.99795054e-01 -2.01711696e-02 -1.72425304e-03 2.80998976e+00] [ 2.01602953e-02 9.99778108e-01 -6.10712918e-03 1.37689729e-01] [ 1.84705838e-03 6.07111610e-03 9.99979865e-01 -8.50732080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.006502481 meters 0.1043827805643448 Centerline is valid? [False, False] Translation: X:2.81, Y:0.13, Z:-0.85 [[ 0.99995727 -0.00863525 -0.00329883 2.8101786 ] [ 0.00859087 0.99987547 -0.01323816 0.13370835] [ 0.00341273 0.01320925 0.99990693 -0.84976765] [ 0. 0. 0. 1. ]] SLAMing on 80.03650248099999 meters 0.10463830228990947 Centerline is valid? [False, False] Translation: X:2.81, Y:0.13, Z:-0.85 [[ 0.9999847 -0.00441261 -0.00333526 2.80990604] [ 0.00438627 0.99995946 -0.00786385 0.12888216] [ 0.00336982 0.0078491 0.99996352 -0.8494577 ] [ 0. 0. 0. 1. ]] SLAMing on 80.06650248099999 meters 0.104758723123669 Centerline is valid? [False, False] Translation: X:2.81, Y:0.13, Z:-0.85 [[ 9.99993742e-01 3.55953360e-04 -3.51987022e-03 2.81046133e+00] [-3.65174991e-04 9.99996502e-01 -2.61958250e-03 1.26740792e-01] [ 3.51892546e-03 2.62085148e-03 9.99990374e-01 -8.49947214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09650248099999 meters 0.10469939568696635 Centerline is valid? [False, False] Translation: X:2.81, Y:0.13, Z:-0.85 [[ 9.99993047e-01 4.29884703e-04 -3.70432723e-03 2.81122089e+00] [-4.39308554e-04 9.99996669e-01 -2.54357344e-03 1.26834292e-01] [ 3.70322144e-03 2.54518309e-03 9.99989904e-01 -8.50573867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12650248099999 meters 0.10497941008859038 Centerline is valid? [False, False] Translation: X:2.81, Y:0.13, Z:-0.85 [[ 9.99992560e-01 5.10256880e-04 -3.82360570e-03 2.81126164e+00] [-5.19482061e-04 9.99996956e-01 -2.41208688e-03 1.26544294e-01] [ 3.82236328e-03 2.41405523e-03 9.99989781e-01 -8.50282534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15650248099999 meters 0.1051550241284146 Centerline is valid? [False, False] Translation: X:2.81, Y:0.13, Z:-0.85 [[ 9.99992023e-01 5.89190180e-04 -3.95047044e-03 2.81099435e+00] [-5.98144231e-04 9.99997254e-01 -2.26577998e-03 1.26101956e-01] [ 3.94912462e-03 2.26812485e-03 9.99989630e-01 -8.49534729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18650248099999 meters 0.10534179920600477 Centerline is valid? [False, False] Translation: X:2.82, Y:0.12, Z:-0.85 [[ 9.99983559e-01 -4.15967615e-03 3.94690355e-03 2.81668186e+00] [ 4.14964314e-03 9.99988147e-01 2.54678804e-03 1.24501325e-01] [-3.95745058e-03 -2.53036793e-03 9.99988968e-01 -8.49438253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21650248099999 meters 0.10555831093150504 Centerline is valid? [False, False] Translation: X:2.82, Y:0.13, Z:-0.85 [[ 9.99982372e-01 -4.55806990e-03 3.80527602e-03 2.81629662e+00] [ 4.55128818e-03 9.99988043e-01 1.78894841e-03 1.26372502e-01] [-3.81338467e-03 -1.77159797e-03 9.99991160e-01 -8.48412011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.246502481 meters 0.1057158248787051 Centerline is valid? [False, False] Translation: X:2.82, Y:0.13, Z:-0.85 [[ 9.99982713e-01 -4.61099782e-03 3.64848313e-03 2.81627896e+00] [ 4.60486129e-03 9.99987972e-01 1.68855451e-03 1.26604755e-01] [-3.65622517e-03 -1.67172456e-03 9.99991919e-01 -8.47957312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.276502481 meters 0.10611012078295205 Centerline is valid? [False, False] Translation: X:2.82, Y:0.13, Z:-0.85 [[ 9.99982570e-01 -4.78670569e-03 3.45652966e-03 2.81588178e+00] [ 4.78196087e-03 9.99987615e-01 1.37967528e-03 1.27360397e-01] [-3.46309095e-03 -1.36312224e-03 9.99993074e-01 -8.46844542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.306502481 meters 0.10610524171552776 Centerline is valid? [False, False] Translation: X:2.82, Y:0.13, Z:-0.85 [[ 9.99981747e-01 -5.03365532e-03 3.34186581e-03 2.81572708e+00] [ 5.03063108e-03 9.99986930e-01 9.12745929e-04 1.28506711e-01] [-3.34641658e-03 -8.95917575e-04 9.99993999e-01 -8.46281266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.336502481 meters 0.10639800885092895 Centerline is valid? [False, False] Translation: X:2.82, Y:0.13, Z:-0.85 [[ 9.99981487e-01 -5.15665808e-03 3.23035155e-03 2.81527856e+00] [ 5.15463547e-03 9.99986514e-01 6.34140820e-04 1.29091244e-01] [-3.23357803e-03 -6.17477795e-04 9.99994581e-01 -8.45225661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.366502481 meters 0.10668990091378446 Centerline is valid? [False, False] Translation: X:2.82, Y:0.13, Z:-0.84 [[ 9.99982230e-01 -5.09551108e-03 3.09438788e-03 2.81510128e+00] [ 5.09318804e-03 9.99986742e-01 7.58143197e-04 1.28701572e-01] [-3.09820998e-03 -7.42369425e-04 9.99994925e-01 -8.44629219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39650248099998 meters 0.10689817578900826 Centerline is valid? [False, False] Translation: X:2.81, Y:0.13, Z:-0.84 [[ 9.99985214e-01 -4.11977544e-03 3.54945158e-03 2.81269870e+00] [ 4.11437538e-03 9.99990370e-01 1.52733983e-03 1.28976337e-01] [-3.55570970e-03 -1.51271347e-03 9.99992534e-01 -8.42108242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42650248099999 meters 0.10724781863584433 Centerline is valid? [False, False] Translation: X:2.81, Y:0.13, Z:-0.84 [[ 9.99983654e-01 -4.55722020e-03 3.45305598e-03 2.81250004e+00] [ 4.55473041e-03 9.99989362e-01 7.28558300e-04 1.31008323e-01] [-3.45633944e-03 -7.12818652e-04 9.99993773e-01 -8.41508264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45650248099999 meters 0.10742034765602879 Centerline is valid? [False, False] Translation: X:2.81, Y:0.13, Z:-0.84 [[ 9.99982569e-01 -4.95270344e-03 3.21441568e-03 2.81258428e+00] [ 4.95276984e-03 9.99987735e-01 -1.26967037e-05 1.32858613e-01] [-3.21431337e-03 2.86167434e-05 9.99994834e-01 -8.40968167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48650248099999 meters 0.10741426458430346 Centerline is valid? [False, False] Translation: X:2.81, Y:0.13, Z:-0.84 [[ 9.99981825e-01 -5.22304664e-03 3.01171020e-03 2.81285603e+00] [ 5.22464774e-03 9.99986214e-01 -5.24002385e-04 1.34104671e-01] [-3.00893179e-03 5.39727985e-04 9.99995328e-01 -8.40826387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51650248099999 meters 0.10794944561555221 Centerline is valid? [False, False] Translation: X:2.81, Y:0.14, Z:-0.84 [[ 9.99993390e-01 -1.91852657e-03 3.08852753e-03 2.81201523e+00] [ 1.91194938e-03 9.99995901e-01 2.13109952e-03 1.37393910e-01] [-3.09260345e-03 -2.12518032e-03 9.99992960e-01 -8.39668572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54650248099999 meters 0.1083094289181872 Centerline is valid? [False, False] Translation: X:2.83, Y:0.14, Z:-0.84 [[ 9.99969635e-01 -3.22595191e-03 7.09381789e-03 2.82807619e+00] [ 3.21615071e-03 9.99993858e-01 1.39262677e-03 1.40051689e-01] [-7.09826687e-03 -1.36976969e-03 9.99973869e-01 -8.37181254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57650248099999 meters 0.10954603779390994 Centerline is valid? [False, False] Translation: X:2.83, Y:0.15, Z:-0.83 [[ 9.99967645e-01 -3.43833483e-03 7.27238809e-03 2.82508436e+00] [ 3.43559911e-03 9.99994023e-01 3.88638854e-04 1.45224866e-01] [-7.27368089e-03 -3.63641269e-04 9.99973480e-01 -8.33237051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60650248099999 meters 0.1103026011796744 Centerline is valid? [False, False] Translation: X:2.82, Y:0.15, Z:-0.83 [[ 9.99964429e-01 -4.49595934e-03 7.13626421e-03 2.82495839e+00] [ 4.50681546e-03 9.99988710e-01 -1.50590965e-03 1.49972676e-01] [-7.12941313e-03 1.53801791e-03 9.99973403e-01 -8.32602560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.636502481 meters 0.1121286025547532 Centerline is valid? [False, False] Translation: X:2.82, Y:0.16, Z:-0.83 [[ 9.99972834e-01 -1.89600088e-03 7.12295239e-03 2.82475002e+00] [ 1.89735260e-03 9.99998183e-01 -1.83017135e-04 1.56814756e-01] [-7.12259245e-03 1.96526915e-04 9.99974615e-01 -8.32159044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.666502481 meters 0.11213984972186339 Centerline is valid? [False, False] Translation: X:2.83, Y:0.16, Z:-0.83 [[ 9.99972093e-01 -2.35378881e-03 7.09027685e-03 2.82501860e+00] [ 2.36165014e-03 9.99996606e-01 -1.10058009e-03 1.59017553e-01] [-7.08766225e-03 1.11729413e-03 9.99974258e-01 -8.32412387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.696502481 meters 0.1123253976501605 Centerline is valid? [False, False] Translation: X:2.83, Y:0.17, Z:-0.83 [[ 0.99996777 -0.00387518 0.00703099 2.82524124] [ 0.00390224 0.99998502 -0.00383927 0.16587829] [-0.007016 0.00386659 0.99996791 -0.83243191] [ 0. 0. 0. 1. ]] SLAMing on 80.726502481 meters 0.11453354253897823 Centerline is valid? [False, False] Translation: X:2.83, Y:0.17, Z:-0.83 [[ 9.99975600e-01 -3.19027183e-04 6.97838251e-03 2.82527028e+00] [ 3.25647588e-04 9.99999498e-01 -9.47586207e-04 1.69114829e-01] [-6.97807670e-03 9.49835579e-04 9.99975202e-01 -8.32200284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.756502481 meters 0.11500563963123707 Centerline is valid? [False, False] Translation: X:2.83, Y:0.18, Z:-0.83 [[ 9.99974018e-01 2.31503446e-03 6.82666690e-03 2.82557810e+00] [-2.31795406e-03 9.99997225e-01 4.19793987e-04 1.76148829e-01] [-6.82567612e-03 -4.35606981e-04 9.99976610e-01 -8.32056709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78650248099999 meters 0.11381751868396871 Centerline is valid? [False, False] Translation: X:2.83, Y:0.18, Z:-0.83 [[ 9.99977245e-01 1.39607090e-03 6.59998525e-03 2.82571953e+00] [-1.38712226e-03 9.99998113e-01 -1.36024079e-03 1.80556082e-01] [-6.60187179e-03 1.35105485e-03 9.99977295e-01 -8.31575362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81650248099999 meters 0.11362218067559192 Centerline is valid? [False, False] Translation: X:2.82, Y:0.19, Z:-0.83 [[ 9.99971441e-01 3.45089534e-03 6.72379060e-03 2.82349734e+00] [-3.44323664e-03 9.99993410e-01 -1.15028744e-03 1.90078838e-01] [-6.72771581e-03 1.12710299e-03 9.99976733e-01 -8.28036419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84650248099999 meters 0.11405296887181142 Centerline is valid? [False, False] Translation: X:2.82, Y:0.19, Z:-0.83 [[ 9.99953354e-01 7.01085304e-03 6.64369557e-03 2.82339745e+00] [-7.02301179e-03 9.99973703e-01 1.80855865e-03 1.93273117e-01] [-6.63084132e-03 -1.85513304e-03 9.99976295e-01 -8.27479401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87650248099999 meters 0.11368145641682183 Centerline is valid? [False, False] Translation: X:2.82, Y:0.20, Z:-0.83 [[ 9.99965531e-01 5.49857357e-03 6.22116665e-03 2.82385939e+00] [-5.48865796e-03 9.99983641e-01 -1.60980277e-03 2.01401675e-01] [-6.22991650e-03 1.57560142e-03 9.99979353e-01 -8.27024758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90650248099999 meters 0.1127298711888846 Centerline is valid? [False, False] Translation: X:2.82, Y:0.20, Z:-0.83 [[ 9.99969545e-01 4.99938073e-03 5.99298420e-03 2.82448303e+00] [-4.98262736e-03 9.99983646e-01 -2.80717597e-03 2.04445879e-01] [-6.00692033e-03 2.77722967e-03 9.99978102e-01 -8.27398479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93650248099999 meters 0.11165371660223287 Centerline is valid? [False, False] Translation: X:2.83, Y:0.21, Z:-0.83 [[ 0.99997717 0.0044842 0.00505408 2.82703559] [-0.00445966 0.99997826 -0.00485672 0.21150067] [-0.00507575 0.00483407 0.99997543 -0.82913352] [ 0. 0. 0. 1. ]] SLAMing on 80.96650248099999 meters 0.11116283352250371 Centerline is valid? [False, False] Translation: X:2.83, Y:0.22, Z:-0.83 [[ 0.99998072 0.00453816 0.00423839 2.82918452] [-0.00451404 0.99997366 -0.00568308 0.21540052] [-0.00426407 0.00566384 0.99997487 -0.83045272] [ 0. 0. 0. 1. ]] SLAMing on 80.996502481 meters 0.11020090448729203 Centerline is valid? [False, False] Translation: X:2.83, Y:0.22, Z:-0.83 [[ 9.99908987e-01 1.30104162e-02 3.57037121e-03 2.83279132e+00] [-1.30169607e-02 9.99913627e-01 1.81591197e-03 2.21997654e-01] [-3.54643705e-03 -1.86222208e-03 9.99991977e-01 -8.33756212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.026502481 meters 0.1092448134537183 Centerline is valid? [False, False] Translation: X:2.83, Y:0.23, Z:-0.83 [[ 0.99985309 0.01677467 0.00352203 2.83339967] [-0.01679202 0.99984672 0.00495665 0.22501716] [-0.00343834 -0.00501506 0.99998151 -0.83431335] [ 0. 0. 0. 1. ]] SLAMing on 81.056502481 meters 0.10855702806545867 Centerline is valid? [False, False] Translation: X:2.84, Y:0.23, Z:-0.84 [[ 9.99844934e-01 1.74759825e-02 2.16767029e-03 2.83779922e+00] [-1.74851315e-02 9.99837980e-01 4.27606006e-03 2.32391803e-01] [-2.09259074e-03 -4.31329899e-03 9.99988508e-01 -8.37653967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.086502481 meters 0.10807594779877502 Centerline is valid? [False, False] Translation: X:2.84, Y:0.24, Z:-0.84 [[ 9.99894577e-01 1.44803774e-02 1.07447733e-03 2.84105808e+00] [-1.44809390e-02 9.99895012e-01 5.16698283e-04 2.37366655e-01] [-1.06688254e-03 -5.32203252e-04 9.99999289e-01 -8.40002769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.116502481 meters 0.1080024984106376 Centerline is valid? [False, False] Translation: X:2.84, Y:0.24, Z:-0.84 [[ 9.99913444e-01 1.31364451e-02 7.33598084e-04 2.84222769e+00] [-1.31349314e-02 9.99911670e-01 -2.03136133e-03 2.43631160e-01] [-7.60218151e-04 2.02154974e-03 9.99997668e-01 -8.40727643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14650248099998 meters 0.10878784452500145 Centerline is valid? [False, False] Translation: X:2.85, Y:0.25, Z:-0.84 [[ 9.99981305e-01 5.60082835e-03 2.45365169e-03 2.84848389e+00] [-5.60428623e-03 9.99983309e-01 1.40467690e-03 2.53811049e-01] [-2.44574338e-03 -1.41840161e-03 9.99996003e-01 -8.37905788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17650248099999 meters 0.10940762415617454 Centerline is valid? [False, False] Translation: X:2.85, Y:0.26, Z:-0.84 [[ 9.99988807e-01 4.20888610e-03 2.16107571e-03 2.84816413e+00] [-4.20674085e-03 9.99990655e-01 -9.96268939e-04 2.60154597e-01] [-2.16524870e-03 9.87166702e-04 9.99997169e-01 -8.36549994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20650248099999 meters 0.10965940800932743 Centerline is valid? [False, False] Translation: X:2.85, Y:0.27, Z:-0.83 [[ 9.99994714e-01 3.03408886e-03 1.16924757e-03 2.84874179e+00] [-3.02935825e-03 9.99987305e-01 -4.02661849e-03 2.71452930e-01] [-1.18144984e-03 4.02305514e-03 9.99991210e-01 -8.34771767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23650248099999 meters 0.10958271959295077 Centerline is valid? [False, False] Translation: X:2.85, Y:0.28, Z:-0.83 [[ 9.99997103e-01 2.22632916e-03 9.15240912e-04 2.84902650e+00] [-2.22105531e-03 9.99981154e-01 -5.72345136e-03 2.75757467e-01] [-9.27965950e-04 5.72140197e-03 9.99983202e-01 -8.34389366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26650248099999 meters 0.10958271959295077 Centerline is valid? [False, False] Translation: X:2.85, Y:0.28, Z:-0.83 [[ 9.99997103e-01 2.22632916e-03 9.15240912e-04 2.84902650e+00] [-2.22105531e-03 9.99981154e-01 -5.72345136e-03 2.75757467e-01] [-9.27965950e-04 5.72140197e-03 9.99983202e-01 -8.34389366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29650248099999 meters 0.10971081205035788 Centerline is valid? [False, False] Translation: X:2.85, Y:0.28, Z:-0.83 [[ 9.99998808e-01 1.38904922e-03 6.74670629e-04 2.84932608e+00] [-1.38393574e-03 9.99970756e-01 -7.52145944e-03 2.80413608e-01] [-6.85098576e-04 7.52051677e-03 9.99971486e-01 -8.34078812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32650248099999 meters 0.10986275174924284 Centerline is valid? [False, False] Translation: X:2.85, Y:0.29, Z:-0.83 [[ 9.99992998e-01 3.69302334e-03 6.04703004e-04 2.84885356e+00] [-3.68877550e-03 9.99969520e-01 -6.88124679e-03 2.89073380e-01] [-6.30097178e-04 6.87896800e-03 9.99976141e-01 -8.32790912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35650248099999 meters 0.10985331174435112 Centerline is valid? [False, False] Translation: X:2.85, Y:0.29, Z:-0.83 [[ 9.99992840e-01 3.77556862e-03 -2.53071805e-04 2.85097694e+00] [-3.77732593e-03 9.99965883e-01 -7.34603188e-03 2.94139234e-01] [ 2.25327724e-04 7.34693522e-03 9.99972986e-01 -8.33701436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.386502481 meters 0.10914620213330527 Centerline is valid? [False, False] Translation: X:2.85, Y:0.30, Z:-0.83 [[ 9.99977505e-01 6.68569814e-03 -5.40245612e-04 2.85195849e+00] [-6.68863078e-03 9.99961825e-01 -5.62226999e-03 3.01038086e-01] [ 5.02636188e-04 5.62575702e-03 9.99984049e-01 -8.34097325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.416502481 meters 0.10967003283169696 Centerline is valid? [False, False] Translation: X:2.86, Y:0.31, Z:-0.83 [[ 9.99999493e-01 -1.14780290e-04 -1.00022317e-03 2.86254075e+00] [ 1.13530765e-04 9.99999213e-01 -1.24921394e-03 3.08319958e-01] [ 1.00036577e-03 1.24909975e-03 9.99998720e-01 -8.34183125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.446502481 meters 0.10968223739926823 Centerline is valid? [False, False] Translation: X:2.86, Y:0.31, Z:-0.83 [[ 9.99999237e-01 -5.13912047e-04 -1.12312393e-03 2.86260730e+00] [ 5.11615583e-04 9.99997780e-01 -2.04404253e-03 3.10330546e-01] [ 1.12417190e-03 2.04346637e-03 9.99997280e-01 -8.33886211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.476502481 meters 0.10939239840302571 Centerline is valid? [False, False] Translation: X:2.86, Y:0.31, Z:-0.83 [[ 9.99998844e-01 -8.10491798e-04 -1.28666539e-03 2.86288703e+00] [ 8.07008310e-04 9.99996014e-01 -2.70559077e-03 3.12191049e-01] [ 1.28885313e-03 2.70454930e-03 9.99995512e-01 -8.33804394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.506502481 meters 0.10941668424565218 Centerline is valid? [False, False] Translation: X:2.86, Y:0.32, Z:-0.83 [[ 9.99997533e-01 -1.48220838e-03 -1.65444845e-03 2.86358032e+00] [ 1.47520577e-03 9.99989983e-01 -4.22581864e-03 3.16667710e-01] [ 1.66069542e-03 4.22336757e-03 9.99989703e-01 -8.33807454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53650248099999 meters 0.11022682383132952 Centerline is valid? [False, False] Translation: X:2.86, Y:0.32, Z:-0.83 [[ 9.99996491e-01 -1.87289802e-03 -1.87355996e-03 2.86394310e+00] [ 1.86334476e-03 9.99985321e-01 -5.08780790e-03 3.19266627e-01] [ 1.88306141e-03 5.08429896e-03 9.99985302e-01 -8.33659811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56650248099999 meters 0.11004946613343736 Centerline is valid? [False, False] Translation: X:2.86, Y:0.32, Z:-0.83 [[ 9.99993605e-01 -2.71964004e-03 -2.32223480e-03 2.86425981e+00] [ 2.70370133e-03 9.99972957e-01 -6.83929811e-03 3.24530983e-01] [ 2.34077243e-03 6.83297575e-03 9.99973915e-01 -8.32891118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59650248099999 meters 0.10963667023465558 Centerline is valid? [False, False] Translation: X:2.86, Y:0.33, Z:-0.83 [[ 9.99992818e-01 -2.88904011e-03 -2.45306599e-03 2.86467146e+00] [ 2.87106625e-03 9.99969238e-01 -7.29927937e-03 3.25992347e-01] [ 2.47407844e-03 7.29218403e-03 9.99970351e-01 -8.33117727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62650248099999 meters 0.10934635644819801 Centerline is valid? [False, False] Translation: X:2.87, Y:0.33, Z:-0.83 [[ 9.99996403e-01 9.94218838e-04 -2.49091390e-03 2.86534245e+00] [-1.00432952e-03 9.99991249e-01 -4.06106760e-03 3.28984596e-01] [ 2.48685451e-03 4.06355470e-03 9.99988651e-01 -8.33961596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65650248099999 meters 0.1087599078939725 Centerline is valid? [False, False] Translation: X:2.87, Y:0.33, Z:-0.83 [[ 9.99996076e-01 5.71741741e-04 -2.74248739e-03 2.86589436e+00] [-5.85823430e-04 9.99986636e-01 -5.13658930e-03 3.32122184e-01] [ 2.73951394e-03 5.13817575e-03 9.99983047e-01 -8.34077444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68650248099999 meters 0.10845363875833601 Centerline is valid? [False, False] Translation: X:2.87, Y:0.34, Z:-0.84 [[ 9.99993878e-01 6.53327531e-04 -3.43762971e-03 2.86798478e+00] [-6.73883459e-04 9.99981881e-01 -5.98192400e-03 3.37424587e-01] [ 3.43365927e-03 5.98420394e-03 9.99976199e-01 -8.35438039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71650248099999 meters 0.10804094930216492 Centerline is valid? [False, False] Translation: X:2.87, Y:0.34, Z:-0.84 [[ 9.99993275e-01 3.47094090e-04 -3.65103691e-03 2.86829820e+00] [-3.72001162e-04 9.99976651e-01 -6.82345187e-03 3.39860660e-01] [ 3.64858329e-03 6.82476417e-03 9.99970055e-01 -8.35349942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.746502481 meters 0.10754450371189378 Centerline is valid? [False, False] Translation: X:2.87, Y:0.35, Z:-0.83 [[ 9.99991462e-01 -2.97418136e-05 -4.13219359e-03 2.86856465e+00] [-4.62725970e-06 9.99965412e-01 -8.31713334e-03 3.45864045e-01] [ 4.13229804e-03 8.31708145e-03 9.99956874e-01 -8.34637024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.776502481 meters 0.10725693324835374 Centerline is valid? [False, False] Translation: X:2.87, Y:0.35, Z:-0.83 [[ 9.99990445e-01 -1.60309530e-04 -4.36849591e-03 2.86907041e+00] [ 1.21412123e-04 9.99960361e-01 -8.90288400e-03 3.47783644e-01] [ 4.36974996e-03 8.90226855e-03 9.99950826e-01 -8.34790880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.806502481 meters 0.10633470879092195 Centerline is valid? [False, False] Translation: X:2.87, Y:0.35, Z:-0.84 [[ 0.99998235 0.00383069 -0.00454175 2.86993741] [-0.00385625 0.9999767 -0.00563241 0.35097821] [ 0.00452007 0.00564982 0.99997382 -0.83565587] [ 0. 0. 0. 1. ]] SLAMing on 81.836502481 meters 0.10598011051984998 Centerline is valid? [False, False] Translation: X:2.87, Y:0.35, Z:-0.84 [[ 0.99998144 0.00355136 -0.00495108 2.87062081] [-0.00358376 0.99997212 -0.00655136 0.35390757] [ 0.00492768 0.00656898 0.99996628 -0.83560096] [ 0. 0. 0. 1. ]] SLAMing on 81.866502481 meters 0.10562280930448419 Centerline is valid? [False, False] Translation: X:2.88, Y:0.36, Z:-0.83 [[ 9.99979227e-01 -3.27340741e-03 -5.55248538e-03 2.87827484e+00] [ 3.26512582e-03 9.99993545e-01 -1.49991867e-03 3.58913241e-01] [ 5.55735938e-03 1.48175795e-03 9.99983460e-01 -8.33720613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89650248099998 meters 0.10558966696945586 Centerline is valid? [False, False] Translation: X:2.88, Y:0.36, Z:-0.83 [[ 9.99978943e-01 -3.40754920e-03 -5.52287302e-03 2.87857284e+00] [ 3.39630090e-03 9.99992142e-01 -2.04477610e-03 3.60443148e-01] [ 5.52979730e-03 2.02597570e-03 9.99982658e-01 -8.34283751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92650248099999 meters 0.10565404084103361 Centerline is valid? [False, False] Translation: X:2.88, Y:0.36, Z:-0.83 [[ 9.99978895e-01 -3.52255950e-03 -5.45912068e-03 2.87834330e+00] [ 3.51004061e-03 9.99991192e-01 -2.30109332e-03 3.60825932e-01] [ 5.46717833e-03 2.28188302e-03 9.99982451e-01 -8.34138422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.95650248099999 meters 0.1055939697102005 Centerline is valid? [False, False] Translation: X:2.88, Y:0.36, Z:-0.83 [[ 9.99978515e-01 -3.55479199e-03 -5.50760342e-03 2.87852722e+00] [ 3.54115128e-03 9.99990644e-01 -2.48447937e-03 3.61433683e-01] [ 5.51638370e-03 2.46492274e-03 9.99981747e-01 -8.34313260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98650248099999 meters 0.10546909916986064 Centerline is valid? [False, False] Translation: X:2.88, Y:0.36, Z:-0.83 [[ 0.9999748 -0.00389074 -0.00593868 2.87905636] [ 0.00386989 0.99998632 -0.00351833 0.36458452] [ 0.00595229 0.00349526 0.99997618 -0.83404041] [ 0. 0. 0. 1. ]] SLAMing on 82.01650248099999 meters 0.10549700190684622 Centerline is valid? [False, False] Translation: X:2.88, Y:0.37, Z:-0.83 [[ 0.99997395 -0.00394208 -0.00604618 2.87933935] [ 0.00391966 0.99998541 -0.00371625 0.36535664] [ 0.00606075 0.00369245 0.99997482 -0.83413937] [ 0. 0. 0. 1. ]] SLAMing on 82.04650248099999 meters 0.10516524432012042 Centerline is valid? [False, False] Translation: X:2.88, Y:0.36, Z:-0.83 [[ 0.99997497 -0.00356583 -0.00611036 2.88002768] [ 0.00354677 0.99998882 -0.00312736 0.36440452] [ 0.00612144 0.00310561 0.99997644 -0.83499647] [ 0. 0. 0. 1. ]] SLAMing on 82.07650248099999 meters 0.10521820878196643 Centerline is valid? [False, False] Translation: X:2.88, Y:0.36, Z:-0.84 [[ 9.99975519e-01 -3.23951154e-03 -6.20210560e-03 2.88067067e+00] [ 3.22325180e-03 9.99991347e-01 -2.62985203e-03 3.63630427e-01] [ 6.21057137e-03 2.60979671e-03 9.99977309e-01 -8.35723843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10650248099999 meters 0.10538813113361671 Centerline is valid? [False, False] Translation: X:2.88, Y:0.36, Z:-0.84 [[ 9.99977322e-01 -2.95677783e-03 -6.05085944e-03 2.88075911e+00] [ 2.94484192e-03 9.99993703e-01 -1.98055831e-03 3.61940855e-01] [ 6.05667740e-03 1.96269457e-03 9.99979732e-01 -8.36218566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.136502481 meters 0.10554953050524708 Centerline is valid? [False, False] Translation: X:2.89, Y:0.36, Z:-0.84 [[ 9.99999449e-01 9.23533347e-04 -4.98856847e-04 2.88943392e+00] [-9.26535601e-04 9.99981258e-01 -6.05194287e-03 3.60604552e-01] [ 4.93258326e-04 6.05240175e-03 9.99981562e-01 -8.37731694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.166502481 meters 0.1063192519809617 Centerline is valid? [False, False] Translation: X:2.89, Y:0.36, Z:-0.84 [[ 9.99999713e-01 6.28289484e-04 -4.24188834e-04 2.88869847e+00] [-6.30922525e-04 9.99980358e-01 -6.23590417e-03 3.60598590e-01] [ 4.20262549e-04 6.23617000e-03 9.99980467e-01 -8.36721309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.196502481 meters 0.10669077465260572 Centerline is valid? [False, False] Translation: X:2.90, Y:0.36, Z:-0.84 [[ 9.99985214e-01 -4.01342577e-03 3.66948946e-03 2.89777743e+00] [ 4.00770721e-03 9.99990745e-01 1.56443450e-03 3.62229540e-01] [-3.67573425e-03 -1.54970513e-03 9.99992044e-01 -8.38987235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.226502481 meters 0.10696991881326526 Centerline is valid? [False, False] Translation: X:2.90, Y:0.36, Z:-0.84 [[ 9.99983927e-01 -4.28289272e-03 3.71520247e-03 2.89749418e+00] [ 4.27873552e-03 9.99990212e-01 1.12619653e-03 3.63104040e-01] [-3.71998949e-03 -1.11028206e-03 9.99992464e-01 -8.38636929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.256502481 meters 0.10729574696041626 Centerline is valid? [False, False] Translation: X:2.90, Y:0.36, Z:-0.84 [[ 9.99983425e-01 -4.37661449e-03 3.74091533e-03 2.89780822e+00] [ 4.37367464e-03 9.99990120e-01 7.93684552e-04 3.64107111e-01] [-3.74435202e-03 -7.77309851e-04 9.99992688e-01 -8.39148721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28650248099999 meters 0.10738123477742685 Centerline is valid? [False, False] Translation: X:2.90, Y:0.36, Z:-0.84 [[ 9.99983927e-01 -4.29117347e-03 3.70554509e-03 2.89828155e+00] [ 4.28830529e-03 9.99990500e-01 7.81623116e-04 3.64462172e-01] [-3.70886396e-03 -7.65720044e-04 9.99992829e-01 -8.39802564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31650248099999 meters 0.10802565699651716 Centerline is valid? [False, False] Translation: X:2.90, Y:0.37, Z:-0.84 [[ 9.99983110e-01 -4.62323122e-03 3.52227186e-03 2.89883911e+00] [ 4.62364162e-03 9.99989305e-01 -1.08382630e-04 3.67074442e-01] [-3.52173312e-03 1.24666522e-04 9.99993791e-01 -8.40150224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34650248099999 meters 0.1080758157053675 Centerline is valid? [False, False] Translation: X:2.90, Y:0.37, Z:-0.84 [[ 9.99983148e-01 -4.82573084e-03 3.22739264e-03 2.89955768e+00] [ 4.82812887e-03 9.99988074e-01 -7.35645480e-04 3.69168819e-01] [-3.22380413e-03 7.51215351e-04 9.99994521e-01 -8.40429985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37650248099999 meters 0.10772141818462715 Centerline is valid? [False, False] Translation: X:2.90, Y:0.37, Z:-0.84 [[ 9.99994018e-01 -2.91340991e-03 1.86462132e-03 2.90425636e+00] [ 2.91156189e-03 9.99995268e-01 9.93048276e-04 3.71868727e-01] [-1.86750566e-03 -9.87613375e-04 9.99997769e-01 -8.44322304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40650248099999 meters 0.10770732916621802 Centerline is valid? [False, False] Translation: X:2.91, Y:0.37, Z:-0.85 [[ 9.99994595e-01 -2.84913022e-03 1.64082340e-03 2.90511252e+00] [ 2.84767073e-03 9.99995548e-01 8.91135694e-04 3.72720441e-01] [-1.64335506e-03 -8.86458352e-04 9.99998257e-01 -8.45016232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43650248099999 meters 0.10733869666757209 Centerline is valid? [False, False] Translation: X:2.91, Y:0.38, Z:-0.85 [[ 9.99994981e-01 -3.02379541e-03 9.45884425e-04 2.90643768e+00] [ 3.02386853e-03 9.99995425e-01 -7.58842878e-05 3.76231982e-01] [-9.45650639e-04 7.87441370e-05 9.99999550e-01 -8.45282507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46650248099999 meters 0.10728192037622383 Centerline is valid? [False, False] Translation: X:2.91, Y:0.38, Z:-0.85 [[ 9.99994347e-01 -3.25445870e-03 8.44934350e-04 2.90654575e+00] [ 3.25502217e-03 9.99994480e-01 -6.66371413e-04 3.77879086e-01] [-8.42761008e-04 6.69117927e-04 9.99999421e-01 -8.45148041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.496502481 meters 0.10716606411543511 Centerline is valid? [False, False] Translation: X:2.91, Y:0.38, Z:-0.84 [[ 9.99993221e-01 -3.66191491e-03 3.84422246e-04 2.90706735e+00] [ 3.66264615e-03 9.99991451e-01 -1.91902627e-03 3.81409873e-01] [-3.77391649e-04 1.92042126e-03 9.99998085e-01 -8.44759687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.526502481 meters 0.10696327924048793 Centerline is valid? [False, False] Translation: X:2.91, Y:0.38, Z:-0.84 [[ 9.99992647e-01 -3.83081192e-03 1.76464060e-04 2.90746949e+00] [ 3.83123131e-03 9.99989682e-01 -2.44099076e-03 3.83035569e-01] [-1.67111262e-04 2.44164888e-03 9.99997005e-01 -8.44782732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.556502481 meters 0.10745421937666755 Centerline is valid? [False, False] Translation: X:2.91, Y:0.39, Z:-0.84 [[ 9.99989870e-01 -4.49939824e-03 -1.27026708e-04 2.90773015e+00] [ 4.49886400e-03 9.99982149e-01 -3.93221945e-03 3.87279426e-01] [ 1.44717061e-04 3.93160813e-03 9.99992261e-01 -8.44330038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.586502481 meters 0.10777876962433058 Centerline is valid? [False, False] Translation: X:2.91, Y:0.39, Z:-0.84 [[ 9.99988865e-01 -4.70792239e-03 -3.23711545e-04 2.90807126e+00] [ 4.70642909e-03 9.99978940e-01 -4.46865320e-03 3.88919901e-01] [ 3.44742800e-04 4.46707992e-03 9.99989963e-01 -8.44276661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.616502481 meters 0.10825369326011869 Centerline is valid? [False, False] Translation: X:2.91, Y:0.39, Z:-0.84 [[ 9.99988458e-01 -4.78313978e-03 -4.54004390e-04 2.90880513e+00] [ 4.78088033e-03 9.99976792e-01 -4.85375366e-03 3.90480790e-01] [ 4.77210036e-04 4.85152710e-03 9.99988117e-01 -8.44989882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64650248099998 meters 0.1086367514650143 Centerline is valid? [False, False] Translation: X:2.91, Y:0.39, Z:-0.85 [[ 9.99988600e-01 -4.74266672e-03 -5.54631365e-04 2.90921302e+00] [ 4.73991502e-03 9.99976949e-01 -4.86162590e-03 3.90844497e-01] [ 5.77675651e-04 4.85894157e-03 9.99988028e-01 -8.45327932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67650248099999 meters 0.10895723884657403 Centerline is valid? [False, False] Translation: X:2.91, Y:0.39, Z:-0.84 [[ 9.99987604e-01 -4.93970681e-03 -6.26067232e-04 2.90914355e+00] [ 4.93640056e-03 9.99974416e-01 -5.17687317e-03 3.91602850e-01] [ 6.51623450e-04 5.17371848e-03 9.99986404e-01 -8.44954267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70650248099999 meters 0.10985923707815062 Centerline is valid? [False, False] Translation: X:2.91, Y:0.39, Z:-0.85 [[ 9.99988241e-01 -4.79188630e-03 -7.44934225e-04 2.90964026e+00] [ 4.78810710e-03 9.99976063e-01 -4.99480699e-03 3.91465074e-01] [ 7.68850941e-04 4.99118144e-03 9.99987248e-01 -8.45379708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.73650248099999 meters 0.10976479080693047 Centerline is valid? [False, False] Translation: X:2.91, Y:0.39, Z:-0.85 [[ 9.99988389e-01 -4.68728294e-03 -1.11815191e-03 2.91083325e+00] [ 4.68165002e-03 9.99976600e-01 -4.98822738e-03 3.92547754e-01] [ 1.14150698e-03 4.98293467e-03 9.99986934e-01 -8.46125159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76650248099999 meters 0.11023892382402202 Centerline is valid? [False, False] Translation: X:2.91, Y:0.39, Z:-0.85 [[ 9.99987597e-01 -4.77303176e-03 -1.42269554e-03 2.91144575e+00] [ 4.76544397e-03 9.99974653e-01 -5.28990156e-03 3.93778755e-01] [ 1.44790834e-03 5.28305617e-03 9.99984996e-01 -8.46150839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79650248099999 meters 0.11031736577748436 Centerline is valid? [False, False] Translation: X:2.91, Y:0.39, Z:-0.85 [[ 9.99999316e-01 -3.28859374e-04 -1.12209325e-03 2.91130904e+00] [ 3.28326546e-04 9.99999833e-01 -4.75003044e-04 3.92397908e-01] [ 1.12224927e-03 4.74634307e-04 9.99999258e-01 -8.46656010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82650248099999 meters 0.11077789453762882 Centerline is valid? [False, False] Translation: X:2.91, Y:0.39, Z:-0.85 [[ 9.99999216e-01 -2.51233684e-04 -1.22692608e-03 2.91185778e+00] [ 2.50671346e-04 9.99999863e-01 -4.58462901e-04 3.92712294e-01] [ 1.22704110e-03 4.58154987e-04 9.99999142e-01 -8.47202182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85650248099999 meters 0.11091251641143157 Centerline is valid? [False, False] Translation: X:2.91, Y:0.39, Z:-0.85 [[ 9.99999036e-01 -1.57822875e-04 -1.37950884e-03 2.91235229e+00] [ 1.57270917e-04 9.99999908e-01 -4.00211386e-04 3.92876992e-01] [ 1.37957187e-03 3.99994044e-04 9.99998968e-01 -8.47532093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.886502481 meters 0.11040578879831385 Centerline is valid? [False, False] Translation: X:2.91, Y:0.40, Z:-0.85 [[ 9.99997782e-01 -3.03210475e-04 -2.08404270e-03 2.91388811e+00] [ 3.00607176e-04 9.99999174e-01 -1.24935798e-03 3.96306200e-01] [ 2.08441980e-03 1.24872873e-03 9.99997048e-01 -8.47987320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.916502481 meters 0.10994931243137751 Centerline is valid? [False, False] Translation: X:2.91, Y:0.40, Z:-0.85 [[ 9.99996805e-01 -3.81143480e-04 -2.49884616e-03 2.91480296e+00] [ 3.76674692e-04 9.99998330e-01 -1.78856725e-03 3.98267925e-01] [ 2.49952369e-03 1.78762029e-03 9.99995278e-01 -8.48248227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.946502481 meters 0.10880906527462632 Centerline is valid? [False, False] Translation: X:2.92, Y:0.40, Z:-0.85 [[ 9.99994458e-01 -3.26799330e-04 -3.31311892e-03 2.91678705e+00] [ 3.17390892e-04 9.99995917e-01 -2.83988084e-03 4.02694989e-01] [ 3.31403346e-03 2.83881355e-03 9.99990479e-01 -8.49220198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.976502481 meters 0.10823866007556347 Centerline is valid? [False, False] Translation: X:2.92, Y:0.41, Z:-0.85 [[ 9.99992599e-01 -4.14258321e-04 -3.82490762e-03 2.91771621e+00] [ 4.00662909e-04 9.99993602e-01 -3.55452416e-03 4.05120476e-01] [ 3.82635564e-03 3.55296536e-03 9.99986368e-01 -8.49288199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.006502481 meters 0.10725347086839522 Centerline is valid? [False, False] Translation: X:2.92, Y:0.41, Z:-0.85 [[ 9.99989156e-01 -9.74501080e-04 -4.55389171e-03 2.91837786e+00] [ 9.49293677e-04 9.99984235e-01 -5.53424120e-03 4.10541936e-01] [ 4.55921305e-03 5.52985820e-03 9.99974317e-01 -8.48326960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03650248099999 meters 0.10705432747572374 Centerline is valid? [False, False] Translation: X:2.92, Y:0.41, Z:-0.85 [[ 9.99986861e-01 -1.11830432e-03 -5.00263220e-03 2.91907746e+00] [ 1.08719153e-03 9.99980079e-01 -6.21768578e-03 4.12699334e-01] [ 5.00948581e-03 6.21216527e-03 9.99968157e-01 -8.48204111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06650248099999 meters 0.10694975287285938 Centerline is valid? [False, False] Translation: X:2.92, Y:0.42, Z:-0.85 [[ 9.99982628e-01 2.82375293e-03 -5.17406489e-03 2.91919563e+00] [-2.83868220e-03 9.99991823e-01 -2.88033549e-03 4.15269145e-01] [ 5.16588922e-03 2.89497298e-03 9.99982466e-01 -8.47903552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.09650248099999 meters 0.10683196138586781 Centerline is valid? [False, False] Translation: X:2.92, Y:0.42, Z:-0.85 [[ 9.99981042e-01 2.65665080e-03 -5.55504983e-03 2.91966290e+00] [-2.67588302e-03 9.99990442e-01 -3.45755218e-03 4.17050537e-01] [ 5.54581123e-03 3.47235129e-03 9.99978593e-01 -8.47572290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12650248099999 meters 0.10680049320123977 Centerline is valid? [False, False] Translation: X:2.92, Y:0.42, Z:-0.85 [[ 9.99977303e-01 2.42167165e-03 -6.28727563e-03 2.92065170e+00] [-2.44956756e-03 9.99987174e-01 -4.43298185e-03 4.20354967e-01] [ 6.27645976e-03 4.44828234e-03 9.99970409e-01 -8.47136693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15650248099999 meters 0.10680049320123977 Centerline is valid? [False, False] Translation: X:2.92, Y:0.42, Z:-0.85 [[ 9.99977303e-01 2.42167165e-03 -6.28727563e-03 2.92065170e+00] [-2.44956756e-03 9.99987174e-01 -4.43298185e-03 4.20354967e-01] [ 6.27645976e-03 4.44828234e-03 9.99970409e-01 -8.47136693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18650248099999 meters 0.10669896608375462 Centerline is valid? [False, False] Translation: X:2.92, Y:0.42, Z:-0.85 [[ 9.99975479e-01 2.42689310e-03 -6.56905418e-03 2.92123278e+00] [-2.45729023e-03 9.99986294e-01 -4.62321232e-03 4.21233359e-01] [ 6.55774410e-03 4.63924102e-03 9.99967736e-01 -8.47219560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21650248099999 meters 0.10664887789868158 Centerline is valid? [False, False] Translation: X:2.92, Y:0.42, Z:-0.85 [[ 9.99974743e-01 2.27230751e-03 -6.73426495e-03 2.92131489e+00] [-2.30584912e-03 9.99984955e-01 -4.97716626e-03 4.22099828e-01] [ 6.72285399e-03 4.99256875e-03 9.99964938e-01 -8.46894942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.246502481 meters 0.10681865967809825 Centerline is valid? [False, False] Translation: X:2.93, Y:0.42, Z:-0.85 [[ 9.99993591e-01 -3.57677164e-03 1.54705681e-04 2.92926038e+00] [ 3.57665417e-03 9.99993320e-01 7.53046583e-04 4.22688302e-01] [-1.57398124e-04 -7.52488428e-04 9.99999704e-01 -8.50789395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.276502481 meters 0.10691755581765816 Centerline is valid? [False, False] Translation: X:2.93, Y:0.42, Z:-0.85 [[ 9.99993852e-01 -3.50656765e-03 2.83806979e-05 2.92982241e+00] [ 3.50654863e-03 9.99993644e-01 6.44444907e-04 4.23439020e-01] [-3.06403072e-05 -6.44341427e-04 9.99999792e-01 -8.51305649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.306502481 meters 0.10682709171257679 Centerline is valid? [False, False] Translation: X:2.93, Y:0.42, Z:-0.85 [[ 9.99994666e-01 -3.26508413e-03 -8.72983139e-05 2.93038783e+00] [ 3.26516539e-03 9.99994220e-01 9.47530375e-04 4.22996235e-01] [ 8.42040430e-05 -9.47810364e-04 9.99999547e-01 -8.51872438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.336502481 meters 0.10695399730818946 Centerline is valid? [False, False] Translation: X:2.93, Y:0.42, Z:-0.85 [[ 9.99995066e-01 -3.11384844e-03 -4.15292758e-04 2.93120965e+00] [ 3.11428248e-03 9.99994601e-01 1.04862263e-03 4.23277568e-01] [ 4.12025263e-04 -1.04991080e-03 9.99999364e-01 -8.52235573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.366502481 meters 0.10690366701767755 Centerline is valid? [False, False] Translation: X:2.93, Y:0.42, Z:-0.85 [[ 9.99994325e-01 -3.32499959e-03 -5.41972905e-04 2.93119203e+00] [ 3.32536411e-03 9.99994244e-01 6.73075794e-04 4.24140241e-01] [ 5.39731809e-04 -6.74874231e-04 9.99999627e-01 -8.51852279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39650248099998 meters 0.10673615001261727 Centerline is valid? [False, False] Translation: X:2.93, Y:0.43, Z:-0.85 [[ 9.99994084e-01 -3.28418775e-03 -1.02307922e-03 2.93213409e+00] [ 3.28462937e-03 9.99994513e-01 4.30277295e-04 4.25440768e-01] [ 1.02166049e-03 -4.33635185e-04 9.99999384e-01 -8.51952860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42650248099999 meters 0.10676112981580996 Centerline is valid? [False, False] Translation: X:2.93, Y:0.42, Z:-0.85 [[ 9.99994906e-01 -2.96776722e-03 -1.17453345e-03 2.93279899e+00] [ 2.96877177e-03 9.99995228e-01 8.54456825e-04 4.24773515e-01] [ 1.17199202e-03 -8.57939395e-04 9.99998945e-01 -8.52537681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.45650248099999 meters 0.10675937547773229 Centerline is valid? [False, False] Translation: X:2.93, Y:0.42, Z:-0.85 [[ 9.99996098e-01 -2.56986624e-03 -1.09577740e-03 2.93314380e+00] [ 2.57157941e-03 9.99995469e-01 1.56489449e-03 4.23058738e-01] [ 1.09175087e-03 -1.56770627e-03 9.99998175e-01 -8.53273335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48650248099999 meters 0.10681254406524784 Centerline is valid? [False, False] Translation: X:2.93, Y:0.42, Z:-0.85 [[ 9.99996096e-01 -2.48230461e-03 -1.28280048e-03 2.93360090e+00] [ 2.48440630e-03 9.99995570e-01 1.63937742e-03 4.23160123e-01] [ 1.27872536e-03 -1.64255802e-03 9.99997833e-01 -8.53446674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51650248099999 meters 0.10675587730589228 Centerline is valid? [False, False] Translation: X:2.93, Y:0.42, Z:-0.85 [[ 9.99994756e-01 -2.66867849e-03 -1.83451832e-03 2.93425570e+00] [ 2.67085940e-03 9.99995728e-01 1.18739652e-03 4.24925305e-01] [ 1.83134170e-03 -1.19229004e-03 9.99997612e-01 -8.52945353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54650248099999 meters 0.1067519881639314 Centerline is valid? [False, False] Translation: X:2.93, Y:0.42, Z:-0.85 [[ 9.99995110e-01 -2.47908444e-03 -1.90643173e-03 2.93464811e+00] [ 2.48189365e-03 9.99995836e-01 1.47258941e-03 4.24458798e-01] [ 1.90277312e-03 -1.47731377e-03 9.99997098e-01 -8.53290859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57650248099999 meters 0.10685735756320218 Centerline is valid? [False, False] Translation: X:2.93, Y:0.42, Z:-0.85 [[ 9.99995172e-01 -2.49464535e-03 -1.85256346e-03 2.93440228e+00] [ 2.49758382e-03 9.99995624e-01 1.58555052e-03 4.23771916e-01] [ 1.84859996e-03 -1.59016980e-03 9.99997027e-01 -8.53062733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60650248099999 meters 0.10715180746439734 Centerline is valid? [False, False] Translation: X:2.93, Y:0.42, Z:-0.85 [[ 9.99974599e-01 -6.83313133e-03 -2.02716108e-03 2.93473763e+00] [ 6.82720773e-03 9.99972446e-01 -2.91478723e-03 4.24428431e-01] [ 2.04702235e-03 2.90087335e-03 9.99993697e-01 -8.53055739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.636502481 meters 0.10727103344539572 Centerline is valid? [False, False] Translation: X:2.94, Y:0.42, Z:-0.85 [[ 9.99975668e-01 -6.64821743e-03 -2.11306717e-03 2.93550736e+00] [ 6.64231325e-03 9.99974050e-01 -2.78897487e-03 4.24694650e-01] [ 2.13155405e-03 2.77487136e-03 9.99993878e-01 -8.53972236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.666502481 meters 0.10711604845541202 Centerline is valid? [False, False] Translation: X:2.94, Y:0.43, Z:-0.85 [[ 9.99975301e-01 -6.62252990e-03 -2.35370654e-03 2.93618831e+00] [ 6.61553094e-03 9.99973709e-01 -2.96903794e-03 4.25753340e-01] [ 2.37330720e-03 2.95339359e-03 9.99992822e-01 -8.54318282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.696502481 meters 0.10712901481617251 Centerline is valid? [False, False] Translation: X:2.94, Y:0.43, Z:-0.86 [[ 9.99994510e-01 -2.30684900e-03 -2.37861639e-03 2.93682712e+00] [ 2.30956273e-03 9.99996685e-01 1.13876970e-03 4.27159159e-01] [ 2.37598153e-03 -1.14425701e-03 9.99996523e-01 -8.55137989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.726502481 meters 0.10718515544211574 Centerline is valid? [False, False] Translation: X:2.94, Y:0.43, Z:-0.86 [[ 9.99994241e-01 -2.23075366e-03 -2.55782166e-03 2.93730331e+00] [ 2.23362969e-03 9.99996876e-01 1.12209899e-03 4.27557212e-01] [ 2.55531054e-03 -1.12780575e-03 9.99996099e-01 -8.55333471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.756502481 meters 0.1071514974618659 Centerline is valid? [False, False] Translation: X:2.94, Y:0.43, Z:-0.86 [[ 9.99994825e-01 -2.05913320e-03 -2.47187820e-03 2.93748908e+00] [ 2.06248732e-03 9.99996955e-01 1.35513030e-03 4.27002722e-01] [ 2.46908027e-03 -1.36022151e-03 9.99996027e-01 -8.55828316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78650248099999 meters 0.10721491900989068 Centerline is valid? [False, False] Translation: X:2.94, Y:0.43, Z:-0.86 [[ 9.99994035e-01 -2.13348083e-03 -2.71610925e-03 2.93782617e+00] [ 2.13651486e-03 9.99997096e-01 1.11463942e-03 4.27832427e-01] [ 2.71372331e-03 -1.12043578e-03 9.99995690e-01 -8.55671464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81650248099999 meters 0.1073059274504803 Centerline is valid? [False, False] Translation: X:2.94, Y:0.43, Z:-0.85 [[ 9.99991445e-01 -2.50635821e-03 -3.29058624e-03 2.93831229e+00] [ 2.50676647e-03 9.99996851e-01 1.19950087e-04 4.31040552e-01] [ 3.29027524e-03 -1.28197792e-04 9.99994579e-01 -8.54875448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84650248099999 meters 0.10725633232411569 Centerline is valid? [False, False] Translation: X:2.94, Y:0.43, Z:-0.86 [[ 9.99990774e-01 -2.48726590e-03 -3.50233852e-03 2.93884197e+00] [ 2.48717660e-03 9.99996907e-01 -2.98509275e-05 4.31902014e-01] [ 3.50240194e-03 2.11397177e-05 9.99993866e-01 -8.55074533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87650248099999 meters 0.10730085260198322 Centerline is valid? [False, False] Translation: X:2.94, Y:0.43, Z:-0.86 [[ 9.99988851e-01 -2.44855865e-03 -4.03762351e-03 2.94001096e+00] [ 2.44636167e-03 9.99996857e-01 -5.48976349e-04 4.34313543e-01] [ 4.03895502e-03 5.39092741e-04 9.99991698e-01 -8.55390870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90650248099999 meters 0.10728009469806776 Centerline is valid? [False, False] Translation: X:2.94, Y:0.43, Z:-0.86 [[ 9.99988467e-01 -2.35140245e-03 -4.18777287e-03 2.94052478e+00] [ 2.34899417e-03 9.99997073e-01 -5.79899787e-04 4.34780558e-01] [ 4.18912419e-03 5.70056045e-04 9.99991063e-01 -8.55727342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93650248099999 meters 0.10734749100801529 Centerline is valid? [False, False] Translation: X:2.94, Y:0.44, Z:-0.86 [[ 0.99996863 -0.00642261 -0.00463555 2.94174366] [ 0.0063988 0.99996636 -0.00513136 0.4364155 ] [ 0.00466835 0.00510154 0.99997609 -0.85641187] [ 0. 0. 0. 1. ]] SLAMing on 83.96650248099999 meters 0.10732412521221951 Centerline is valid? [False, False] Translation: X:2.94, Y:0.43, Z:-0.86 [[ 9.99989663e-01 -1.98719014e-03 -4.08949648e-03 2.94130086e+00] [ 1.98630028e-03 9.99998003e-01 -2.21646420e-04 4.34517428e-01] [ 4.08992877e-03 2.13521161e-04 9.99991613e-01 -8.57225924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.996502481 meters 0.10740973501344604 Centerline is valid? [False, False] Translation: X:2.94, Y:0.44, Z:-0.86 [[ 9.99987359e-01 -2.27166959e-03 -4.48571150e-03 2.94176488e+00] [ 2.26730728e-03 9.99996952e-01 -9.77337167e-04 4.37193890e-01] [ 4.48791801e-03 9.67154326e-04 9.99989462e-01 -8.56792911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.026502481 meters 0.10738711460981738 Centerline is valid? [False, False] Translation: X:2.94, Y:0.44, Z:-0.86 [[ 9.99986451e-01 -2.22145993e-03 -4.70776018e-03 2.94236139e+00] [ 2.21653379e-03 9.99996991e-01 -1.05134686e-03 4.37948858e-01] [ 4.71008154e-03 1.04089771e-03 9.99988366e-01 -8.57036839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.056502481 meters 0.10733825308040629 Centerline is valid? [False, False] Translation: X:2.94, Y:0.44, Z:-0.86 [[ 9.99986228e-01 -1.96154955e-03 -4.86796724e-03 2.94310917e+00] [ 1.95792515e-03 9.99997803e-01 -7.49193527e-04 4.37786656e-01] [ 4.86942612e-03 7.39652094e-04 9.99987871e-01 -8.57701959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.086502481 meters 0.10733527332708268 Centerline is valid? [False, False] Translation: X:2.94, Y:0.44, Z:-0.86 [[ 9.99987324e-01 -1.54008023e-03 -4.79381588e-03 2.94379905e+00] [ 1.53954635e-03 9.99998808e-01 -1.15055980e-04 4.36666224e-01] [ 4.79398737e-03 1.07674220e-04 9.99988503e-01 -8.58925146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.116502481 meters 0.10734770922578274 Centerline is valid? [False, False] Translation: X:2.94, Y:0.44, Z:-0.86 [[ 9.99987309e-01 -1.23412559e-03 -4.88460055e-03 2.94432481e+00] [ 1.23580576e-03 9.99999178e-01 3.40970573e-04 4.35774609e-01] [ 4.88417574e-03 -3.47002663e-04 9.99988012e-01 -8.59480215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14650248099998 meters 0.10750490429150204 Centerline is valid? [False, False] Translation: X:2.94, Y:0.44, Z:-0.86 [[ 9.99986998e-01 -1.40057455e-03 -4.90334969e-03 2.94408509e+00] [ 1.40116010e-03 9.99999012e-01 1.15984753e-04 4.35991734e-01] [ 4.90318240e-03 -1.22853622e-04 9.99987972e-01 -8.59072316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17650248099999 meters 0.10753199049989863 Centerline is valid? [False, False] Translation: X:2.94, Y:0.44, Z:-0.86 [[ 9.99985394e-01 -1.37515386e-03 -5.22695374e-03 2.94475067e+00] [ 1.37483667e-03 9.99999053e-01 -6.42747082e-05 4.37024618e-01] [ 5.22703717e-03 5.70875618e-05 9.99986337e-01 -8.59175900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20650248099999 meters 0.10745068930317464 Centerline is valid? [False, False] Translation: X:2.95, Y:0.44, Z:-0.86 [[ 9.99982120e-01 -1.52069147e-03 -5.78334345e-03 2.94553220e+00] [ 1.51593624e-03 9.99998509e-01 -8.26524688e-04 4.39493066e-01] [ 5.78459172e-03 8.17742730e-04 9.99982935e-01 -8.58865263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.23650248099999 meters 0.10749785987977355 Centerline is valid? [False, False] Translation: X:2.95, Y:0.44, Z:-0.86 [[ 9.99981058e-01 -1.32447884e-03 -6.01079310e-03 2.94632168e+00] [ 1.31978008e-03 9.99998820e-01 -7.85619562e-04 4.40031370e-01] [ 6.01182655e-03 7.77671756e-04 9.99981626e-01 -8.59453559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26650248099999 meters 0.10755297169657212 Centerline is valid? [False, False] Translation: X:2.95, Y:0.44, Z:-0.86 [[ 9.99979423e-01 -1.12339511e-03 -6.31599191e-03 2.94719119e+00] [ 1.11867935e-03 9.99999093e-01 -7.50121076e-04 4.40558452e-01] [ 6.31682886e-03 7.43040071e-04 9.99979773e-01 -8.59988174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29650248099999 meters 0.10787610671698418 Centerline is valid? [False, False] Translation: X:2.95, Y:0.44, Z:-0.86 [[ 9.99977289e-01 -1.16936988e-03 -6.63730930e-03 2.94759471e+00] [ 1.16111659e-03 9.99998548e-01 -1.24718658e-03 4.41999771e-01] [ 6.63875808e-03 1.23945156e-03 9.99977195e-01 -8.59758311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32650248099999 meters 0.10811282666196484 Centerline is valid? [False, False] Translation: X:2.95, Y:0.44, Z:-0.86 [[ 9.99974488e-01 -1.20036816e-03 -7.04143728e-03 2.94801697e+00] [ 1.18939006e-03 9.99998071e-01 -1.56305104e-03 4.42978496e-01] [ 7.04329994e-03 1.55463614e-03 9.99973987e-01 -8.59360312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35650248099999 meters 0.10832122719920718 Centerline is valid? [False, False] Translation: X:2.95, Y:0.44, Z:-0.86 [[ 9.99973252e-01 -1.13745772e-03 -7.22508429e-03 2.94830108e+00] [ 1.12625070e-03 9.99998157e-01 -1.55500659e-03 4.43108869e-01] [ 7.22683972e-03 1.54682774e-03 9.99972690e-01 -8.59263225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.386502481 meters 0.10861925108847056 Centerline is valid? [False, False] Translation: X:2.96, Y:0.44, Z:-0.86 [[ 9.99995675e-01 2.55611328e-03 -1.45450388e-03 2.95670312e+00] [-2.56436338e-03 9.99980474e-01 -5.69879312e-03 4.41451372e-01] [ 1.43990872e-03 5.70249835e-03 9.99982704e-01 -8.59904468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.416502481 meters 0.1084753707234872 Centerline is valid? [False, False] Translation: X:2.96, Y:0.44, Z:-0.86 [[ 9.99995750e-01 2.68852966e-03 -1.12734593e-03 2.95625039e+00] [-2.69431774e-03 9.99983034e-01 -5.16455830e-03 4.39552663e-01] [ 1.11344174e-03 5.16757378e-03 9.99986028e-01 -8.60142723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.446502481 meters 0.10834493334787272 Centerline is valid? [False, False] Translation: X:2.97, Y:0.44, Z:-0.86 [[ 9.99992260e-01 -2.03903977e-03 3.36498003e-03 2.97021345e+00] [ 2.04169982e-03 9.99997606e-01 -7.87264335e-04 4.35577051e-01] [-3.36336671e-03 7.94128520e-04 9.99994029e-01 -8.62378190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.476502481 meters 0.10834763378510014 Centerline is valid? [False, False] Translation: X:2.97, Y:0.43, Z:-0.86 [[ 9.99992210e-01 -1.95971592e-03 3.42619884e-03 2.97017115e+00] [ 1.96132497e-03 9.99997968e-01 -4.66332754e-04 4.34613847e-01] [-3.42527800e-03 4.73049010e-04 9.99994022e-01 -8.62449146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50650248099998 meters 0.10833649146128 Centerline is valid? [False, False] Translation: X:2.97, Y:0.43, Z:-0.86 [[ 9.99992348e-01 -1.94451670e-03 3.39442295e-03 2.97006370e+00] [ 1.94557260e-03 9.99998060e-01 -3.07796005e-04 4.33971951e-01] [-3.39381785e-03 3.14397746e-04 9.99994192e-01 -8.62175209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53650248099999 meters 0.10826452095151128 Centerline is valid? [False, False] Translation: X:2.97, Y:0.43, Z:-0.86 [[ 9.99993652e-01 -1.51118036e-03 3.22679739e-03 2.97090195e+00] [ 1.50964529e-03 9.99998746e-01 4.78108895e-04 4.32560468e-01] [-3.22751585e-03 -4.73234541e-04 9.99994680e-01 -8.63008870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56650248099999 meters 0.10795280136129017 Centerline is valid? [False, False] Translation: X:2.97, Y:0.43, Z:-0.86 [[ 9.99993316e-01 -9.77078679e-04 3.52334890e-03 2.97147162e+00] [ 9.72156287e-04 9.99998550e-01 1.39851969e-03 4.30384658e-01] [-3.52471026e-03 -1.39508510e-03 9.99992815e-01 -8.64673792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.59650248099999 meters 0.10795290022683839 Centerline is valid? [False, False] Translation: X:2.97, Y:0.43, Z:-0.87 [[ 9.99993809e-01 -7.88429405e-04 3.42926760e-03 2.97187236e+00] [ 7.82892526e-04 9.99998388e-01 1.61563802e-03 4.29881588e-01] [-3.43053589e-03 -1.61294327e-03 9.99992815e-01 -8.65042886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62650248099999 meters 0.10810561290131634 Centerline is valid? [False, False] Translation: X:2.97, Y:0.43, Z:-0.87 [[ 9.99994773e-01 -7.28463547e-04 3.15011350e-03 2.97247519e+00] [ 7.23772379e-04 9.99998628e-01 1.49008981e-03 4.30658452e-01] [-3.15119466e-03 -1.48780206e-03 9.99993928e-01 -8.65224285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65650248099999 meters 0.10823826769858935 Centerline is valid? [False, False] Translation: X:2.97, Y:0.43, Z:-0.87 [[ 9.99997414e-01 -5.03657511e-04 2.21754970e-03 2.97416379e+00] [ 5.01406889e-04 9.99999359e-01 1.01535285e-03 4.33056102e-01] [-2.21805966e-03 -1.01423833e-03 9.99997026e-01 -8.65399014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68650248099999 meters 0.10855314526837898 Centerline is valid? [False, False] Translation: X:2.97, Y:0.44, Z:-0.86 [[ 9.99998480e-01 -6.57747510e-04 1.61480720e-03 2.97475221e+00] [ 6.57531430e-04 9.99999775e-01 1.34338792e-04 4.35485134e-01] [-1.61489520e-03 -1.33276801e-04 9.99998687e-01 -8.64719281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71650248099999 meters 0.10896512364656716 Centerline is valid? [False, False] Translation: X:2.97, Y:0.44, Z:-0.86 [[ 9.99998902e-01 -7.57420987e-04 1.27391226e-03 2.97493655e+00] [ 7.57751793e-04 9.99999679e-01 -2.59214537e-04 4.36459596e-01] [-1.27371552e-03 2.60179561e-04 9.99999155e-01 -8.64094864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.746502481 meters 0.10919171423772024 Centerline is valid? [False, False] Translation: X:2.98, Y:0.44, Z:-0.86 [[ 9.99999211e-01 -7.07072299e-04 1.03855581e-03 2.97516508e+00] [ 7.07367298e-04 9.99999710e-01 -2.83707178e-04 4.36490253e-01] [-1.03835491e-03 2.84441595e-04 9.99999420e-01 -8.63807826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.776502481 meters 0.109216785010016 Centerline is valid? [False, False] Translation: X:2.98, Y:0.44, Z:-0.86 [[ 9.99989358e-01 -4.58949990e-03 4.68657285e-04 2.97656910e+00] [ 4.59150071e-03 9.99979948e-01 -4.36133249e-03 4.36719075e-01] [-4.48631552e-04 4.36343791e-03 9.99990380e-01 -8.64515486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.806502481 meters 0.10904385820174498 Centerline is valid? [False, False] Translation: X:2.98, Y:0.44, Z:-0.87 [[ 9.99990950e-01 -4.24047289e-03 3.44998777e-04 2.97725931e+00] [ 4.24176449e-03 9.99983656e-01 -3.83339741e-03 4.35844959e-01] [-3.28737720e-04 3.83482612e-03 9.99992593e-01 -8.65217763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.836502481 meters 0.10911780245067466 Centerline is valid? [False, False] Translation: X:2.98, Y:0.44, Z:-0.86 [[ 9.99991312e-01 -4.16672780e-03 1.20818912e-04 2.97739670e+00] [ 4.16713878e-03 9.99984735e-01 -3.62841056e-03 4.35354004e-01] [-1.05698468e-04 3.62888251e-03 9.99993410e-01 -8.64769946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.866502481 meters 0.10869930503170265 Centerline is valid? [False, False] Translation: X:2.98, Y:0.43, Z:-0.86 [[ 9.99992300e-01 -3.92407468e-03 -2.68299174e-05 2.97779447e+00] [ 3.92396926e-03 9.99987224e-01 -3.18659008e-03 4.34394377e-01] [ 3.93339921e-05 3.18646027e-03 9.99994922e-01 -8.64948795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89650248099998 meters 0.10839509886567106 Centerline is valid? [False, False] Translation: X:2.98, Y:0.43, Z:-0.87 [[ 9.99994084e-01 -3.42279746e-03 3.42337131e-04 2.97771304e+00] [ 3.42339993e-03 9.99992565e-01 -1.77507323e-03 4.30292934e-01] [-3.36258869e-04 1.77623468e-03 9.99998366e-01 -8.65753575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92650248099999 meters 0.10828009925464101 Centerline is valid? [False, False] Translation: X:2.98, Y:0.43, Z:-0.87 [[ 9.99995580e-01 -2.91322946e-03 5.93928882e-04 2.97778341e+00] [ 2.91357011e-03 9.99995591e-01 -5.73493033e-04 4.26933818e-01] [-5.92255546e-04 5.75220952e-04 9.99999659e-01 -8.66540364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.95650248099999 meters 0.10798510821772796 Centerline is valid? [False, False] Translation: X:2.98, Y:0.42, Z:-0.87 [[ 9.99995910e-01 -2.59206096e-03 1.20918926e-03 2.97731245e+00] [ 2.59120581e-03 9.99996392e-01 7.08240885e-04 4.23043629e-01] [-1.21102070e-03 -7.05104730e-04 9.99999018e-01 -8.67479475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98650248099999 meters 0.10798719150645963 Centerline is valid? [False, False] Translation: X:2.98, Y:0.42, Z:-0.87 [[ 9.99996657e-01 -2.34552789e-03 1.08871053e-03 2.97771673e+00] [ 2.34423530e-03 9.99996548e-01 1.18703004e-03 4.22015403e-01] [-1.09149098e-03 -1.18447387e-03 9.99998703e-01 -8.67734195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01650248099999 meters 0.10799712540547865 Centerline is valid? [False, False] Translation: X:2.98, Y:0.42, Z:-0.87 [[ 9.99996812e-01 -2.26110249e-03 1.12444387e-03 2.97738040e+00] [ 2.25922205e-03 9.99996052e-01 1.67079850e-03 4.20276938e-01] [-1.12821728e-03 -1.66825280e-03 9.99997972e-01 -8.67273979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04650248099999 meters 0.10790235591861416 Centerline is valid? [False, False] Translation: X:2.98, Y:0.42, Z:-0.87 [[ 9.99997058e-01 -2.16603200e-03 1.09195464e-03 2.97744732e+00] [ 2.16394673e-03 9.99995840e-01 1.90724635e-03 4.19595628e-01] [-1.09608125e-03 -1.90487781e-03 9.99997585e-01 -8.67288935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07650248099999 meters 0.10790235591861416 Centerline is valid? [False, False] Translation: X:2.98, Y:0.42, Z:-0.87 [[ 9.99997058e-01 -2.16603200e-03 1.09195464e-03 2.97744732e+00] [ 2.16394673e-03 9.99995840e-01 1.90724635e-03 4.19595628e-01] [-1.09608125e-03 -1.90487781e-03 9.99997585e-01 -8.67288935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10650248099999 meters 0.10786618837645098 Centerline is valid? [False, False] Translation: X:2.98, Y:0.42, Z:-0.87 [[ 9.99997771e-01 -1.93945628e-03 8.34132579e-04 2.97811380e+00] [ 1.93765687e-03 9.99995806e-01 2.15265615e-03 4.19400731e-01] [-8.38304063e-04 -2.15103509e-03 9.99997335e-01 -8.67611922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.136502481 meters 0.107754402050096 Centerline is valid? [False, False] Translation: X:2.98, Y:0.42, Z:-0.87 [[ 9.99997506e-01 -2.06353770e-03 8.54549817e-04 2.97779565e+00] [ 2.06184085e-03 9.99995911e-01 1.98180432e-03 4.19367723e-01] [-8.58635850e-04 -1.98003743e-03 9.99997671e-01 -8.67201421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.166502481 meters 0.10778562717819141 Centerline is valid? [False, False] Translation: X:2.98, Y:0.42, Z:-0.87 [[ 9.99980309e-01 -6.27202791e-03 2.08967962e-04 2.97860712e+00] [ 6.27257610e-03 9.99976587e-01 -2.73494317e-03 4.20888493e-01] [-1.91809430e-04 2.73620008e-03 9.99996238e-01 -8.66825872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.196502481 meters 0.10782846933106015 Centerline is valid? [False, False] Translation: X:2.98, Y:0.42, Z:-0.87 [[ 9.99980348e-01 -6.26823189e-03 -1.11645024e-04 2.97913906e+00] [ 6.26787224e-03 9.99975936e-01 -2.97356932e-03 4.21911668e-01] [ 1.30281360e-04 2.97281111e-03 9.99995573e-01 -8.66766743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.226502481 meters 0.10784166087997268 Centerline is valid? [False, False] Translation: X:2.98, Y:0.42, Z:-0.87 [[ 9.99979681e-01 -6.35053275e-03 -5.55111038e-04 2.97974709e+00] [ 6.34859842e-03 9.99974001e-01 -3.41952458e-03 4.23525252e-01] [ 5.76812408e-04 3.41593092e-03 9.99993999e-01 -8.66471369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25650248099998 meters 0.10775825015225159 Centerline is valid? [False, False] Translation: X:2.98, Y:0.42, Z:-0.87 [[ 9.99980859e-01 -6.10506808e-03 -1.00453306e-03 2.98076035e+00] [ 6.10155760e-03 9.99975395e-01 -3.46135997e-03 4.24491330e-01] [ 1.02564018e-03 3.45516450e-03 9.99993505e-01 -8.66864000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28650248099999 meters 0.10764532476916074 Centerline is valid? [False, False] Translation: X:2.98, Y:0.42, Z:-0.87 [[ 9.99982434e-01 -5.80742486e-03 -1.18590424e-03 2.98133734e+00] [ 5.80370535e-03 9.99978303e-01 -3.11615397e-03 4.23991424e-01] [ 1.20397534e-03 3.10921659e-03 9.99994442e-01 -8.67259010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31650248099999 meters 0.10762188834200458 Centerline is valid? [False, False] Translation: X:2.98, Y:0.42, Z:-0.87 [[ 9.99983406e-01 -5.61083461e-03 -1.30631352e-03 2.98167866e+00] [ 5.60707602e-03 9.99980181e-01 -2.86334628e-03 4.23508058e-01] [ 1.32235340e-03 2.85597416e-03 9.99995047e-01 -8.67447563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34650248099999 meters 0.10775673423871278 Centerline is valid? [False, False] Translation: X:2.98, Y:0.42, Z:-0.87 [[ 9.99984348e-01 -5.41573588e-03 -1.40470376e-03 2.98200252e+00] [ 5.41212329e-03 9.99982070e-01 -2.56295877e-03 4.22844014e-01] [ 1.41855889e-03 2.55531623e-03 9.99995729e-01 -8.67690096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37650248099999 meters 0.1074379122889727 Centerline is valid? [False, False] Translation: X:2.98, Y:0.42, Z:-0.87 [[ 9.99985170e-01 -5.17552846e-03 -1.69505388e-03 2.98277985e+00] [ 5.17158437e-03 9.99983929e-01 -2.32299857e-03 4.22833855e-01] [ 1.70704938e-03 2.31419801e-03 9.99995865e-01 -8.68090373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40650248099999 meters 0.10703514189974243 Centerline is valid? [False, False] Translation: X:2.98, Y:0.42, Z:-0.87 [[ 9.99987989e-01 -4.54237718e-03 -1.84071503e-03 2.98405911e+00] [ 4.53974996e-03 9.99988674e-01 -1.42895705e-03 4.21740774e-01] [ 1.84718504e-03 1.42058350e-03 9.99997285e-01 -8.69624882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43650248099999 meters 0.10673563722516699 Centerline is valid? [False, False] Translation: X:2.99, Y:0.42, Z:-0.87 [[ 9.99991012e-01 -3.81443148e-03 -1.85085784e-03 2.98513604e+00] [ 3.81398513e-03 9.99992697e-01 -2.44628723e-04 4.19567262e-01] [ 1.85177744e-03 2.37567380e-04 9.99998257e-01 -8.71248325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46650248099999 meters 0.10661188553356035 Centerline is valid? [False, False] Translation: X:2.99, Y:0.42, Z:-0.87 [[ 9.99992599e-01 -3.36120852e-03 -1.87210523e-03 2.98580674e+00] [ 3.36217426e-03 9.99994216e-01 5.12947148e-04 4.18053675e-01] [ 1.87037028e-03 -5.19237696e-04 9.99998116e-01 -8.72217670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.496502481 meters 0.10652022615102676 Centerline is valid? [False, False] Translation: X:2.99, Y:0.42, Z:-0.87 [[ 9.99993432e-01 -3.11619180e-03 -1.85057150e-03 2.98590547e+00] [ 3.11816622e-03 9.99994571e-01 1.06499766e-03 4.16654081e-01] [ 1.84724272e-03 -1.07076105e-03 9.99997721e-01 -8.72389121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.526502481 meters 0.10651397489194936 Centerline is valid? [False, False] Translation: X:2.99, Y:0.42, Z:-0.87 [[ 9.99993844e-01 -2.96747195e-03 -1.87226619e-03 2.98592011e+00] [ 2.97007581e-03 9.99994624e-01 1.38951049e-03 4.15711725e-01] [ 1.86813280e-03 -1.39506270e-03 9.99997282e-01 -8.72327582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.556502481 meters 0.1065251515430597 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.87 [[ 9.99994510e-01 -2.74007809e-03 -1.86320191e-03 2.98600229e+00] [ 2.74364439e-03 9.99994404e-01 1.91421762e-03 4.14310674e-01] [ 1.85794637e-03 -1.91931907e-03 9.99996432e-01 -8.72438173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.586502481 meters 0.10636546287559787 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.87 [[ 9.99995065e-01 -2.49725484e-03 -1.90615874e-03 2.98638043e+00] [ 2.50168798e-03 9.99994164e-01 2.32686338e-03 4.13502039e-01] [ 1.90033684e-03 -2.33162051e-03 9.99995476e-01 -8.72865630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.616502481 meters 0.10628786906791331 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.87 [[ 9.99995460e-01 -2.58909746e-03 -1.54130362e-03 2.98567632e+00] [ 2.59288923e-03 9.99993605e-01 2.46321050e-03 4.12528361e-01] [ 1.53491627e-03 -2.46719575e-03 9.99995778e-01 -8.72756690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64650248099998 meters 0.10613657528109031 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.87 [[ 9.99975316e-01 -6.62097333e-03 -2.35175237e-03 2.98727876e+00] [ 6.61622839e-03 9.99976073e-01 -2.01969940e-03 4.14068665e-01] [ 2.36506847e-03 2.00408981e-03 9.99995195e-01 -8.73056977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67650248099999 meters 0.10619608132108677 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.87 [[ 9.99975835e-01 -6.44493155e-03 -2.60614505e-03 2.98792888e+00] [ 6.43994146e-03 9.99977423e-01 -1.91861904e-03 4.14302977e-01] [ 2.61845157e-03 1.90178926e-03 9.99994763e-01 -8.73363776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70650248099999 meters 0.10618754242165356 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.87 [[ 9.99976062e-01 -6.35072248e-03 -2.74645048e-03 2.98815589e+00] [ 6.34569926e-03 9.99978184e-01 -1.83384886e-03 4.14188425e-01] [ 2.75803683e-03 1.81637681e-03 9.99994547e-01 -8.73321602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.73650248099999 meters 0.10640018042448582 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.87 [[ 9.99975057e-01 -6.41819175e-03 -2.94818194e-03 2.98815756e+00] [ 6.41225417e-03 9.99977403e-01 -2.01903536e-03 4.14487422e-01] [ 2.96107387e-03 2.00008051e-03 9.99993616e-01 -8.72771990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76650248099999 meters 0.1063794939307702 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.87 [[ 9.99975039e-01 -6.33011928e-03 -3.13854756e-03 2.98851584e+00] [ 6.32401515e-03 9.99978100e-01 -1.95101564e-03 4.14613727e-01] [ 3.15082898e-03 1.93111872e-03 9.99993172e-01 -8.72768864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79650248099999 meters 0.10668361837645791 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.87 [[ 9.99974981e-01 -6.33226115e-03 -3.15268755e-03 2.98826723e+00] [ 6.32649944e-03 9.99978305e-01 -1.83418647e-03 4.14049916e-01] [ 3.16423370e-03 1.81419511e-03 9.99993348e-01 -8.72301813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82650248099999 meters 0.10667307073920307 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.87 [[ 9.99978130e-01 -6.05021013e-03 -2.67101246e-03 2.98797299e+00] [ 6.04754763e-03 9.99981210e-01 -1.00376765e-03 4.11615857e-01] [ 2.67703527e-03 9.87592624e-04 9.99995929e-01 -8.73062162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85650248099999 meters 0.10674175194546923 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.87 [[ 9.99980799e-01 -5.65928382e-03 -2.52464085e-03 2.98823808e+00] [ 5.65861328e-03 9.99983953e-01 -2.72664107e-04 4.09957902e-01] [ 2.52614342e-03 2.58372905e-04 9.99996776e-01 -8.73845392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.886502481 meters 0.10684380892105429 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.87 [[ 9.99982661e-01 -5.31138322e-03 -2.54309204e-03 2.98866706e+00] [ 5.31227224e-03 9.99985831e-01 3.42954340e-04 4.08665738e-01] [ 2.54123444e-03 -3.56457991e-04 9.99996708e-01 -8.74448153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.916502481 meters 0.10703003137900553 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.88 [[ 9.99985306e-01 -4.80322858e-03 -2.51335269e-03 2.98946588e+00] [ 4.80621797e-03 9.99987748e-01 1.18471855e-03 4.07352896e-01] [ 2.50763142e-03 -1.19678087e-03 9.99996140e-01 -8.75751518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.946502481 meters 0.10700027002341933 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.88 [[ 9.99986457e-01 -4.49046300e-03 -2.63079933e-03 2.99010592e+00] [ 4.49474844e-03 9.99988578e-01 1.62530668e-03 4.06707027e-01] [ 2.62347090e-03 -1.63710945e-03 9.99995219e-01 -8.76380970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.976502481 meters 0.10749444441464237 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.88 [[ 9.99987299e-01 -4.20389654e-03 -2.78017502e-03 2.99049431e+00] [ 4.20976001e-03 9.99988920e-01 2.10655217e-03 4.05700987e-01] [ 2.77128849e-03 -2.11822928e-03 9.99993917e-01 -8.76535294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00650248099998 meters 0.10751323139980846 Centerline is valid? [False, False] Translation: X:2.99, Y:0.40, Z:-0.88 [[ 9.99987986e-01 -4.13205093e-03 -2.63709125e-03 2.99029279e+00] [ 4.13827110e-03 9.99988658e-01 2.35764314e-03 4.04814226e-01] [ 2.62731944e-03 -2.36852782e-03 9.99993744e-01 -8.76615533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03650248099999 meters 0.10749218347256517 Centerline is valid? [False, False] Translation: X:2.99, Y:0.40, Z:-0.88 [[ 9.99989608e-01 -3.77799551e-03 -2.55155495e-03 2.99054888e+00] [ 3.78576461e-03 9.99988192e-01 3.04691203e-03 4.03187693e-01] [ 2.54001360e-03 -3.05653995e-03 9.99992103e-01 -8.77256601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06650248099999 meters 0.10756415574170611 Centerline is valid? [False, False] Translation: X:2.99, Y:0.40, Z:-0.88 [[ 9.99989698e-01 -3.64473489e-03 -2.70534007e-03 2.99108873e+00] [ 3.65327558e-03 9.99988338e-01 3.15877729e-03 4.03389961e-01] [ 2.69379562e-03 -3.16862810e-03 9.99991352e-01 -8.77662374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.09650248099999 meters 0.10739741091680649 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.88 [[ 9.99988299e-01 -3.74601561e-03 -3.06084481e-03 2.99162672e+00] [ 3.75411335e-03 9.99989458e-01 2.64414249e-03 4.05150792e-01] [ 3.05090754e-03 -2.65560231e-03 9.99991820e-01 -8.77539089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12650248099999 meters 0.10726161178692556 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.88 [[ 9.99988526e-01 -3.56997742e-03 -3.19421180e-03 2.99233213e+00] [ 3.57864261e-03 9.99989921e-01 2.71118795e-03 4.05652906e-01] [ 3.18450073e-03 -2.72258779e-03 9.99991223e-01 -8.78286041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15650248099999 meters 0.1069487146904695 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.88 [[ 9.99988454e-01 -3.01693489e-03 -3.74029234e-03 2.99445492e+00] [ 3.02745773e-03 9.99991467e-01 2.81091145e-03 4.07260028e-01] [ 3.73178008e-03 -2.82220257e-03 9.99989054e-01 -8.80173813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18650248099999 meters 0.1067377070991092 Centerline is valid? [False, False] Translation: X:2.99, Y:0.41, Z:-0.88 [[ 9.99987292e-01 -3.14905315e-03 -3.93701181e-03 2.99477151e+00] [ 3.15829394e-03 9.99992267e-01 2.34314962e-03 4.08618206e-01] [ 3.92960266e-03 -2.35555409e-03 9.99989505e-01 -8.80185902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21650248099999 meters 0.10676992041908373 Centerline is valid? [False, False] Translation: X:3.00, Y:0.41, Z:-0.88 [[ 9.99986363e-01 -3.00646568e-03 -4.27028836e-03 2.99560445e+00] [ 3.01579583e-03 9.99993076e-01 2.18014243e-03 4.09733671e-01] [ 4.26370427e-03 -2.19299102e-03 9.99988506e-01 -8.80597119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.246502481 meters 0.10712095616739624 Centerline is valid? [False, False] Translation: X:3.00, Y:0.41, Z:-0.88 [[ 9.99983400e-01 -3.09521869e-03 -4.85999747e-03 2.99608612e+00] [ 3.10222548e-03 9.99994159e-01 1.43485160e-03 4.11935560e-01] [ 4.85552791e-03 -1.44990459e-03 9.99987161e-01 -8.79831364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.276502481 meters 0.10739489782409478 Centerline is valid? [False, False] Translation: X:3.00, Y:0.41, Z:-0.88 [[ 9.99983147e-01 -2.98422469e-03 -4.97989239e-03 2.99629298e+00] [ 2.99185878e-03 9.99994360e-01 1.52623878e-03 4.11751105e-01] [ 4.97530967e-03 -1.54111220e-03 9.99986436e-01 -8.79833632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.306502481 meters 0.10752279500897761 Centerline is valid? [False, False] Translation: X:3.00, Y:0.41, Z:-0.88 [[ 9.99982824e-01 -2.82810722e-03 -5.13356776e-03 2.99624428e+00] [ 2.83722435e-03 9.99994409e-01 1.76956907e-03 4.10664477e-01] [ 5.12853453e-03 -1.78410376e-03 9.99985257e-01 -8.79403378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.336502481 meters 0.10783027069202171 Centerline is valid? [False, False] Translation: X:3.00, Y:0.41, Z:-0.88 [[ 9.99982230e-01 -2.78757209e-03 -5.26962097e-03 2.99619742e+00] [ 2.79756685e-03 9.99994300e-01 1.89025606e-03 4.10067428e-01] [ 5.26432171e-03 -1.90496458e-03 9.99984329e-01 -8.79026803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.366502481 meters 0.10763993428756292 Centerline is valid? [False, False] Translation: X:3.00, Y:0.41, Z:-0.88 [[ 9.99982606e-01 -2.43603265e-03 -5.37158766e-03 2.99675440e+00] [ 2.44922048e-03 9.99994000e-01 2.44989738e-03 4.08983580e-01] [ 5.36558740e-03 -2.46301097e-03 9.99982572e-01 -8.79572870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39650248099998 meters 0.10755209393624383 Centerline is valid? [False, False] Translation: X:3.00, Y:0.41, Z:-0.88 [[ 9.99983108e-01 -2.24232260e-03 -5.36243151e-03 2.99675330e+00] [ 2.25766275e-03 9.99993372e-01 2.85633026e-03 4.07741929e-01] [ 5.35599116e-03 -2.86838857e-03 9.99981543e-01 -8.79619501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42650248099999 meters 0.10762029285776448 Centerline is valid? [False, False] Translation: X:3.00, Y:0.40, Z:-0.88 [[ 9.99979849e-01 -4.32819589e-03 -4.64422181e-03 2.99536599e+00] [ 4.33320251e-03 9.99990041e-01 1.06851243e-03 4.04292074e-01] [ 4.63955083e-03 -1.08861525e-03 9.99988645e-01 -8.79108924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.45650248099999 meters 0.10763300791758146 Centerline is valid? [False, False] Translation: X:3.00, Y:0.40, Z:-0.88 [[ 9.99981371e-01 -3.90242555e-03 -4.69348785e-03 2.99577047e+00] [ 3.91093399e-03 9.99990723e-01 1.80500878e-03 4.02516826e-01] [ 4.68640040e-03 -1.82333108e-03 9.99987356e-01 -8.79615483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48650248099999 meters 0.10792151750562891 Centerline is valid? [False, False] Translation: X:3.00, Y:0.40, Z:-0.88 [[ 9.99983794e-01 -3.36432839e-03 -4.59273708e-03 2.99569875e+00] [ 3.37782372e-03 9.99989991e-01 2.93381896e-03 3.99254906e-01] [ 4.58282078e-03 -2.94928487e-03 9.99985150e-01 -8.79795604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51650248099999 meters 0.10774679062094673 Centerline is valid? [False, False] Translation: X:3.00, Y:0.40, Z:-0.88 [[ 0.99998469 -0.00316443 -0.00453933 2.99558409] [ 0.00318 0.99998907 0.00342753 0.39759828] [ 0.00452843 -0.00344192 0.99998382 -0.87978175] [ 0. 0. 0. 1. ]] SLAMing on 86.54650248099999 meters 0.10794480237616665 Centerline is valid? [False, False] Translation: X:3.00, Y:0.40, Z:-0.88 [[ 9.99963610e-01 -6.99421075e-03 -4.88453800e-03 2.99625180e+00] [ 6.99382911e-03 9.99975538e-01 -9.52074555e-05 3.95799645e-01] [ 4.88508441e-03 6.10423669e-05 9.99988066e-01 -8.79847972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57650248099999 meters 0.1078796047445779 Centerline is valid? [False, False] Translation: X:3.00, Y:0.39, Z:-0.88 [[ 9.99966072e-01 -6.77915963e-03 -4.67946057e-03 2.99571282e+00] [ 6.78199055e-03 9.99976828e-01 5.89363022e-04 3.93299468e-01] [ 4.67535675e-03 -6.21079084e-04 9.99988878e-01 -8.79587707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60650248099999 meters 0.10815915970363324 Centerline is valid? [False, False] Translation: X:2.99, Y:0.39, Z:-0.88 [[ 9.99966963e-01 -7.00493212e-03 -4.12360147e-03 2.99380750e+00] [ 7.00915941e-03 9.99974924e-01 1.01158804e-03 3.87891474e-01] [ 4.11641196e-03 -1.04045760e-03 9.99990986e-01 -8.78053097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.636502481 meters 0.10829025504982137 Centerline is valid? [False, False] Translation: X:2.99, Y:0.39, Z:-0.88 [[ 9.99970299e-01 -6.48290750e-03 -4.16817998e-03 2.99414282e+00] [ 6.49138620e-03 9.99976883e-01 2.02384768e-03 3.85286614e-01] [ 4.15496320e-03 -2.05084483e-03 9.99989265e-01 -8.78448839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.666502481 meters 0.10821502192580995 Centerline is valid? [False, False] Translation: X:2.99, Y:0.38, Z:-0.88 [[ 9.99970695e-01 -6.82281105e-03 -3.47256258e-03 2.99224848e+00] [ 6.83153883e-03 9.99973520e-01 2.50772936e-03 3.79260377e-01] [ 3.45536086e-03 -2.53137882e-03 9.99990826e-01 -8.77206502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.696502481 meters 0.10843655855740757 Centerline is valid? [False, False] Translation: X:2.99, Y:0.38, Z:-0.88 [[ 0.99997373 -0.00638642 -0.00342769 2.99224715] [ 0.00639821 0.99997361 0.00344021 0.37662999] [ 0.00340563 -0.00346205 0.99998821 -0.87732596] [ 0. 0. 0. 1. ]] SLAMing on 86.726502481 meters 0.10870478444575188 Centerline is valid? [False, False] Translation: X:2.99, Y:0.37, Z:-0.88 [[ 9.99964938e-01 -8.05201076e-03 -2.29949590e-03 2.98950702e+00] [ 8.05811784e-03 9.99963997e-01 2.65903512e-03 3.70937244e-01] [ 2.27800253e-03 -2.67747149e-03 9.99993821e-01 -8.75813941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75650248099998 meters 0.1087096386447131 Centerline is valid? [False, False] Translation: X:2.99, Y:0.37, Z:-0.88 [[ 9.99970264e-01 -7.37057222e-03 -2.26824435e-03 2.98990235e+00] [ 7.37958131e-03 9.99964812e-01 3.98943370e-03 3.67563095e-01] [ 2.23876012e-03 -4.00605376e-03 9.99989470e-01 -8.76536523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78650248099999 meters 0.10946611748425875 Centerline is valid? [False, False] Translation: X:2.99, Y:0.36, Z:-0.88 [[ 9.99970920e-01 -7.44028990e-03 -1.67341554e-03 2.98817272e+00] [ 7.44787635e-03 9.99961803e-01 4.57391615e-03 3.63544955e-01] [ 1.63932035e-03 -4.58624654e-03 9.99988139e-01 -8.75383983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81650248099999 meters 0.10967228311374254 Centerline is valid? [False, False] Translation: X:2.99, Y:0.36, Z:-0.88 [[ 9.99973843e-01 -7.02264236e-03 -1.73103633e-03 2.98839354e+00] [ 7.03194995e-03 9.99960528e-01 5.43075952e-03 3.61238161e-01] [ 1.69282972e-03 -5.44279003e-03 9.99983755e-01 -8.75558416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84650248099999 meters 0.11014885127958329 Centerline is valid? [False, False] Translation: X:2.99, Y:0.36, Z:-0.88 [[ 9.99943738e-01 -1.04464743e-02 -1.84160378e-03 2.98908165e+00] [ 1.04516016e-02 9.99941469e-01 2.79686039e-03 3.57112823e-01] [ 1.81227866e-03 -2.81595074e-03 9.99994393e-01 -8.76220241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87650248099999 meters 0.11006935125089853 Centerline is valid? [False, False] Translation: X:2.99, Y:0.35, Z:-0.88 [[ 9.99950930e-01 -9.74587872e-03 -1.77639481e-03 2.98946590e+00] [ 9.75340847e-03 9.99943272e-01 4.28058319e-03 3.53416794e-01] [ 1.73457600e-03 -4.29769904e-03 9.99989260e-01 -8.76990063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90650248099999 meters 0.11145186200619617 Centerline is valid? [False, False] Translation: X:2.99, Y:0.35, Z:-0.88 [[ 9.99910466e-01 -1.32902549e-02 -1.55829998e-03 2.98959111e+00] [ 1.32928742e-02 9.99910230e-01 1.68274146e-03 3.49143945e-01] [ 1.53579603e-03 -1.70330508e-03 9.99997370e-01 -8.77649408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93650248099999 meters 0.11090383125403798 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:-0.88 [[ 9.99985940e-01 -4.91833837e-03 -1.98259891e-03 2.98375627e+00] [ 4.91303005e-03 9.99984357e-01 -2.67349497e-03 3.44498665e-01] [ 1.99571705e-03 2.66371681e-03 9.99994461e-01 -8.80022780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96650248099999 meters 0.11090383125403798 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:-0.88 [[ 9.99985940e-01 -4.91833837e-03 -1.98259891e-03 2.98375627e+00] [ 4.91303005e-03 9.99984357e-01 -2.67349497e-03 3.44498665e-01] [ 1.99571705e-03 2.66371681e-03 9.99994461e-01 -8.80022780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.996502481 meters 0.1119938986214731 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:-0.88 [[ 9.99963584e-01 -8.32302532e-03 -1.88600176e-03 2.98412613e+00] [ 8.31368378e-03 9.99953396e-01 -4.90794942e-03 3.39639418e-01] [ 1.92676285e-03 4.89209108e-03 9.99986177e-01 -8.80904563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.026502481 meters 0.11350347441187386 Centerline is valid? [False, False] Translation: X:2.98, Y:0.34, Z:-0.88 [[ 9.99969046e-01 -7.68746924e-03 -1.67633983e-03 2.98429591e+00] [ 7.68167044e-03 9.99964583e-01 -3.43863103e-03 3.36121764e-01] [ 1.70271483e-03 3.42564750e-03 9.99992683e-01 -8.81693390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.056502481 meters 0.11426928128201856 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:-0.88 [[ 9.99973565e-01 -7.19852750e-03 -1.02515020e-03 2.98356865e+00] [ 7.19677427e-03 9.99972651e-01 -1.70375430e-03 3.30840036e-01] [ 1.03738668e-03 1.69633149e-03 9.99998023e-01 -8.82240644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.086502481 meters 0.1137930553133496 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:-0.88 [[ 9.99977456e-01 -6.64772547e-03 -9.46293613e-04 2.98395841e+00] [ 6.64712419e-03 9.99977705e-01 -6.37137752e-04 3.28477193e-01] [ 9.50508032e-04 6.30833257e-04 9.99999349e-01 -8.83072045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.116502481 meters 0.11525731522179779 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:-0.88 [[ 9.99977895e-01 -6.62041889e-03 -6.16737044e-04 2.98321012e+00] [ 6.62032162e-03 9.99978073e-01 -1.59626576e-04 3.26586531e-01] [ 6.17780316e-04 1.55540049e-04 9.99999797e-01 -8.82730356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14650248099998 meters 0.11568150818567588 Centerline is valid? [False, False] Translation: X:2.98, Y:0.33, Z:-0.88 [[ 9.99980324e-01 -6.23539036e-03 -6.87192650e-04 2.98387022e+00] [ 6.23567872e-03 9.99980470e-01 4.18276457e-04 3.25660840e-01] [ 6.84571113e-04 -4.22553340e-04 9.99999676e-01 -8.83529961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17650248099999 meters 0.11597268273839083 Centerline is valid? [False, False] Translation: X:2.99, Y:0.32, Z:-0.89 [[ 9.99984715e-01 -5.46609739e-03 -8.31862710e-04 2.98539024e+00] [ 5.46738338e-03 9.99983850e-01 1.55157676e-03 3.24028255e-01] [ 8.23368206e-04 -1.55610116e-03 9.99998450e-01 -8.85512051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20650248099999 meters 0.1162086431990586 Centerline is valid? [False, False] Translation: X:2.99, Y:0.32, Z:-0.89 [[ 9.99985556e-01 -5.29379038e-03 -9.29489957e-04 2.98609647e+00] [ 5.29534154e-03 9.99984578e-01 1.67437461e-03 3.24367373e-01] [ 9.20611834e-04 -1.67927239e-03 9.99998166e-01 -8.86315140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.23650248099999 meters 0.1164597929304192 Centerline is valid? [False, False] Translation: X:2.99, Y:0.33, Z:-0.89 [[ 9.99985549e-01 -5.24754935e-03 -1.16793988e-03 2.98682279e+00] [ 5.24940775e-03 9.99984952e-01 1.59384445e-03 3.25183681e-01] [ 1.15955853e-03 -1.59995241e-03 9.99998048e-01 -8.86759021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26650248099999 meters 0.11622578754055238 Centerline is valid? [False, False] Translation: X:2.99, Y:0.33, Z:-0.89 [[ 9.99985940e-01 -5.12155828e-03 -1.37444701e-03 2.98781028e+00] [ 5.12359507e-03 9.99985775e-01 1.48248822e-03 3.26416050e-01] [ 1.36683481e-03 -1.48950948e-03 9.99997957e-01 -8.87679764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29650248099999 meters 0.11575458581637169 Centerline is valid? [False, False] Translation: X:2.99, Y:0.33, Z:-0.89 [[ 9.99986524e-01 -4.96692662e-03 -1.51070274e-03 2.98856381e+00] [ 4.96925076e-03 9.99986470e-01 1.53860664e-03 3.26935654e-01] [ 1.50304016e-03 -1.54609296e-03 9.99997675e-01 -8.88462415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32650248099999 meters 0.11551726489658855 Centerline is valid? [False, False] Translation: X:2.99, Y:0.33, Z:-0.89 [[ 9.99985808e-01 -4.91526642e-03 -2.05542488e-03 2.99020014e+00] [ 4.91722439e-03 9.99987460e-01 9.48624560e-04 3.30268227e-01] [ 2.05073636e-03 -9.58718082e-04 9.99997438e-01 -8.89518077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35650248099999 meters 0.11614780874067238 Centerline is valid? [False, False] Translation: X:2.99, Y:0.33, Z:-0.89 [[ 9.99984791e-01 -4.95115290e-03 -2.42970196e-03 2.99127212e+00] [ 4.95240728e-03 9.99987606e-01 5.10524382e-04 3.32350667e-01] [ 2.42714416e-03 -5.22549492e-04 9.99996918e-01 -8.90099111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.386502481 meters 0.11390534862606329 Centerline is valid? [False, False] Translation: X:2.99, Y:0.34, Z:-0.89 [[ 9.99988738e-01 -3.10735878e-03 -3.58712484e-03 2.99487860e+00] [ 3.11357972e-03 9.99993656e-01 1.72996105e-03 3.36857382e-01] [ 3.58172648e-03 -1.74111036e-03 9.99992070e-01 -8.92671036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.416502481 meters 0.11360815743753011 Centerline is valid? [False, False] Translation: X:3.00, Y:0.34, Z:-0.89 [[ 9.99987698e-01 -3.17995780e-03 -3.80692035e-03 2.99550208e+00] [ 3.18511443e-03 9.99994017e-01 1.34924380e-03 3.38426018e-01] [ 3.80260704e-03 -1.36135268e-03 9.99991843e-01 -8.93022477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.446502481 meters 0.11227873542500652 Centerline is valid? [False, False] Translation: X:3.00, Y:0.34, Z:-0.90 [[ 9.99985402e-01 -1.97595725e-03 -5.02904549e-03 2.99885727e+00] [ 1.98414658e-03 9.99996713e-01 1.62393809e-03 3.44000515e-01] [ 5.02582012e-03 -1.63389275e-03 9.99986036e-01 -8.95157731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.476502481 meters 0.11144030810351757 Centerline is valid? [False, False] Translation: X:3.00, Y:0.35, Z:-0.90 [[ 9.99982314e-01 -1.81205211e-03 -5.66461273e-03 3.00071580e+00] [ 1.81911064e-03 9.99997575e-01 1.24117034e-03 3.46821420e-01] [ 5.66234993e-03 -1.25145295e-03 9.99983186e-01 -8.96241541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50650248099998 meters 0.11044103819286971 Centerline is valid? [False, False] Translation: X:3.00, Y:0.35, Z:-0.90 [[ 9.99976393e-01 -8.31590781e-04 -6.82066151e-03 3.00387652e+00] [ 8.38089024e-04 9.99999198e-01 9.49926331e-04 3.53334643e-01] [ 6.81986609e-03 -9.55620228e-04 9.99976288e-01 -8.98194875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53650248099999 meters 0.10966073052787366 Centerline is valid? [False, False] Translation: X:3.01, Y:0.36, Z:-0.90 [[ 9.99971729e-01 -5.72801896e-04 -7.49758072e-03 3.00597333e+00] [ 5.77442806e-04 9.99999643e-01 6.16837662e-04 3.56107221e-01] [ 7.49722471e-03 -6.21149647e-04 9.99971702e-01 -8.99561796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56650248099999 meters 0.10869291006699013 Centerline is valid? [False, False] Translation: X:3.01, Y:0.36, Z:-0.90 [[ 0.9999623 0.00354709 -0.00792606 3.00816226] [-0.00351722 0.99998667 0.00377897 0.36194892] [ 0.00793936 -0.00375095 0.99996145 -0.90157461] [ 0. 0. 0. 1. ]] SLAMing on 87.59650248099999 meters 0.1080773649146033 Centerline is valid? [False, False] Translation: X:3.01, Y:0.37, Z:-0.90 [[ 9.99958244e-01 3.13584697e-03 -8.58351856e-03 3.00922521e+00] [-3.11502697e-03 9.99992177e-01 2.43787447e-03 3.66430075e-01] [ 8.59109621e-03 -2.41103478e-03 9.99960189e-01 -9.01438993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62650248099999 meters 0.1079416283437985 Centerline is valid? [False, False] Translation: X:3.01, Y:0.37, Z:-0.90 [[ 0.99993637 0.00634466 -0.00932723 3.01012029] [-0.00630639 0.9999716 0.00412594 0.37472989] [ 0.00935314 -0.00406685 0.99994799 -0.90058513] [ 0. 0. 0. 1. ]] SLAMing on 87.65650248099999 meters 0.10753916425551664 Centerline is valid? [False, False] Translation: X:3.02, Y:0.38, Z:-0.90 [[ 9.99971447e-01 7.41406011e-03 -1.46207968e-03 3.01885040e+00] [-7.41723807e-03 9.99970115e-01 -2.18027883e-03 3.82546735e-01] [ 1.44587127e-03 2.19106117e-03 9.99996554e-01 -9.04031437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68650248099999 meters 0.10746912589478554 Centerline is valid? [False, False] Translation: X:3.02, Y:0.39, Z:-0.90 [[ 9.99971474e-01 7.18583509e-03 -2.32689420e-03 3.02103675e+00] [-7.19394634e-03 9.99968010e-01 -3.49646598e-03 3.89575822e-01] [ 2.30169474e-03 3.51310579e-03 9.99991180e-01 -9.04943082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71650248099999 meters 0.10735135116661665 Centerline is valid? [False, False] Translation: X:3.03, Y:0.40, Z:-0.90 [[ 9.99991151e-01 -2.65436607e-03 -3.26389743e-03 3.03030572e+00] [ 2.65218815e-03 9.99996258e-01 -6.71421801e-04 3.95290679e-01] [ 3.26566741e-03 6.62759389e-04 9.99994448e-01 -9.04911073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.746502481 meters 0.10736881253997042 Centerline is valid? [False, False] Translation: X:3.04, Y:0.41, Z:-0.91 [[ 9.99992982e-01 1.07286566e-03 3.58948495e-03 3.04036391e+00] [-1.05752417e-03 9.99990311e-01 -4.27318037e-03 4.06106488e-01] [-3.59403472e-03 4.26935442e-03 9.99984428e-01 -9.08283558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.776502481 meters 0.10731581726758588 Centerline is valid? [False, False] Translation: X:3.04, Y:0.41, Z:-0.91 [[ 9.99994857e-01 5.66682724e-04 3.15686203e-03 3.04098826e+00] [-5.49156344e-04 9.99984448e-01 -5.54993899e-03 4.10148957e-01] [-3.15995799e-03 5.54817684e-03 9.99979616e-01 -9.07894292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.806502481 meters 0.10735165241309105 Centerline is valid? [False, False] Translation: X:3.04, Y:0.41, Z:-0.91 [[ 9.99996523e-01 3.14773454e-04 2.61831562e-03 3.04209571e+00] [-2.97833325e-04 9.99979040e-01 -6.46773302e-03 4.13697303e-01] [-2.62029661e-03 6.46693071e-03 9.99975656e-01 -9.08009686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.836502481 meters 0.10749922849772667 Centerline is valid? [False, False] Translation: X:3.04, Y:0.42, Z:-0.91 [[ 9.99989618e-01 3.77534452e-03 2.55155832e-03 3.04240817e+00] [-3.76542280e-03 9.99985375e-01 -3.88217595e-03 4.19231451e-01] [-2.56617755e-03 3.87252795e-03 9.99989209e-01 -9.08093697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.866502481 meters 0.10757589470761257 Centerline is valid? [False, False] Translation: X:3.04, Y:0.42, Z:-0.91 [[ 9.99991697e-01 3.38792583e-03 2.26427178e-03 3.04279525e+00] [-3.37691160e-03 9.99982534e-01 -4.85061040e-03 4.22196690e-01] [-2.28066574e-03 4.84292388e-03 9.99985672e-01 -9.07755322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89650248099998 meters 0.10830404588323243 Centerline is valid? [False, False] Translation: X:3.04, Y:0.43, Z:-0.91 [[ 9.99995606e-01 2.26301112e-03 1.91503489e-03 3.04251049e+00] [-2.24941710e-03 9.99972469e-01 -7.07120573e-03 4.28210908e-01] [-1.93098438e-03 7.06686694e-03 9.99973165e-01 -9.06106658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92650248099999 meters 0.10853483319854582 Centerline is valid? [False, False] Translation: X:3.05, Y:0.43, Z:-0.91 [[ 9.99983041e-01 -5.51540655e-03 1.87045312e-03 3.05060160e+00] [ 5.51756268e-03 9.99984117e-01 -1.14953768e-03 4.32054861e-01] [-1.86408324e-03 1.15983853e-03 9.99997590e-01 -9.05981641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.95650248099999 meters 0.1086914259072299 Centerline is valid? [False, False] Translation: X:3.05, Y:0.43, Z:-0.91 [[ 9.99981529e-01 -5.87257844e-03 1.56659603e-03 3.05095472e+00] [ 5.87564811e-03 9.99980813e-01 -1.96209893e-03 4.34592038e-01] [-1.55504339e-03 1.97126745e-03 9.99996848e-01 -9.05588104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98650248099999 meters 0.10933645487917437 Centerline is valid? [False, False] Translation: X:3.05, Y:0.44, Z:-0.90 [[ 9.99977995e-01 -6.50145098e-03 1.31970849e-03 3.05105855e+00] [ 6.50571923e-03 9.99973536e-01 -3.25613186e-03 4.38422062e-01] [-1.29850398e-03 3.26464586e-03 9.99993828e-01 -9.04937109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01650248099999 meters 0.10928163329777765 Centerline is valid? [False, False] Translation: X:3.05, Y:0.44, Z:-0.91 [[ 9.99977949e-01 -6.54645045e-03 1.11606012e-03 3.05164148e+00] [ 6.55036947e-03 9.99972263e-01 -3.54474616e-03 4.39687475e-01] [-1.09282366e-03 3.55197860e-03 9.99993095e-01 -9.05197026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04650248099999 meters 0.10924228142671207 Centerline is valid? [False, False] Translation: X:3.05, Y:0.44, Z:-0.91 [[ 9.99976596e-01 -6.81959461e-03 5.48551736e-04 3.05295172e+00] [ 6.82195581e-03 9.99966943e-01 -4.42433033e-03 4.43873071e-01] [-5.18361463e-04 4.42796897e-03 9.99990062e-01 -9.05576047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07650248099999 meters 0.10904723742193506 Centerline is valid? [False, False] Translation: X:3.05, Y:0.44, Z:-0.91 [[ 9.99997101e-01 -2.29704012e-03 7.22078266e-04 3.05323887e+00] [ 2.29684140e-03 9.99997324e-01 2.75905494e-04 4.43217749e-01] [-7.22710100e-04 -2.74246195e-04 9.99999701e-01 -9.06509465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10650248099999 meters 0.10877092906462782 Centerline is valid? [False, False] Translation: X:3.06, Y:0.45, Z:-0.91 [[ 9.99997916e-01 -1.95514050e-03 -5.87555607e-04 3.05547709e+00] [ 1.95508941e-03 9.99998085e-01 -8.75120654e-05 4.48862766e-01] [ 5.87725580e-04 8.63631593e-05 9.99999824e-01 -9.06658591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.136502481 meters 0.10871599760629867 Centerline is valid? [False, False] Translation: X:3.06, Y:0.45, Z:-0.91 [[ 9.99997039e-01 -2.17698778e-03 -1.08765750e-03 3.05604210e+00] [ 2.17606929e-03 9.99997275e-01 -8.44944762e-04 4.51239311e-01] [ 1.08949397e-03 8.42575441e-04 9.99999052e-01 -9.06088222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.166502481 meters 0.10839384346095829 Centerline is valid? [False, False] Translation: X:3.06, Y:0.46, Z:-0.90 [[ 9.99994201e-01 -2.73917404e-03 -2.02376738e-03 3.05654473e+00] [ 2.73397816e-03 9.99992971e-01 -2.56574938e-03 4.56056404e-01] [ 2.03078119e-03 2.56020156e-03 9.99994661e-01 -9.04248366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.196502481 meters 0.10799466458833311 Centerline is valid? [False, False] Translation: X:3.06, Y:0.46, Z:-0.90 [[ 9.99992117e-01 -2.94624808e-03 -2.66186156e-03 3.05755864e+00] [ 2.93680689e-03 9.99989408e-01 -3.54381391e-03 4.59338025e-01] [ 2.67227432e-03 3.53596860e-03 9.99990178e-01 -9.03984181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.226502481 meters 0.10765254628914765 Centerline is valid? [False, False] Translation: X:3.06, Y:0.46, Z:-0.90 [[ 9.99991776e-01 -2.80150065e-03 -2.93252097e-03 3.05842357e+00] [ 2.79114640e-03 9.99989878e-01 -3.52899161e-03 4.60012511e-01] [ 2.94237776e-03 3.52077749e-03 9.99989473e-01 -9.04548491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25650248099998 meters 0.10755345667696081 Centerline is valid? [False, False] Translation: X:3.06, Y:0.46, Z:-0.90 [[ 9.99990843e-01 -2.76402505e-03 -3.26705405e-03 3.05911940e+00] [ 2.75194305e-03 9.99989380e-01 -3.69686262e-03 4.60889655e-01] [ 3.27723757e-03 3.68783802e-03 9.99987830e-01 -9.04664145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28650248099999 meters 0.1072761896663113 Centerline is valid? [False, False] Translation: X:3.06, Y:0.46, Z:-0.90 [[ 9.99988851e-01 -2.75757684e-03 -3.83335623e-03 3.06015928e+00] [ 2.74186046e-03 9.99987840e-01 -4.09912666e-03 4.62641681e-01] [ 3.84461327e-03 4.08857043e-03 9.99984251e-01 -9.04670327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31650248099999 meters 0.10694971448418229 Centerline is valid? [False, False] Translation: X:3.06, Y:0.46, Z:-0.90 [[ 9.99987571e-01 -2.62522932e-03 -4.23855437e-03 3.06100872e+00] [ 2.60787502e-03 9.99988216e-01 -4.09474009e-03 4.63126829e-01] [ 4.24925405e-03 4.08363558e-03 9.99982634e-01 -9.04798715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34650248099999 meters 0.10697159977970147 Centerline is valid? [False, False] Translation: X:3.06, Y:0.46, Z:-0.90 [[ 9.99986340e-01 -2.56988563e-03 -4.55136005e-03 3.06161995e+00] [ 2.55081340e-03 9.99987963e-01 -4.19130396e-03 4.63771528e-01] [ 4.56207643e-03 4.17963703e-03 9.99980859e-01 -9.04822172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37650248099999 meters 0.10673562100575207 Centerline is valid? [False, False] Translation: X:3.06, Y:0.46, Z:-0.90 [[ 9.99985910e-01 -2.40367741e-03 -4.73312975e-03 3.06205696e+00] [ 2.38474114e-03 9.99989147e-01 -4.00237916e-03 4.63437308e-01] [ 4.74269881e-03 3.99103548e-03 9.99980789e-01 -9.04954762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40650248099999 meters 0.10659385577199938 Centerline is valid? [False, False] Translation: X:3.06, Y:0.46, Z:-0.90 [[ 9.99985447e-01 -2.20775569e-03 -4.92265467e-03 3.06230840e+00] [ 2.18969177e-03 9.99990861e-01 -3.67192258e-03 4.62378885e-01] [ 4.93071639e-03 3.66109005e-03 9.99981142e-01 -9.04831782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43650248099999 meters 0.10656428661451871 Centerline is valid? [False, False] Translation: X:3.06, Y:0.46, Z:-0.91 [[ 9.99985571e-01 -1.90355380e-03 -5.02331036e-03 3.06284526e+00] [ 1.88753142e-03 9.99993123e-01 -3.19241989e-03 4.61424877e-01] [ 5.02935275e-03 3.18289217e-03 9.99982287e-01 -9.05376118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46650248099999 meters 0.10625158241802368 Centerline is valid? [False, False] Translation: X:3.06, Y:0.46, Z:-0.91 [[ 9.99986645e-01 -1.36397610e-03 -4.98496504e-03 3.06345895e+00] [ 1.35335389e-03 9.99996808e-01 -2.13360031e-03 4.59026047e-01] [ 4.98785931e-03 2.12682540e-03 9.99985299e-01 -9.06462423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.496502481 meters 0.10634352568305822 Centerline is valid? [False, False] Translation: X:3.06, Y:0.46, Z:-0.91 [[ 9.99986098e-01 -1.10750582e-03 -5.15539481e-03 3.06394669e+00] [ 1.09863699e-03 9.99997912e-01 -1.72281466e-03 4.58171379e-01] [ 5.15729208e-03 1.71712680e-03 9.99985227e-01 -9.06719997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.526502481 meters 0.10626812294671786 Centerline is valid? [False, False] Translation: X:3.06, Y:0.46, Z:-0.91 [[ 9.99985315e-01 -1.15265112e-03 -5.29542140e-03 3.06384557e+00] [ 1.14329818e-03 9.99997782e-01 -1.76891911e-03 4.57889323e-01] [ 5.29744860e-03 1.76283889e-03 9.99984415e-01 -9.06146148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.556502481 meters 0.10621902987743093 Centerline is valid? [False, False] Translation: X:3.06, Y:0.46, Z:-0.91 [[ 9.99985071e-01 -7.16722218e-04 -5.41710764e-03 3.06447868e+00] [ 7.10856005e-04 9.99999159e-01 -1.08475286e-03 4.56412878e-01] [ 5.41788056e-03 1.08088589e-03 9.99984739e-01 -9.06799063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.586502481 meters 0.10601394141530741 Centerline is valid? [False, False] Translation: X:3.07, Y:0.46, Z:-0.91 [[ 9.99984317e-01 -4.04558771e-04 -5.58589307e-03 3.06508787e+00] [ 4.00937568e-04 9.99999709e-01 -6.49380977e-04 4.55543626e-01] [ 5.58615415e-03 6.47131199e-04 9.99984188e-01 -9.07252720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.616502481 meters 0.10592579095899626 Centerline is valid? [False, False] Translation: X:3.07, Y:0.45, Z:-0.91 [[ 9.99983194e-01 -1.84235067e-04 -5.79455254e-03 3.06553661e+00] [ 1.82336457e-04 9.99999930e-01 -3.28180802e-04 4.54892512e-01] [ 5.79461259e-03 3.27118728e-04 9.99983158e-01 -9.07358512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64650248099998 meters 0.10600581803300298 Centerline is valid? [False, False] Translation: X:3.07, Y:0.45, Z:-0.91 [[ 9.99984070e-01 -5.72287420e-05 -5.64420574e-03 3.06540985e+00] [ 5.77973907e-05 9.99999993e-01 1.00586038e-04 4.53495708e-01] [ 5.64419995e-03 -1.00910656e-04 9.99984066e-01 -9.07606481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67650248099999 meters 0.10602592716319875 Centerline is valid? [False, False] Translation: X:3.07, Y:0.45, Z:-0.91 [[ 9.99984313e-01 1.04432596e-04 -5.60020638e-03 3.06551967e+00] [-1.01896433e-04 9.99999892e-01 4.53152970e-04 4.52575301e-01] [ 5.60025310e-03 -4.52575221e-04 9.99984216e-01 -9.07882864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70650248099999 meters 0.10643213224124663 Centerline is valid? [False, False] Translation: X:3.07, Y:0.45, Z:-0.91 [[ 0.99997095 -0.00428007 -0.00630768 3.0661127 ] [ 0.00425339 0.99998198 -0.00423592 0.45361846] [ 0.00632569 0.00420897 0.99997113 -0.90683232] [ 0. 0. 0. 1. ]] SLAMing on 88.73650248099999 meters 0.10647096899292213 Centerline is valid? [False, False] Translation: X:3.07, Y:0.45, Z:-0.91 [[ 0.99997224 -0.0040789 -0.0062354 3.06611439] [ 0.00405535 0.99998461 -0.00378474 0.45237383] [ 0.00625074 0.00375935 0.9999734 -0.90705231] [ 0. 0. 0. 1. ]] SLAMing on 88.76650248099999 meters 0.1064725032127454 Centerline is valid? [False, False] Translation: X:3.07, Y:0.45, Z:-0.91 [[ 9.99974711e-01 -3.71921880e-03 -6.06170529e-03 3.06625167e+00] [ 3.70181946e-03 9.99989004e-01 -2.87906751e-03 4.50187845e-01] [ 6.07234652e-03 2.85655536e-03 9.99977483e-01 -9.07752141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79650248099999 meters 0.10669319386886521 Centerline is valid? [False, False] Translation: X:3.07, Y:0.45, Z:-0.91 [[ 9.99975721e-01 -3.36174353e-03 -6.10372870e-03 3.06668748e+00] [ 3.34813493e-03 9.99991890e-01 -2.23840603e-03 4.48821754e-01] [ 6.11120415e-03 2.21791558e-03 9.99978867e-01 -9.08304498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82650248099999 meters 0.10697660449721509 Centerline is valid? [False, False] Translation: X:3.07, Y:0.45, Z:-0.91 [[ 9.99978026e-01 -3.10042051e-03 -5.85955703e-03 3.06653804e+00] [ 3.09183212e-03 9.99994134e-01 -1.47419657e-03 4.46760180e-01] [ 5.86409328e-03 1.45604741e-03 9.99981746e-01 -9.08760260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85650248099999 meters 0.1071709111981143 Centerline is valid? [False, False] Translation: X:3.07, Y:0.45, Z:-0.91 [[ 9.99979304e-01 -2.69658607e-03 -5.84123538e-03 3.06699553e+00] [ 2.69220107e-03 9.99996088e-01 -7.58429623e-04 4.45271629e-01] [ 5.84325770e-03 7.42688147e-04 9.99982652e-01 -9.09499649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.886502481 meters 0.1071709111981143 Centerline is valid? [False, False] Translation: X:3.07, Y:0.45, Z:-0.91 [[ 9.99979304e-01 -2.69658607e-03 -5.84123538e-03 3.06699553e+00] [ 2.69220107e-03 9.99996088e-01 -7.58429623e-04 4.45271629e-01] [ 5.84325770e-03 7.42688147e-04 9.99982652e-01 -9.09499649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.916502481 meters 0.10704544159820738 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99981411e-01 -2.38907423e-03 -5.60977111e-03 3.06707772e+00] [ 2.38886399e-03 9.99997146e-01 -4.41784810e-05 4.43555063e-01] [ 5.60986065e-03 3.07766796e-05 9.99984264e-01 -9.10305584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.946502481 meters 0.10708576543696655 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99981869e-01 -2.11375787e-03 -5.63858349e-03 3.06748472e+00] [ 2.11597678e-03 9.99997686e-01 3.87585782e-04 4.42731760e-01] [ 5.63775118e-03 -3.99509866e-04 9.99984028e-01 -9.10831139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.976502481 meters 0.10668920539377463 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99982230e-01 -1.85528424e-03 -5.66551524e-03 3.06781806e+00] [ 1.85972153e-03 9.99997968e-01 7.78043364e-04 4.41854683e-01] [ 5.66406023e-03 -7.88565819e-04 9.99983648e-01 -9.11286657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00650248099998 meters 0.10622539205247374 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99981397e-01 -1.54975477e-03 -5.89952473e-03 3.06862792e+00] [ 1.55639263e-03 9.99998161e-01 1.12072694e-03 4.41491867e-01] [ 5.89777702e-03 -1.12988806e-03 9.99981970e-01 -9.11878046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03650248099999 meters 0.10561332390933191 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99980072e-01 -1.68262841e-03 -6.08483422e-03 3.06856887e+00] [ 1.68704202e-03 9.99998318e-01 7.20286694e-04 4.42289445e-01] [ 6.08361201e-03 -7.30537711e-04 9.99981228e-01 -9.11254315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06650248099999 meters 0.10556386226144603 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99978124e-01 -1.57530958e-03 -6.42418822e-03 3.06910226e+00] [ 1.57974733e-03 9.99998517e-01 6.85772212e-04 4.42614765e-01] [ 6.42309839e-03 -6.95905804e-04 9.99979130e-01 -9.11107150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.09650248099999 meters 0.10508405414891685 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99977574e-01 -1.16369601e-03 -6.59523059e-03 3.06991420e+00] [ 1.17154103e-03 9.99998611e-01 1.18576100e-03 4.41918606e-01] [ 6.59384156e-03 -1.19346099e-03 9.99977548e-01 -9.11879567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12650248099999 meters 0.10488608726605626 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99977623e-01 -1.07586159e-03 -6.60279556e-03 3.06997638e+00] [ 1.08476960e-03 9.99998506e-01 1.34569331e-03 4.41444803e-01] [ 6.60133792e-03 -1.35282570e-03 9.99977296e-01 -9.11977260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15650248099999 meters 0.10478382094508767 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99976753e-01 -9.91511805e-04 -6.74613839e-03 3.07037931e+00] [ 1.00055237e-03 9.99998606e-01 1.33686719e-03 4.41791730e-01] [ 6.74480346e-03 -1.34358597e-03 9.99976351e-01 -9.12181357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18650248099999 meters 0.10472517228763471 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99976760e-01 -7.70402207e-04 -6.77389912e-03 3.07078322e+00] [ 7.81604219e-04 9.99998331e-01 1.65121040e-03 4.41356786e-01] [ 6.77261572e-03 -1.65646654e-03 9.99975694e-01 -9.12706095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21650248099999 meters 0.10461134896920395 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 0.9999594 -0.00513342 -0.00740602 3.07160955] [ 0.00511029 0.99998202 -0.00313877 0.44299057] [ 0.007422 0.0031008 0.99996765 -0.91221084] [ 0. 0. 0. 1. ]] SLAMing on 89.246502481 meters 0.10474035284283448 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99959006e-01 -4.92260798e-03 -7.59965124e-03 3.07215241e+00] [ 4.90082134e-03 9.99983836e-01 -2.88276096e-03 4.42662474e-01] [ 7.61371910e-03 2.84539825e-03 9.99966967e-01 -9.12474958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.276502481 meters 0.10490573504896955 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99960997e-01 -4.64854277e-03 -7.50971665e-03 3.07230485e+00] [ 4.63118015e-03 9.99986567e-01 -2.32775814e-03 4.41366864e-01] [ 7.52043646e-03 2.29288850e-03 9.99969092e-01 -9.12948201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.306502481 meters 0.10510879644132055 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99961516e-01 -4.46915728e-03 -7.54935866e-03 3.07252175e+00] [ 4.45403278e-03 9.99988042e-01 -2.01904139e-03 4.40665782e-01] [ 7.55829180e-03 1.98533860e-03 9.99969465e-01 -9.13178418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.336502481 meters 0.10543851261535782 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99961053e-01 -4.49075173e-03 -7.59773674e-03 3.07235372e+00] [ 4.47608464e-03 9.99988088e-01 -1.94635978e-03 4.40236373e-01] [ 7.60638686e-03 1.91227586e-03 9.99969243e-01 -9.12759229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.366502481 meters 0.1051745357773478 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99961404e-01 -4.28536842e-03 -7.66986016e-03 3.07267002e+00] [ 4.27329969e-03 9.99989607e-01 -1.58922345e-03 4.39579002e-01] [ 7.67659085e-03 1.55638650e-03 9.99969323e-01 -9.12998553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39650248099998 meters 0.10500091095959127 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99963434e-01 -3.93835900e-03 -7.59077708e-03 3.07301805e+00] [ 3.93123358e-03 9.99991818e-01 -9.53386930e-04 4.38264246e-01] [ 7.59446975e-03 9.23510951e-04 9.99970735e-01 -9.13767014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42650248099999 meters 0.10548848636212807 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99965264e-01 -3.63297394e-03 -7.50153571e-03 3.07323616e+00] [ 3.63054862e-03 9.99993353e-01 -3.36902987e-04 4.36834741e-01] [ 7.50270981e-03 3.09656594e-04 9.99971806e-01 -9.14364281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.45650248099999 meters 0.10553814513463444 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99963976e-01 -3.60244191e-03 -7.68570371e-03 3.07354185e+00] [ 3.59977789e-03 9.99993456e-01 -3.60426170e-04 4.37085691e-01] [ 7.68695183e-03 3.32746359e-04 9.99970400e-01 -9.14277155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48650248099999 meters 0.10525054084472187 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99962911e-01 -3.48457956e-03 -7.87616896e-03 3.07381210e+00] [ 3.48285682e-03 9.99993908e-01 -2.32433280e-04 4.36904232e-01] [ 7.87693091e-03 2.04993091e-04 9.99968955e-01 -9.14135393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51650248099999 meters 0.10502079398878655 Centerline is valid? [False, False] Translation: X:3.07, Y:0.44, Z:-0.91 [[ 9.99963414e-01 -3.27426677e-03 -7.90248360e-03 3.07408453e+00] [ 3.27528691e-03 9.99994629e-01 1.16152288e-04 4.36196887e-01] [ 7.90206085e-03 -1.42030939e-04 9.99968768e-01 -9.14488511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54650248099999 meters 0.10498396976238024 Centerline is valid? [False, False] Translation: X:3.08, Y:0.44, Z:-0.92 [[ 9.99963470e-01 -2.77739588e-03 -8.08355794e-03 3.07537883e+00] [ 2.78357396e-03 9.99995842e-01 7.53126716e-04 4.35771364e-01] [ 8.08143260e-03 -7.75600386e-04 9.99967044e-01 -9.15966559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57650248099999 meters 0.10510032249267628 Centerline is valid? [False, False] Translation: X:3.08, Y:0.44, Z:-0.92 [[ 9.99961696e-01 -2.49971323e-03 -8.38791809e-03 3.07640946e+00] [ 2.50823589e-03 9.99996349e-01 1.00569753e-03 4.35884655e-01] [ 8.38537351e-03 -1.02669788e-03 9.99964315e-01 -9.16677271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60650248099999 meters 0.1041903839308472 Centerline is valid? [False, False] Translation: X:3.08, Y:0.44, Z:-0.92 [[ 9.99960879e-01 -2.63568477e-03 -8.44359927e-03 3.07641551e+00] [ 2.64059609e-03 9.99996351e-01 5.70566251e-04 4.37070974e-01] [ 8.44206462e-03 -5.92840065e-04 9.99964189e-01 -9.16463979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.636502481 meters 0.10388542570183862 Centerline is valid? [False, False] Translation: X:3.08, Y:0.44, Z:-0.92 [[ 9.99958387e-01 -2.62513115e-03 -8.73688754e-03 3.07694891e+00] [ 2.62838368e-03 9.99996481e-01 3.60813692e-04 4.37961794e-01] [ 8.73590961e-03 -3.83762570e-04 9.99961768e-01 -9.16458764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.666502481 meters 0.10361070123496252 Centerline is valid? [False, False] Translation: X:3.08, Y:0.44, Z:-0.92 [[ 9.99955815e-01 -2.56091281e-03 -9.04488428e-03 3.07766757e+00] [ 2.56253623e-03 9.99996703e-01 1.67899956e-04 4.38990037e-01] [ 9.04442448e-03 -1.91070381e-04 9.99959080e-01 -9.16701952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.696502481 meters 0.10296646894795279 Centerline is valid? [False, False] Translation: X:3.08, Y:0.44, Z:-0.92 [[ 9.99948967e-01 -2.52052155e-03 -9.78314831e-03 3.07886935e+00] [ 2.51475515e-03 9.99996657e-01 -6.01678760e-04 4.41724070e-01] [ 9.78463215e-03 5.77045832e-04 9.99951963e-01 -9.16564908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.726502481 meters 0.10276447071526895 Centerline is valid? [False, False] Translation: X:3.08, Y:0.44, Z:-0.92 [[ 9.99943711e-01 -2.51831709e-03 -1.03069684e-02 3.07969070e+00] [ 2.50767736e-03 9.99996310e-01 -1.04507869e-03 4.43380433e-01] [ 1.03095622e-02 1.01917331e-03 9.99946336e-01 -9.16357909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75650248099998 meters 0.10232149939360421 Centerline is valid? [False, False] Translation: X:3.08, Y:0.45, Z:-0.92 [[ 9.99936573e-01 -2.40067160e-03 -1.10039449e-02 3.08092091e+00] [ 2.38366457e-03 9.99995945e-01 -1.55839373e-03 4.45739501e-01] [ 1.10076415e-02 1.53206517e-03 9.99938240e-01 -9.16315002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78650248099999 meters 0.10232794062046634 Centerline is valid? [False, False] Translation: X:3.08, Y:0.45, Z:-0.92 [[ 9.99937625e-01 -2.25631563e-03 -1.09387118e-02 3.08093444e+00] [ 2.24092008e-03 9.99996482e-01 -1.41948935e-03 4.45144869e-01] [ 1.09418762e-02 1.39488803e-03 9.99939163e-01 -9.16485900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81650248099999 meters 0.10236712985648705 Centerline is valid? [False, False] Translation: X:3.08, Y:0.44, Z:-0.92 [[ 9.99938725e-01 -1.85783758e-03 -1.09130956e-02 3.08139781e+00] [ 1.84940821e-03 9.99997984e-01 -7.82449554e-04 4.43763188e-01] [ 1.09145273e-02 7.62218840e-04 9.99940144e-01 -9.17283749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84650248099999 meters 0.10236287600580754 Centerline is valid? [False, False] Translation: X:3.08, Y:0.44, Z:-0.92 [[ 9.99939324e-01 -1.83738209e-03 -1.08614860e-02 3.08129662e+00] [ 1.82984825e-03 9.99998078e-01 -7.03525871e-04 4.43392182e-01] [ 1.08627577e-02 6.83608313e-04 9.99940765e-01 -9.17296451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87650248099999 meters 0.1023140078010629 Centerline is valid? [False, False] Translation: X:3.08, Y:0.44, Z:-0.92 [[ 9.99935135e-01 -1.78291705e-03 -1.12492810e-02 3.08190561e+00] [ 1.77478803e-03 9.99998157e-01 -7.32567937e-04 4.44096330e-01] [ 1.12505664e-02 7.12555330e-04 9.99936456e-01 -9.17143876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90650248099999 meters 0.10239301786057724 Centerline is valid? [False, False] Translation: X:3.08, Y:0.44, Z:-0.92 [[ 9.99934832e-01 -1.55172307e-03 -1.13103409e-02 3.08233373e+00] [ 1.54769538e-03 9.99998736e-01 -3.64851231e-04 4.43465620e-01] [ 1.13108928e-02 3.47322492e-04 9.99935969e-01 -9.17621606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93650248099999 meters 0.1020860631697212 Centerline is valid? [False, False] Translation: X:3.08, Y:0.44, Z:-0.92 [[ 0.9999173 -0.00532019 -0.01170864 3.08374849] [ 0.00527408 0.99997823 -0.00396529 0.44250907] [ 0.01172949 0.00390321 0.99992359 -0.91871747] [ 0. 0. 0. 1. ]] SLAMing on 89.96650248099999 meters 0.10212112106721133 Centerline is valid? [False, False] Translation: X:3.08, Y:0.44, Z:-0.92 [[ 0.99991859 -0.00498004 -0.01174816 3.08427999] [ 0.00494056 0.99998206 -0.00338711 0.44142104] [ 0.01176482 0.0033288 0.99992525 -0.91943101] [ 0. 0. 0. 1. ]] SLAMing on 89.996502481 meters 0.10220489759300397 Centerline is valid? [False, False] Translation: X:3.08, Y:0.44, Z:-0.92 [[ 0.99991824 -0.0048019 -0.01185148 3.08476858] [ 0.00476465 0.99998363 -0.00316923 0.44134541] [ 0.0118665 0.0031125 0.99992475 -0.91984271] [ 0. 0. 0. 1. ]] SLAMing on 90.026502481 meters 0.10230539202063284 Centerline is valid? [False, False] Translation: X:3.08, Y:0.44, Z:-0.92 [[ 9.99923500e-01 -4.46470242e-03 -1.15351497e-02 3.08466625e+00] [ 4.43759474e-03 9.99987335e-01 -2.37453373e-03 4.39282229e-01] [ 1.15456052e-02 2.32316376e-03 9.99930649e-01 -9.20556095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.056502481 meters 0.10237161726882939 Centerline is valid? [False, False] Translation: X:3.08, Y:0.44, Z:-0.92 [[ 9.99925870e-01 -4.10051711e-03 -1.14647772e-02 3.08490955e+00] [ 4.08159836e-03 9.99990271e-01 -1.67307433e-03 4.37599482e-01] [ 1.14715261e-02 1.62615569e-03 9.99932878e-01 -9.21153835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.086502481 meters 0.10256283677713499 Centerline is valid? [False, False] Translation: X:3.09, Y:0.44, Z:-0.92 [[ 9.99926653e-01 -3.78807494e-03 -1.15038800e-02 3.08529419e+00] [ 3.77531586e-03 9.99992234e-01 -1.13062441e-03 4.36448802e-01] [ 1.15080736e-02 1.08711070e-03 9.99933189e-01 -9.21633235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.116502481 meters 0.10278325829136048 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.92 [[ 9.99929107e-01 -3.41630281e-03 -1.14066031e-02 3.08567174e+00] [ 3.41290214e-03 9.99994126e-01 -3.17584310e-04 4.34772551e-01] [ 1.14076211e-02 2.78632175e-04 9.99934892e-01 -9.22498928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14650248099998 meters 0.10305690485523394 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.92 [[ 9.99930726e-01 -3.06987961e-03 -1.13630173e-02 3.08607880e+00] [ 3.07342919e-03 9.99995234e-01 2.94931023e-04 4.33529723e-01] [ 1.13620577e-02 -3.29834021e-04 9.99935395e-01 -9.23242428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17650248099999 meters 0.10337987198671134 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.92 [[ 9.99931999e-01 -2.95466151e-03 -1.12812572e-02 3.08611992e+00] [ 2.96192767e-03 9.99995417e-01 6.27438052e-04 4.32772416e-01] [ 1.12793516e-02 -6.60809653e-04 9.99936168e-01 -9.23508926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20650248099999 meters 0.10355373205783151 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.92 [[ 9.99932986e-01 -2.80600078e-03 -1.12316398e-02 3.08627959e+00] [ 2.81633004e-03 9.99995626e-01 9.03946517e-04 4.32259515e-01] [ 1.12290542e-02 -9.35517944e-04 9.99936515e-01 -9.23874232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.23650248099999 meters 0.10406249910190801 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.92 [[ 0.9999039 -0.00722621 -0.01183094 3.08698026] [ 0.00718139 0.99996689 -0.00382646 0.43361767] [ 0.0118582 0.00374113 0.99992269 -0.92327847] [ 0. 0. 0. 1. ]] SLAMing on 90.26650248099999 meters 0.10411829116042738 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.92 [[ 0.99990419 -0.00719946 -0.01182302 3.08689032] [ 0.0071557 0.99996741 -0.00373939 0.43322396] [ 0.01184956 0.00365443 0.99992311 -0.92314722] [ 0. 0. 0. 1. ]] SLAMing on 90.29650248099999 meters 0.1042075993342522 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.92 [[ 0.99990355 -0.00698115 -0.01200673 3.08757343] [ 0.00693996 0.9999699 -0.0034692 0.43309117] [ 0.01203059 0.00338554 0.9999219 -0.92368406] [ 0. 0. 0. 1. ]] SLAMing on 90.32650248099999 meters 0.10424624845044266 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.93 [[ 9.99907184e-01 -6.43114369e-03 -1.20110071e-02 3.08857828e+00] [ 6.40032486e-03 9.99976131e-01 -2.60256161e-03 4.31787837e-01] [ 1.20274579e-02 2.52544570e-03 9.99924478e-01 -9.25241025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35650248099999 meters 0.10411247899133184 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.93 [[ 9.99907116e-01 -5.96463304e-03 -1.22549166e-02 3.08973031e+00] [ 5.94079254e-03 9.99980391e-01 -1.98086599e-03 4.31051941e-01] [ 1.22664915e-02 1.90787809e-03 9.99922944e-01 -9.26337593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.386502481 meters 0.10398984785052787 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.93 [[ 9.99902870e-01 -5.97574117e-03 -1.25913397e-02 3.09032164e+00] [ 5.94870172e-03 9.99979922e-01 -2.18382406e-03 4.32036576e-01] [ 1.26041369e-02 2.10870982e-03 9.99918341e-01 -9.26271338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.416502481 meters 0.10386971857830508 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.93 [[ 9.99899369e-01 -5.98900867e-03 -1.28601401e-02 3.09082325e+00] [ 5.95909433e-03 9.99979452e-01 -2.36318973e-03 4.32878426e-01] [ 1.28740290e-02 2.28631713e-03 9.99914512e-01 -9.26257852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.446502481 meters 0.10409026138983193 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.93 [[ 9.99897510e-01 -5.75011959e-03 -1.31112563e-02 3.09164905e+00] [ 5.72189989e-03 9.99981234e-01 -2.18882426e-03 4.33109244e-01] [ 1.31235962e-02 2.11357863e-03 9.99911648e-01 -9.26844901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.476502481 meters 0.10406382210342742 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.93 [[ 9.99895075e-01 -5.65329046e-03 -1.33371041e-02 3.09196372e+00] [ 5.62432771e-03 9.99981745e-01 -2.20810198e-03 4.33146665e-01] [ 1.33493437e-02 2.13285805e-03 9.99908619e-01 -9.26766488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50650248099998 meters 0.1041137993201021 Centerline is valid? [False, False] Translation: X:3.09, Y:0.43, Z:-0.93 [[ 9.99890954e-01 -5.57925244e-03 -1.36730337e-02 3.09264139e+00] [ 5.54776155e-03 9.99981873e-01 -2.33998649e-03 4.33872082e-01] [ 1.36858412e-02 2.26387659e-03 9.99903782e-01 -9.26849604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53650248099999 meters 0.1042170852563258 Centerline is valid? [False, False] Translation: X:3.09, Y:0.44, Z:-0.93 [[ 9.99880493e-01 -5.47310365e-03 -1.44584089e-02 3.09407844e+00] [ 5.43217853e-03 9.99981132e-01 -2.86829893e-03 4.36570698e-01] [ 1.44738346e-02 2.78941549e-03 9.99891358e-01 -9.26920540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56650248099999 meters 0.1040719523617518 Centerline is valid? [False, False] Translation: X:3.09, Y:0.44, Z:-0.93 [[ 9.99876164e-01 -5.37673703e-03 -1.47901111e-02 3.09492229e+00] [ 5.33282977e-03 9.99981261e-01 -3.00652886e-03 4.37568335e-01] [ 1.48059993e-02 2.92728340e-03 9.99886100e-01 -9.27267460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.59650248099999 meters 0.10419871233001071 Centerline is valid? [False, False] Translation: X:3.10, Y:0.44, Z:-0.93 [[ 9.99870253e-01 -4.96393189e-03 -1.53243614e-02 3.09639699e+00] [ 4.92009767e-03 9.99983700e-01 -2.89680465e-03 4.38415354e-01] [ 1.53384912e-02 2.82103144e-03 9.99878379e-01 -9.28081245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62650248099999 meters 0.10441943716786418 Centerline is valid? [False, False] Translation: X:3.10, Y:0.44, Z:-0.93 [[ 9.99869571e-01 -4.83154109e-03 -1.54109421e-02 3.09669074e+00] [ 4.78964665e-03 9.99984737e-01 -2.75423771e-03 4.38250659e-01] [ 1.54240141e-02 2.68006551e-03 9.99877451e-01 -9.28295889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65650248099999 meters 0.10454718347755505 Centerline is valid? [False, False] Translation: X:3.10, Y:0.44, Z:-0.93 [[ 9.99867743e-01 -4.59286573e-03 -1.56013527e-02 3.09718445e+00] [ 4.55481963e-03 9.99986568e-01 -2.47329907e-03 4.37638179e-01] [ 1.56125027e-02 2.40191061e-03 9.99875233e-01 -9.28547837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68650248099999 meters 0.1047866420081389 Centerline is valid? [False, False] Translation: X:3.10, Y:0.44, Z:-0.93 [[ 9.99866095e-01 -4.39180421e-03 -1.57640194e-02 3.09788657e+00] [ 4.35628738e-03 9.99987897e-01 -2.28666294e-03 4.37815341e-01] [ 1.57738712e-02 2.21768415e-03 9.99873125e-01 -9.29156400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71650248099999 meters 0.1047789274715148 Centerline is valid? [False, False] Translation: X:3.10, Y:0.44, Z:-0.93 [[ 9.99861206e-01 -4.29096098e-03 -1.60983301e-02 3.09858584e+00] [ 4.25424113e-03 9.99988272e-01 -2.31452521e-03 4.38378363e-01] [ 1.61080729e-02 2.24571779e-03 9.99867735e-01 -9.29235260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.746502481 meters 0.10505388480792796 Centerline is valid? [False, False] Translation: X:3.10, Y:0.44, Z:-0.93 [[ 9.99857429e-01 -4.22474191e-03 -1.63485083e-02 3.09906311e+00] [ 4.18664621e-03 9.99988442e-01 -2.36374874e-03 4.38825100e-01] [ 1.63583056e-02 2.29496631e-03 9.99863560e-01 -9.29241646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.776502481 meters 0.10505388480792796 Centerline is valid? [False, False] Translation: X:3.10, Y:0.44, Z:-0.93 [[ 9.99857429e-01 -4.22474191e-03 -1.63485083e-02 3.09906311e+00] [ 4.18664621e-03 9.99988442e-01 -2.36374874e-03 4.38825100e-01] [ 1.63583056e-02 2.29496631e-03 9.99863560e-01 -9.29241646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.806502481 meters 0.1052305546401153 Centerline is valid? [False, False] Translation: X:3.10, Y:0.44, Z:-0.93 [[ 9.99862127e-01 -3.79578290e-03 -1.61653435e-02 3.09949261e+00] [ 3.77057298e-03 9.99991628e-01 -1.58969758e-03 4.37402006e-01] [ 1.61712423e-02 1.52852580e-03 9.99868069e-01 -9.30408848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.836502481 meters 0.10525913542077074 Centerline is valid? [False, False] Translation: X:3.10, Y:0.43, Z:-0.93 [[ 9.99874286e-01 -3.30571340e-03 -1.55075517e-02 3.09947727e+00] [ 3.30097309e-03 9.99994497e-01 -3.31264021e-04 4.33872641e-01] [ 1.55085615e-02 2.80032366e-04 9.99879696e-01 -9.32139795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.866502481 meters 0.105392323018993 Centerline is valid? [False, False] Translation: X:3.10, Y:0.43, Z:-0.93 [[ 9.99875880e-01 -2.93741076e-03 -1.54788726e-02 3.09989393e+00] [ 2.94291070e-03 9.99995614e-01 3.32552717e-04 4.32453273e-01] [ 1.54778279e-02 -3.78064381e-04 9.99880140e-01 -9.32861998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89650248099998 meters 0.1057139374716567 Centerline is valid? [False, False] Translation: X:3.10, Y:0.43, Z:-0.93 [[ 9.99878667e-01 -2.91068847e-03 -1.53029192e-02 3.09968107e+00] [ 2.92061096e-03 9.99995539e-01 6.26096729e-04 4.31638577e-01] [ 1.53010285e-02 -6.70714636e-04 9.99882707e-01 -9.32999710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92650248099999 meters 0.1058387989335345 Centerline is valid? [False, False] Translation: X:3.10, Y:0.43, Z:-0.93 [[ 9.99879620e-01 -2.47348513e-03 -1.53175331e-02 3.10030779e+00] [ 2.49461445e-03 9.99995963e-01 1.36046779e-03 4.30329071e-01] [ 1.53141062e-02 -1.39851536e-03 9.99881754e-01 -9.33899735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.95650248099999 meters 0.10599774527659227 Centerline is valid? [False, False] Translation: X:3.10, Y:0.43, Z:-0.93 [[ 9.99880330e-01 -2.00859395e-03 -1.53391982e-02 3.10085688e+00] [ 2.04241743e-03 9.99995517e-01 2.18968868e-03 4.28521150e-01] [ 1.53347312e-02 -2.22075569e-03 9.99879950e-01 -9.34685032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98650248099999 meters 0.10671770913464461 Centerline is valid? [False, False] Translation: X:3.10, Y:0.43, Z:-0.93 [[ 9.99863201e-01 -6.48873413e-03 -1.52143501e-02 3.10015213e+00] [ 6.45830847e-03 9.99977048e-01 -2.04808152e-03 4.27537016e-01] [ 1.52272904e-02 1.94954238e-03 9.99882158e-01 -9.33943552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01650248099999 meters 0.10774454470909206 Centerline is valid? [False, False] Translation: X:3.10, Y:0.43, Z:-0.93 [[ 9.99869063e-01 -6.35659297e-03 -1.48812466e-02 3.09964798e+00] [ 6.33637230e-03 9.99978937e-01 -1.40555750e-03 4.25585031e-01] [ 1.48898678e-02 1.31108034e-03 9.99888280e-01 -9.34061819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04650248099999 meters 0.10808819993278655 Centerline is valid? [False, False] Translation: X:3.10, Y:0.42, Z:-0.93 [[ 9.99866815e-01 -6.13312688e-03 -1.51240719e-02 3.10006919e+00] [ 6.11790268e-03 9.99980731e-01 -1.05268225e-03 4.24786834e-01] [ 1.51302367e-02 9.60014448e-04 9.99885071e-01 -9.34015001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07650248099999 meters 0.10870665169700804 Centerline is valid? [False, False] Translation: X:3.10, Y:0.42, Z:-0.93 [[ 9.99867854e-01 -6.10814394e-03 -1.50653904e-02 3.09978593e+00] [ 6.09561788e-03 9.99981037e-01 -8.77225141e-04 4.24127127e-01] [ 1.50704629e-02 7.85276355e-04 9.99886126e-01 -9.33722608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10650248099999 meters 0.10940766460892459 Centerline is valid? [False, False] Translation: X:3.10, Y:0.42, Z:-0.93 [[ 9.99874973e-01 -5.75518165e-03 -1.47280974e-02 3.09961699e+00] [ 5.75548668e-03 9.99983437e-01 -2.16754744e-05 4.21631428e-01] [ 1.47279782e-02 -6.30946041e-05 9.99891535e-01 -9.34398123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.136502481 meters 0.10974884058413462 Centerline is valid? [False, False] Translation: X:3.10, Y:0.42, Z:-0.94 [[ 9.99879381e-01 -5.25716266e-03 -1.46145975e-02 3.10017545e+00] [ 5.27032408e-03 9.99985740e-01 8.62198433e-04 4.19797505e-01] [ 1.46098564e-02 -9.39118100e-04 9.99892829e-01 -9.35585876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.166502481 meters 0.11018543841907809 Centerline is valid? [False, False] Translation: X:3.10, Y:0.42, Z:-0.94 [[ 9.99883288e-01 -4.60208019e-03 -1.45681753e-02 3.10117678e+00] [ 4.63032348e-03 9.99987464e-01 1.90556205e-03 4.17896537e-01] [ 1.45592231e-02 -1.97279501e-03 9.99892063e-01 -9.37258678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.196502481 meters 0.10978165608453572 Centerline is valid? [False, False] Translation: X:3.10, Y:0.42, Z:-0.94 [[ 9.99884564e-01 -4.29125365e-03 -1.45754522e-02 3.10176803e+00] [ 4.32715900e-03 9.99987679e-01 2.43276943e-03 4.17080634e-01] [ 1.45648329e-02 -2.49555890e-03 9.99890813e-01 -9.38138157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.226502481 meters 0.10951444125336736 Centerline is valid? [False, False] Translation: X:3.10, Y:0.42, Z:-0.94 [[ 9.99882971e-01 -4.11507540e-03 -1.47346398e-02 3.10231828e+00] [ 4.15410030e-03 9.99987942e-01 2.61888816e-03 4.17048468e-01] [ 1.47236852e-02 -2.67979085e-03 9.99888010e-01 -9.38490015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25650248099998 meters 0.1096243496724946 Centerline is valid? [False, False] Translation: X:3.10, Y:0.42, Z:-0.94 [[ 9.99881104e-01 -4.24891467e-03 -1.48231092e-02 3.10211114e+00] [ 4.28496581e-03 9.99987937e-01 2.40117853e-03 4.17270469e-01] [ 1.48127280e-02 -2.46440956e-03 9.99887249e-01 -9.37941202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28650248099999 meters 0.1094227787226064 Centerline is valid? [False, False] Translation: X:3.10, Y:0.42, Z:-0.94 [[ 9.99879518e-01 -3.97963947e-03 -1.50037353e-02 3.10246840e+00] [ 4.02165817e-03 9.99988073e-01 2.77141865e-03 4.16240084e-01] [ 1.49925271e-02 -2.83142464e-03 9.99883597e-01 -9.38026803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31650248099999 meters 0.1088828318593468 Centerline is valid? [False, False] Translation: X:3.10, Y:0.42, Z:-0.94 [[ 9.99868442e-01 -3.84111555e-03 -1.57589688e-02 3.10388214e+00] [ 3.87912170e-03 9.99989640e-01 2.38185687e-03 4.18359481e-01] [ 1.57496565e-02 -2.44267447e-03 9.99872983e-01 -9.38120293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34650248099999 meters 0.10874906712072598 Centerline is valid? [False, False] Translation: X:3.10, Y:0.42, Z:-0.94 [[ 9.99863889e-01 -4.01866939e-03 -1.60016945e-02 3.10409351e+00] [ 4.04984984e-03 9.99989963e-01 1.91664395e-03 4.19631148e-01] [ 1.59938315e-02 -1.98118753e-03 9.99870128e-01 -9.37725783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37650248099999 meters 0.10864777036070315 Centerline is valid? [False, False] Translation: X:3.10, Y:0.42, Z:-0.94 [[ 9.99860017e-01 -3.80740494e-03 -1.62926107e-02 3.10494909e+00] [ 3.84119628e-03 9.99990535e-01 2.04323773e-03 4.19872519e-01] [ 1.62846771e-02 -2.10553483e-03 9.99865179e-01 -9.38218131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40650248099999 meters 0.108156579293733 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.94 [[ 9.99824144e-01 -7.73947843e-03 -1.70815994e-02 3.10690343e+00] [ 7.70060509e-03 9.99967611e-01 -2.34034693e-03 4.21567931e-01] [ 1.70991592e-02 2.20839672e-03 9.99851360e-01 -9.39075279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43650248099999 meters 0.1080798778364617 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.94 [[ 9.99825469e-01 -7.68273995e-03 -1.70295657e-02 3.10705809e+00] [ 7.64432381e-03 9.99968091e-01 -2.31979836e-03 4.21658452e-01] [ 1.70468447e-02 2.18921397e-03 9.99852295e-01 -9.39468069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46650248099999 meters 0.10799407902648557 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.94 [[ 9.99818676e-01 -7.77146624e-03 -1.73844713e-02 3.10747408e+00] [ 7.72579016e-03 9.99966529e-01 -2.69302662e-03 4.22719988e-01] [ 1.74048182e-02 2.55822953e-03 9.99845252e-01 -9.39104325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.496502481 meters 0.10784698719325136 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.94 [[ 9.99843958e-01 -3.35174049e-03 -1.73443306e-02 3.10767032e+00] [ 3.38127224e-03 9.99992883e-01 1.67362929e-03 4.22911021e-01] [ 1.73385975e-02 -1.73201403e-03 9.99848175e-01 -9.39552600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.526502481 meters 0.10778039976230562 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.94 [[ 9.99838845e-01 -3.18409348e-03 -1.76676279e-02 3.10860092e+00] [ 3.21470443e-03 9.99993380e-01 1.70447131e-03 4.23466707e-01] [ 1.76620837e-02 -1.76099282e-03 9.99842462e-01 -9.40024079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.556502481 meters 0.10794520214311216 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.94 [[ 9.99832148e-01 -3.07442285e-03 -1.80616388e-02 3.10956942e+00] [ 3.10317475e-03 9.99993962e-01 1.56406621e-03 4.24526654e-01] [ 1.80567211e-02 -1.61985210e-03 9.99835652e-01 -9.40365001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.586502481 meters 0.10786915299767565 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.94 [[ 9.99828190e-01 -2.83663206e-03 -1.83178522e-02 3.11038095e+00] [ 2.87024502e-03 9.99994245e-01 1.80895370e-03 4.24416338e-01] [ 1.83126154e-02 -1.86121962e-03 9.99830578e-01 -9.40865709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.616502481 meters 0.10818086415016133 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.94 [[ 9.99827363e-01 -2.71038543e-03 -1.83819896e-02 3.11064604e+00] [ 2.74660599e-03 9.99994336e-01 1.94547752e-03 4.24187453e-01] [ 1.83766124e-02 -1.99562974e-03 9.99829144e-01 -9.41052675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64650248099998 meters 0.108324488282034 Centerline is valid? [False, False] Translation: X:3.11, Y:0.42, Z:-0.94 [[ 9.99823456e-01 -2.79418739e-03 -1.85808678e-02 3.11074297e+00] [ 2.82696597e-03 9.99994494e-01 1.73807224e-03 4.24594887e-01] [ 1.85759090e-02 -1.79029287e-03 9.99825850e-01 -9.40625061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67650248099999 meters 0.10847201961162084 Centerline is valid? [False, False] Translation: X:3.11, Y:0.43, Z:-0.94 [[ 9.99816982e-01 -2.86189894e-03 -1.89158972e-02 3.11093019e+00] [ 2.89068439e-03 9.99994705e-01 1.49459231e-03 4.25048251e-01] [ 1.89115197e-02 -1.54899867e-03 9.99819961e-01 -9.39964305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70650248099999 meters 0.10854522352338677 Centerline is valid? [False, False] Translation: X:3.11, Y:0.43, Z:-0.94 [[ 9.99811700e-01 -2.72168517e-03 -1.92134738e-02 3.11172588e+00] [ 2.75213716e-03 9.99994998e-01 1.55866573e-03 4.25376604e-01] [ 1.92091355e-02 -1.61125035e-03 9.99814189e-01 -9.40326337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.73650248099999 meters 0.10850953842303665 Centerline is valid? [False, False] Translation: X:3.11, Y:0.43, Z:-0.94 [[ 9.99807282e-01 -2.48728200e-03 -1.94733558e-02 3.11268769e+00] [ 2.52235719e-03 9.99995240e-01 1.77683436e-03 4.25518544e-01] [ 1.94688436e-02 -1.82561069e-03 9.99808797e-01 -9.41020013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76650248099999 meters 0.1086518833314646 Centerline is valid? [False, False] Translation: X:3.11, Y:0.43, Z:-0.94 [[ 9.99807946e-01 -2.57403307e-03 -1.94279366e-02 3.11303860e+00] [ 2.60528067e-03 9.99995353e-01 1.58324639e-03 4.26687716e-01] [ 1.94237710e-02 -1.63355755e-03 9.99810006e-01 -9.41602682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79650248099999 meters 0.10880617001815207 Centerline is valid? [False, False] Translation: X:3.11, Y:0.43, Z:-0.94 [[ 9.99783265e-01 -6.80765543e-03 -1.96743168e-02 3.11384508e+00] [ 6.75499370e-03 9.99973426e-01 -2.74189295e-03 4.27250948e-01] [ 1.96924598e-02 2.60839880e-03 9.99802682e-01 -9.42100040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82650248099999 meters 0.10903894658114775 Centerline is valid? [False, False] Translation: X:3.11, Y:0.43, Z:-0.94 [[ 9.99784850e-01 -6.80987554e-03 -1.95928504e-02 3.11370670e+00] [ 6.75877314e-03 9.99973586e-01 -2.67325447e-03 4.26988467e-01] [ 1.96105374e-02 2.54025569e-03 9.99804468e-01 -9.42119745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85650248099999 meters 0.10924217543720685 Centerline is valid? [False, False] Translation: X:3.11, Y:0.43, Z:-0.94 [[ 9.99812192e-01 -2.24036937e-03 -1.92499984e-02 3.11338966e+00] [ 2.28391548e-03 9.99994882e-01 2.24044923e-03 4.25298072e-01] [ 1.92448804e-02 -2.28399382e-03 9.99812191e-01 -9.42659124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.886502481 meters 0.10935080735551542 Centerline is valid? [False, False] Translation: X:3.12, Y:0.43, Z:-0.94 [[ 9.99906118e-01 2.31521346e-03 -1.35053920e-02 3.12225511e+00] [-2.32569446e-03 9.99997006e-01 -7.60406995e-04 4.27586023e-01] [ 1.35035911e-02 7.91745022e-04 9.99908509e-01 -9.43304324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.916502481 meters 0.10947303988290724 Centerline is valid? [False, False] Translation: X:3.12, Y:0.43, Z:-0.95 [[ 9.99995601e-01 -2.37925397e-04 2.95663311e-03 3.12164318e+00] [ 2.39518486e-04 9.99999826e-01 -5.38476503e-04 4.28925055e-01] [-2.95650448e-03 5.39182303e-04 9.99995484e-01 -9.50466804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.946502481 meters 0.10975136680212831 Centerline is valid? [False, False] Translation: X:3.12, Y:0.43, Z:-0.95 [[ 9.99986728e-01 -4.58637094e-03 2.34701124e-03 3.12240836e+00] [ 4.59904219e-03 9.99974724e-01 -5.42227553e-03 4.30707263e-01] [-2.32208334e-03 5.43299757e-03 9.99982545e-01 -9.49907854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.976502481 meters 0.1098396520521165 Centerline is valid? [False, False] Translation: X:3.12, Y:0.43, Z:-0.95 [[ 9.99988107e-01 -4.35484088e-03 2.19559133e-03 3.12278623e+00] [ 4.36606256e-03 9.99977298e-01 -5.13238653e-03 4.29930705e-01] [-2.17319076e-03 5.14191158e-03 9.99984419e-01 -9.50100392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00650248099998 meters 0.10991812449702382 Centerline is valid? [False, False] Translation: X:3.12, Y:0.43, Z:-0.95 [[ 9.99988641e-01 -4.28518185e-03 2.08706577e-03 3.12312052e+00] [ 4.29578914e-03 9.99977744e-01 -5.10470896e-03 4.30131495e-01] [-2.06514471e-03 5.11361657e-03 9.99984793e-01 -9.50292335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03650248099999 meters 0.10998832457978772 Centerline is valid? [False, False] Translation: X:3.12, Y:0.43, Z:-0.95 [[ 9.99989424e-01 -4.20173571e-03 1.87010105e-03 3.12361013e+00] [ 4.21118785e-03 9.99978232e-01 -5.07943589e-03 4.30325253e-01] [-1.84871790e-03 5.08725752e-03 9.99985351e-01 -9.50425329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06650248099999 meters 0.10981718147779855 Centerline is valid? [False, False] Translation: X:3.12, Y:0.43, Z:-0.95 [[ 9.99991612e-01 -3.75241901e-03 1.64199027e-03 3.12497217e+00] [ 3.75993951e-03 9.99982346e-01 -4.60125330e-03 4.30467640e-01] [-1.62469545e-03 4.60738848e-03 9.99988066e-01 -9.51921990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.09650248099999 meters 0.10998297501270973 Centerline is valid? [False, False] Translation: X:3.13, Y:0.43, Z:-0.95 [[ 9.99992872e-01 -3.38231510e-03 1.67796707e-03 3.12564179e+00] [ 3.38913004e-03 9.99985953e-01 -4.07534270e-03 4.29721414e-01] [-1.66415941e-03 4.08100050e-03 9.99990288e-01 -9.53072670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12650248099999 meters 0.10975105062342749 Centerline is valid? [False, False] Translation: X:3.13, Y:0.43, Z:-0.95 [[ 9.99994177e-01 -3.08431607e-03 1.46022149e-03 3.12640300e+00] [ 3.08973028e-03 9.99988307e-01 -3.72018245e-03 4.29248009e-01] [-1.44873019e-03 3.72467248e-03 9.99992014e-01 -9.53661819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15650248099999 meters 0.10978814126570965 Centerline is valid? [False, False] Translation: X:3.13, Y:0.43, Z:-0.95 [[ 9.99995241e-01 -2.78052405e-03 1.33676164e-03 3.12717077e+00] [ 2.78494234e-03 9.99990628e-01 -3.31479303e-03 4.28836645e-01] [-1.32753225e-03 3.31850006e-03 9.99993613e-01 -9.54529518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18650248099999 meters 0.11015052082749598 Centerline is valid? [False, False] Translation: X:3.13, Y:0.43, Z:-0.95 [[ 9.99995823e-01 -2.67496279e-03 1.09443161e-03 3.12763598e+00] [ 2.67849259e-03 9.99991175e-01 -3.23658055e-03 4.28987256e-01] [-1.08576422e-03 3.23949846e-03 9.99994163e-01 -9.54542551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21650248099999 meters 0.11001183536302125 Centerline is valid? [False, False] Translation: X:3.13, Y:0.43, Z:-0.95 [[ 9.99996159e-01 -2.56547908e-03 1.04932371e-03 3.12784587e+00] [ 2.56867623e-03 9.99992028e-01 -3.05695344e-03 4.28711784e-01] [-1.04147280e-03 3.05963707e-03 9.99994777e-01 -9.54721309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.246502481 meters 0.11025391507271723 Centerline is valid? [False, False] Translation: X:3.13, Y:0.43, Z:-0.96 [[ 9.99997286e-01 -1.99816439e-03 1.19792944e-03 3.12838426e+00] [ 2.00046532e-03 9.99996151e-01 -1.92264454e-03 4.26392247e-01] [-1.19408306e-03 1.92503574e-03 9.99997434e-01 -9.56039403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.276502481 meters 0.1105035829862343 Centerline is valid? [False, False] Translation: X:3.13, Y:0.42, Z:-0.96 [[ 9.99997711e-01 -1.63420051e-03 1.38120287e-03 3.12856937e+00] [ 1.63580463e-03 9.99997988e-01 -1.16106267e-03 4.24643866e-01] [-1.37930269e-03 1.16331939e-03 9.99998372e-01 -9.56901001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.306502481 meters 0.11093255482993787 Centerline is valid? [False, False] Translation: X:3.13, Y:0.42, Z:-0.96 [[ 9.99997604e-01 -1.46028497e-03 1.63110731e-03 3.12820136e+00] [ 1.46124931e-03 9.99998758e-01 -5.90183706e-04 4.22874375e-01] [-1.63024345e-03 5.92565746e-04 9.99998496e-01 -9.57087178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.336502481 meters 0.11152326616325288 Centerline is valid? [False, False] Translation: X:3.13, Y:0.42, Z:-0.96 [[ 9.99998010e-01 -1.33728085e-03 1.48024244e-03 3.12843529e+00] [ 1.33793131e-03 9.99999009e-01 -4.38524197e-04 4.22418417e-01] [-1.47965454e-03 4.40503787e-04 9.99998808e-01 -9.57009102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.366502481 meters 0.111605556320217 Centerline is valid? [False, False] Translation: X:3.13, Y:0.42, Z:-0.96 [[ 9.99998516e-01 -1.31059454e-03 1.11816034e-03 3.12881326e+00] [ 1.31118270e-03 9.99999002e-01 -5.25438343e-04 4.22706845e-01] [-1.11747059e-03 5.26903676e-04 9.99999237e-01 -9.56563077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39650248099998 meters 0.11155297813942325 Centerline is valid? [False, False] Translation: X:3.13, Y:0.42, Z:-0.96 [[ 9.99998806e-01 -1.21669669e-03 9.52263375e-04 3.12924040e+00] [ 1.21714989e-03 9.99999146e-01 -4.75489946e-04 4.22764387e-01] [-9.51684035e-04 4.76648426e-04 9.99999434e-01 -9.56734939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42650248099999 meters 0.11136342270950521 Centerline is valid? [False, False] Translation: X:3.13, Y:0.42, Z:-0.96 [[ 9.99987606e-01 -4.96612387e-03 3.53868117e-04 3.13102780e+00] [ 4.96762810e-03 9.99978047e-01 -4.38490376e-03 4.22864177e-01] [-3.32084374e-04 4.38660730e-03 9.99990324e-01 -9.57890032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.45650248099999 meters 0.11118941346511532 Centerline is valid? [False, False] Translation: X:3.13, Y:0.42, Z:-0.96 [[ 9.99989265e-01 -4.62658768e-03 2.52419406e-04 3.13180589e+00] [ 4.62753837e-03 9.99981666e-01 -3.90555189e-03 4.22268866e-01] [-2.34345400e-04 3.90667805e-03 9.99992341e-01 -9.58855591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48650248099999 meters 0.11095190341495144 Centerline is valid? [False, False] Translation: X:3.13, Y:0.42, Z:-0.96 [[ 9.99990011e-01 -4.42344920e-03 -6.41025084e-04 3.13355961e+00] [ 4.42067548e-03 9.99981131e-01 -4.26567835e-03 4.24976736e-01] [ 6.59882000e-04 4.26280197e-03 9.99990696e-01 -9.59116230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51650248099999 meters 0.11090794484109118 Centerline is valid? [False, False] Translation: X:3.13, Y:0.43, Z:-0.96 [[ 9.99989958e-01 -4.35235656e-03 -1.06805000e-03 3.13440932e+00] [ 4.34756056e-03 9.99980637e-01 -4.45240403e-03 4.26081373e-01] [ 1.08740777e-03 4.44771591e-03 9.99989518e-01 -9.59172749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54650248099999 meters 0.1103727145458384 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.96 [[ 9.99991141e-01 -4.00503364e-03 -1.29540155e-03 3.13538908e+00] [ 3.99965447e-03 9.99983478e-01 -4.12878682e-03 4.26024887e-01] [ 1.31191608e-03 4.12356908e-03 9.99990637e-01 -9.60064480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57650248099999 meters 0.11052810836516669 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.96 [[ 9.99992174e-01 -3.73795049e-03 -1.29598834e-03 3.13585015e+00] [ 3.73307386e-03 9.99986019e-01 -3.74508350e-03 4.25465672e-01] [ 1.30996916e-03 3.74021617e-03 9.99992147e-01 -9.60809648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60650248099999 meters 0.11032791186810187 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.96 [[ 9.99991879e-01 -3.77807874e-03 -1.40284483e-03 3.13611007e+00] [ 3.77243099e-03 9.99984856e-01 -4.00698025e-03 4.26308683e-01] [ 1.41796227e-03 4.00165558e-03 9.99990988e-01 -9.60895908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.636502481 meters 0.11017684177558813 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.96 [[ 9.99991427e-01 -3.79612481e-03 -1.65410454e-03 3.13678785e+00] [ 3.78892984e-03 9.99983441e-01 -4.33140773e-03 4.27827438e-01] [ 1.67051971e-03 4.32510331e-03 9.99989251e-01 -9.61170655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.666502481 meters 0.11024210273151244 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.96 [[ 9.99990696e-01 -3.79566190e-03 -2.04965314e-03 3.13755742e+00] [ 3.78619749e-03 9.99982244e-01 -4.60187028e-03 4.28976080e-01] [ 2.06708389e-03 4.59406707e-03 9.99987311e-01 -9.61176167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.696502481 meters 0.11024210273151244 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.96 [[ 9.99990696e-01 -3.79566190e-03 -2.04965314e-03 3.13755742e+00] [ 3.78619749e-03 9.99982244e-01 -4.60187028e-03 4.28976080e-01] [ 2.06708389e-03 4.59406707e-03 9.99987311e-01 -9.61176167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.726502481 meters 0.11019275185890232 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.96 [[ 9.99990220e-01 -3.79076842e-03 -2.27833737e-03 3.13823186e+00] [ 3.77977042e-03 9.99981277e-01 -4.81228154e-03 4.30206036e-01] [ 2.29653696e-03 4.80362288e-03 9.99985825e-01 -9.61489559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75650248099998 meters 0.11024658916686919 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.96 [[ 9.99990477e-01 -3.64359943e-03 -2.40212472e-03 3.13887203e+00] [ 3.63224155e-03 9.99982284e-01 -4.71579081e-03 4.30688497e-01] [ 2.41926462e-03 4.70702080e-03 9.99985995e-01 -9.62098585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78650248099999 meters 0.11028632080025982 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.96 [[ 9.99991733e-01 -3.36266846e-03 -2.28608066e-03 3.13923270e+00] [ 3.35295137e-03 9.99985385e-01 -4.24117343e-03 4.29840656e-01] [ 2.30030891e-03 4.23347325e-03 9.99988393e-01 -9.62998819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81650248099999 meters 0.11033504018476803 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.96 [[ 9.99992712e-01 -3.13060758e-03 -2.18530309e-03 3.13963283e+00] [ 3.12223698e-03 9.99987817e-01 -3.82336414e-03 4.29312193e-01] [ 2.19724592e-03 3.81651324e-03 9.99990303e-01 -9.63950571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84650248099999 meters 0.11043709500860784 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.96 [[ 9.99992252e-01 -3.11280118e-03 -2.40948926e-03 3.13995731e+00] [ 3.10341048e-03 9.99987613e-01 -3.89135782e-03 4.29646141e-01] [ 2.42157243e-03 3.88385004e-03 9.99989526e-01 -9.63768754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87650248099999 meters 0.11074886521641246 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.96 [[ 9.99991310e-01 -3.21362645e-03 -2.65572943e-03 3.14023432e+00] [ 3.20247855e-03 9.99986088e-01 -4.19132553e-03 4.30655408e-01] [ 2.66916184e-03 4.18278419e-03 9.99987690e-01 -9.63440558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90650248099999 meters 0.11077685323003547 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.96 [[ 9.99990703e-01 -3.29753589e-03 -2.77858570e-03 3.14048349e+00] [ 3.28510567e-03 9.99984630e-01 -4.46633017e-03 4.31767545e-01] [ 2.79327088e-03 4.45716070e-03 9.99986166e-01 -9.63404503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93650248099999 meters 0.11064925022528228 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.97 [[ 9.99993370e-01 -2.65315371e-03 -2.49405433e-03 3.14142183e+00] [ 2.64485179e-03 9.99990971e-01 -3.32610844e-03 4.29791226e-01] [ 2.50285649e-03 3.31948998e-03 9.99991358e-01 -9.65716347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96650248099999 meters 0.11059134465588523 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.97 [[ 9.99994071e-01 -2.34725230e-03 -2.51943439e-03 3.14205444e+00] [ 2.34008165e-03 9.99993214e-01 -2.84532032e-03 4.29153634e-01] [ 2.52609597e-03 2.83940777e-03 9.99992778e-01 -9.66653491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.996502481 meters 0.11084100399763687 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.97 [[ 9.99994339e-01 -2.14080941e-03 -2.59610055e-03 3.14259621e+00] [ 2.13422353e-03 9.99994504e-01 -2.53696021e-03 4.28889734e-01] [ 2.60151744e-03 2.53140519e-03 9.99993412e-01 -9.67293736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.026502481 meters 0.11102237717688512 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.97 [[ 9.99993988e-01 -2.05440993e-03 -2.79353251e-03 3.14305693e+00] [ 2.04740046e-03 9.99994755e-01 -2.50972559e-03 4.29102784e-01] [ 2.79867386e-03 2.50399102e-03 9.99992949e-01 -9.67413125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.056502481 meters 0.11102108712995014 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.97 [[ 9.99993436e-01 -1.85760209e-03 -3.11073226e-03 3.14394354e+00] [ 1.85021489e-03 9.99995466e-01 -2.37594423e-03 4.29466384e-01] [ 3.11513172e-03 2.37017311e-03 9.99992339e-01 -9.67837897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.086502481 meters 0.11107074229331114 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.97 [[ 9.99994310e-01 -1.58344689e-03 -2.97882127e-03 3.14409095e+00] [ 1.57801036e-03 9.99997087e-01 -1.82652522e-03 4.28178358e-01] [ 2.98170480e-03 1.82181422e-03 9.99993895e-01 -9.68481743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.116502481 meters 0.11128670923976078 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.97 [[ 9.99994116e-01 -1.50104939e-03 -3.08463283e-03 3.14421628e+00] [ 1.49575368e-03 9.99997405e-01 -1.71839463e-03 4.27814362e-01] [ 3.08720422e-03 1.71377067e-03 9.99993766e-01 -9.68365393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14650248099998 meters 0.11142019146655208 Centerline is valid? [False, False] Translation: X:3.14, Y:0.43, Z:-0.97 [[ 9.99993563e-01 -1.48537454e-03 -3.26600423e-03 3.14445017e+00] [ 1.47959539e-03 9.99997337e-01 -1.77118962e-03 4.27976851e-01] [ 3.26862641e-03 1.76634585e-03 9.99993098e-01 -9.68177597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17650248099999 meters 0.11135762802964469 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.97 [[ 9.99991725e-01 -1.69232970e-03 -3.69946243e-03 3.14500237e+00] [ 1.68342238e-03 9.99995680e-01 -2.40952352e-03 4.29993936e-01] [ 3.70352415e-03 2.40327582e-03 9.99990254e-01 -9.67746385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20650248099999 meters 0.11143050295251544 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.97 [[ 9.99990607e-01 -1.77163375e-03 -3.95559439e-03 3.14540683e+00] [ 1.76077639e-03 9.99994678e-01 -2.74660938e-03 4.31138687e-01] [ 3.96043933e-03 2.73961866e-03 9.99988405e-01 -9.67577639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.23650248099999 meters 0.11124878026565896 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.97 [[ 9.99989173e-01 -1.91601608e-03 -4.24061880e-03 3.14559416e+00] [ 1.90236399e-03 9.99993003e-01 -3.22105794e-03 4.32104763e-01] [ 4.24676073e-03 3.21295586e-03 9.99985821e-01 -9.67009325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26650248099999 meters 0.11133266647430672 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.97 [[ 9.99989246e-01 -1.64218515e-03 -4.33711033e-03 3.14628952e+00] [ 1.62986829e-03 9.99994634e-01 -2.84188593e-03 4.31658585e-01] [ 4.34175396e-03 2.83478645e-03 9.99986556e-01 -9.67803128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29650248099999 meters 0.1111440459528709 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.97 [[ 9.99989332e-01 -1.33557024e-03 -4.42175347e-03 3.14697124e+00] [ 1.32507705e-03 9.99996301e-01 -2.37516166e-03 4.30823735e-01] [ 4.42490931e-03 2.36927716e-03 9.99987403e-01 -9.68616481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32650248099999 meters 0.11133026453230416 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.97 [[ 9.99988383e-01 -1.16612755e-03 -4.67693971e-03 3.14757378e+00] [ 1.15579469e-03 9.99996887e-01 -2.21141589e-03 4.30664042e-01] [ 4.67950395e-03 2.20598462e-03 9.99986618e-01 -9.68787500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35650248099999 meters 0.111352850717679 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.97 [[ 9.99985090e-01 -1.10797874e-03 -5.34707169e-03 3.14877654e+00] [ 1.09480769e-03 9.99996361e-01 -2.46552592e-03 4.32239025e-01] [ 5.34978398e-03 2.45963515e-03 9.99982665e-01 -9.68696434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.386502481 meters 0.11113114973613662 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.97 [[ 9.99984087e-01 -7.87193525e-04 -5.58627096e-03 3.14971889e+00] [ 7.75531734e-04 9.99997516e-01 -2.08943970e-03 4.31981695e-01] [ 5.58790188e-03 2.08507412e-03 9.99982214e-01 -9.69444330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.416502481 meters 0.11132146203159714 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.97 [[ 9.99983089e-01 -6.10943713e-04 -5.78344418e-03 3.15023798e+00] [ 6.00037700e-04 9.99998039e-01 -1.88727724e-03 4.31597250e-01] [ 5.78458586e-03 1.88377504e-03 9.99981495e-01 -9.69669752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.446502481 meters 0.11108799473117158 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.97 [[ 9.99983160e-01 -7.31338603e-04 -5.75708786e-03 3.14983659e+00] [ 7.19677731e-04 9.99997686e-01 -2.02729212e-03 4.31272791e-01] [ 5.75855718e-03 2.02311473e-03 9.99981373e-01 -9.69128685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.476502481 meters 0.1111291849296966 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.97 [[ 9.99982781e-01 -4.51838595e-04 -5.85102900e-03 3.15035259e+00] [ 4.42341194e-04 9.99998583e-01 -1.62439415e-03 4.30547659e-01] [ 5.85175468e-03 1.62177802e-03 9.99981563e-01 -9.69653933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50650248099998 meters 0.11098009447570117 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.97 [[ 9.99982774e-01 -2.28695801e-04 -5.86506960e-03 3.15065800e+00] [ 2.21413146e-04 9.99999204e-01 -1.24231906e-03 4.29623793e-01] [ 5.86534905e-03 1.24099906e-03 9.99982029e-01 -9.70092982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53650248099999 meters 0.11098254556693471 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.97 [[ 9.99981355e-01 7.82761366e-05 -6.10609409e-03 3.15156816e+00] [-8.32556143e-05 9.99999664e-01 -8.15243202e-04 4.29208013e-01] [ 6.10602823e-03 8.15736368e-04 9.99981025e-01 -9.70793029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56650248099999 meters 0.11101975458192 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.97 [[ 9.99980737e-01 5.65758784e-05 -6.20668814e-03 3.15169168e+00] [-6.18515988e-05 9.99999637e-01 -8.49817046e-04 4.29360195e-01] [ 6.20663781e-03 8.50184570e-04 9.99980377e-01 -9.70674067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59650248099999 meters 0.11123223906309863 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.97 [[ 9.99979880e-01 3.31625885e-04 -6.33480852e-03 3.15194081e+00] [-3.33758625e-04 9.99999888e-01 -3.35615911e-04 4.27907661e-01] [ 6.33469651e-03 3.37723455e-04 9.99979879e-01 -9.70700110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62650248099999 meters 0.11144158648724604 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.97 [[ 0.99996614 -0.00397082 -0.00720718 3.1529812 ] [ 0.00393419 0.99997931 -0.00508985 0.42950218] [ 0.00722724 0.00506132 0.99996107 -0.96984839] [ 0. 0. 0. 1. ]] SLAMing on 93.65650248099999 meters 0.11167646956138234 Centerline is valid? [False, False] Translation: X:3.15, Y:0.43, Z:-0.97 [[ 0.99997042 -0.00348065 -0.00685892 3.15298789] [ 0.00345337 0.9999861 -0.00398404 0.42628549] [ 0.0068727 0.00396024 0.99996854 -0.97082431] [ 0. 0. 0. 1. ]] SLAMing on 93.68650248099999 meters 0.1119705086532719 Centerline is valid? [False, False] Translation: X:3.15, Y:0.42, Z:-0.97 [[ 9.99972451e-01 -3.16038741e-03 -6.71640645e-03 3.15318953e+00] [ 3.13805861e-03 9.99989524e-01 -3.33245748e-03 4.24656246e-01] [ 6.72686794e-03 3.31128919e-03 9.99971892e-01 -9.71529574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71650248099999 meters 0.11183195314180815 Centerline is valid? [False, False] Translation: X:3.15, Y:0.42, Z:-0.97 [[ 9.99970999e-01 -2.97401325e-03 -7.01123282e-03 3.15406127e+00] [ 2.95181325e-03 9.99990604e-01 -3.17457212e-03 4.24965457e-01] [ 7.02060817e-03 3.15378420e-03 9.99970382e-01 -9.71971911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.746502481 meters 0.11176381788061311 Centerline is valid? [False, False] Translation: X:3.16, Y:0.43, Z:-0.97 [[ 9.99969988e-01 -2.66594201e-03 -7.27435853e-03 3.15519672e+00] [ 2.64502612e-03 9.99992345e-01 -2.88339733e-03 4.25248648e-01] [ 7.28198981e-03 2.86406993e-03 9.99969384e-01 -9.72910124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.776502481 meters 0.11211965294521538 Centerline is valid? [False, False] Translation: X:3.16, Y:0.42, Z:-0.97 [[ 9.99970509e-01 -2.32792239e-03 -7.31853980e-03 3.15571026e+00] [ 2.31071419e-03 9.99994548e-01 -2.35889305e-03 4.24205862e-01] [ 7.32399122e-03 2.34191244e-03 9.99970437e-01 -9.73560468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.806502481 meters 0.11291035742402794 Centerline is valid? [False, False] Translation: X:3.16, Y:0.42, Z:-0.97 [[ 9.99971159e-01 -2.22877844e-03 -7.26035280e-03 3.15561616e+00] [ 2.21361334e-03 9.99995353e-01 -2.09612108e-03 4.23246245e-01] [ 7.26499086e-03 2.07998902e-03 9.99971446e-01 -9.73580203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.836502481 meters 0.11303586578391331 Centerline is valid? [False, False] Translation: X:3.16, Y:0.42, Z:-0.97 [[ 9.99971563e-01 -2.03370580e-03 -7.26203584e-03 3.15584099e+00] [ 2.02117732e-03 9.99996457e-01 -1.73212492e-03 4.22535412e-01] [ 7.26553275e-03 1.71739780e-03 9.99972131e-01 -9.73914978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.866502481 meters 0.1133205428930596 Centerline is valid? [False, False] Translation: X:3.16, Y:0.42, Z:-0.97 [[ 9.99970233e-01 -2.02112032e-03 -7.44632553e-03 3.15610221e+00] [ 2.00863195e-03 9.99996564e-01 -1.68421645e-03 4.22615952e-01] [ 7.44970395e-03 1.66920939e-03 9.99970857e-01 -9.73756155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89650248099998 meters 0.11336549657818498 Centerline is valid? [False, False] Translation: X:3.16, Y:0.42, Z:-0.97 [[ 9.99969851e-01 -1.85381150e-03 -7.54058649e-03 3.15652894e+00] [ 1.84296902e-03 9.99997258e-01 -1.44457676e-03 4.22389472e-01] [ 7.54324379e-03 1.43063614e-03 9.99970526e-01 -9.74091753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92650248099999 meters 0.11395187003276297 Centerline is valid? [False, False] Translation: X:3.16, Y:0.42, Z:-0.98 [[ 9.99973346e-01 -1.36315289e-03 -7.17273588e-03 3.15677056e+00] [ 1.35953329e-03 9.99998946e-01 -5.09485651e-04 4.20093451e-01] [ 7.17342283e-03 4.99720498e-04 9.99974146e-01 -9.75384323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.95650248099999 meters 0.11400823067943067 Centerline is valid? [False, False] Translation: X:3.16, Y:0.42, Z:-0.98 [[ 9.99974165e-01 -8.80549137e-04 -7.13406582e-03 3.15735003e+00] [ 8.82609041e-04 9.99999570e-01 2.85598787e-04 4.18312640e-01] [ 7.13381127e-03 -2.91888000e-04 9.99974511e-01 -9.76356168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98650248099999 meters 0.11445639376962591 Centerline is valid? [False, False] Translation: X:3.16, Y:0.42, Z:-0.98 [[ 9.99972496e-01 -9.85004735e-04 -7.35098414e-03 3.15755304e+00] [ 9.85327900e-04 9.99999514e-01 4.03406248e-05 4.19085962e-01] [ 7.35094083e-03 -4.75826451e-05 9.99972980e-01 -9.76040155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01650248099999 meters 0.1144401609864704 Centerline is valid? [False, False] Translation: X:3.17, Y:0.42, Z:-0.98 [[ 0.99998966 0.00324095 -0.00318999 3.16817814] [-0.00325456 0.9999856 -0.00426815 0.42075674] [ 0.00317611 0.00427849 0.9999858 -0.97627564] [ 0. 0. 0. 1. ]] SLAMing on 94.04650248099999 meters 0.11353869643637884 Centerline is valid? [False, False] Translation: X:3.17, Y:0.42, Z:-0.98 [[ 0.99998878 0.00335764 -0.00334305 3.16882024] [-0.003372 0.99998508 -0.00429718 0.42136873] [ 0.00332857 0.00430841 0.99998518 -0.97675048] [ 0. 0. 0. 1. ]] SLAMing on 94.07650248099999 meters 0.11330464166312493 Centerline is valid? [False, False] Translation: X:3.17, Y:0.42, Z:-0.98 [[ 9.99990327e-01 -7.84935445e-04 -4.32774680e-03 3.17038317e+00] [ 7.45509921e-04 9.99958279e-01 -9.10404152e-03 4.23749024e-01] [ 4.33471233e-03 9.10072708e-03 9.99949192e-01 -9.76469745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10650248099999 meters 0.11240227843399223 Centerline is valid? [False, False] Translation: X:3.17, Y:0.43, Z:-0.98 [[ 9.99988254e-01 -6.87133645e-04 -4.79791908e-03 3.17127252e+00] [ 6.41738695e-04 9.99955080e-01 -9.45652085e-03 4.25306864e-01] [ 4.80420145e-03 9.45333076e-03 9.99943776e-01 -9.76482747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.136502481 meters 0.11195147638753382 Centerline is valid? [False, False] Translation: X:3.17, Y:0.43, Z:-0.98 [[ 9.99986387e-01 -7.07943635e-04 -5.16966162e-03 3.17189816e+00] [ 6.57203017e-04 9.99951663e-01 -9.81018661e-03 4.26677335e-01] [ 5.17635679e-03 9.80665554e-03 9.99938516e-01 -9.76332994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.166502481 meters 0.11137956187242287 Centerline is valid? [False, False] Translation: X:3.19, Y:0.43, Z:-0.98 [[ 9.99998356e-01 -1.81105960e-03 -9.06799396e-05 3.18578538e+00] [ 1.81085276e-03 9.99995871e-01 -2.23141690e-03 4.25310982e-01] [ 9.47207941e-05 2.23124902e-03 9.99997506e-01 -9.79006264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.196502481 meters 0.1112746762571244 Centerline is valid? [False, False] Translation: X:3.19, Y:0.43, Z:-0.98 [[ 9.99998467e-01 -1.74535308e-03 -1.39681620e-04 3.18598465e+00] [ 1.74504216e-03 9.99996066e-01 -2.19592485e-03 4.25314291e-01] [ 1.43513734e-04 2.19567773e-03 9.99997579e-01 -9.79161619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.226502481 meters 0.110861453760451 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.98 [[ 9.99999284e-01 -1.16029055e-03 -2.91169239e-04 3.18725199e+00] [ 1.15986384e-03 9.99998259e-01 -1.46142803e-03 4.24386100e-01] [ 2.92864413e-04 1.46108927e-03 9.99998890e-01 -9.80639731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25650248099998 meters 0.1106196363048023 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.98 [[ 9.99999593e-01 -5.86232871e-04 -6.85684256e-04 3.18892006e+00] [ 5.85627202e-04 9.99999439e-01 -8.83174519e-04 4.24196305e-01] [ 6.86201616e-04 8.82772604e-04 9.99999375e-01 -9.82071465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28650248099999 meters 0.11043696779165163 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.98 [[ 9.99999542e-01 -3.21196780e-04 -9.01935651e-04 3.18975419e+00] [ 3.20622006e-04 9.99999745e-01 -6.37339435e-04 4.24164909e-01] [ 9.02140133e-04 6.37049962e-04 9.99999390e-01 -9.82686660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31650248099999 meters 0.1104094800079662 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.98 [[ 9.99999501e-01 -4.56083035e-05 -9.98065607e-04 3.19037087e+00] [ 4.53087733e-05 9.99999954e-01 -3.00131248e-04 4.23764053e-01] [ 9.98079250e-04 3.00085877e-04 9.99999457e-01 -9.83336147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34650248099999 meters 0.1103791086853925 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.98 [[ 9.99999231e-01 9.48683121e-05 -1.23644675e-03 3.19089449e+00] [-9.51941803e-05 9.99999961e-01 -2.63495988e-04 4.24009560e-01] [ 1.23642170e-03 2.63613488e-04 9.99999201e-01 -9.83449724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37650248099999 meters 0.110347000425967 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.98 [[ 9.99998944e-01 2.65243762e-04 -1.42900827e-03 3.19149911e+00] [-2.65445730e-04 9.99999955e-01 -1.41146778e-04 4.24174609e-01] [ 1.42897077e-03 1.41525953e-04 9.99998969e-01 -9.83778468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40650248099999 meters 0.11045274168566944 Centerline is valid? [False, False] Translation: X:3.19, Y:0.43, Z:-0.98 [[ 9.99998628e-01 2.19283163e-04 -1.64206907e-03 3.19178427e+00] [-2.19931783e-04 9.99999898e-01 -3.94831468e-04 4.25091180e-01] [ 1.64198232e-03 3.95192069e-04 9.99998574e-01 -9.83578970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43650248099999 meters 0.11051873935337067 Centerline is valid? [False, False] Translation: X:3.19, Y:0.43, Z:-0.98 [[ 9.99989260e-01 -4.07215317e-03 -2.21289621e-03 3.19256467e+00] [ 4.06071121e-03 9.99978490e-01 -5.15070805e-03 4.26559310e-01] [ 2.23382308e-03 5.14166680e-03 9.99984287e-01 -9.83102280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46650248099999 meters 0.11057061416501106 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.98 [[ 9.99990781e-01 -3.90938927e-03 -1.77584815e-03 3.19217921e+00] [ 3.90111499e-03 9.99981630e-01 -4.63914599e-03 4.24912067e-01] [ 1.79395176e-03 4.63217543e-03 9.99987662e-01 -9.83745950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.496502481 meters 0.11097406687306083 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.98 [[ 9.99991607e-01 -3.70208487e-03 -1.75536227e-03 3.19260383e+00] [ 3.69462916e-03 9.99984221e-01 -4.23177575e-03 4.24485466e-01] [ 1.77100097e-03 4.22525482e-03 9.99989505e-01 -9.84471738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.526502481 meters 0.11127654021266459 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.98 [[ 9.99992341e-01 -3.50969774e-03 -1.73203191e-03 3.19282776e+00] [ 3.50298979e-03 9.99986411e-01 -3.86083321e-03 4.23757831e-01] [ 1.74555874e-03 3.85473635e-03 9.99991047e-01 -9.84857256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.556502481 meters 0.1115315349668608 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.99 [[ 9.99992994e-01 -3.30755094e-03 -1.75290283e-03 3.19315135e+00] [ 3.30145151e-03 9.99988526e-01 -3.47116355e-03 4.23059450e-01] [ 1.76436377e-03 3.46535211e-03 9.99992439e-01 -9.85305481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.586502481 meters 0.1115315349668608 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.99 [[ 9.99992994e-01 -3.30755094e-03 -1.75290283e-03 3.19315135e+00] [ 3.30145151e-03 9.99988526e-01 -3.47116355e-03 4.23059450e-01] [ 1.76436377e-03 3.46535211e-03 9.99992439e-01 -9.85305481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.616502481 meters 0.11181749016604405 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.99 [[ 9.99994766e-01 -3.07233754e-03 -1.01455318e-03 3.19247089e+00] [ 3.06979747e-03 9.99992174e-01 -2.49576729e-03 4.20085482e-01] [ 1.02221308e-03 2.49263976e-03 9.99996371e-01 -9.86341302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64650248099998 meters 0.1121817677516288 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.99 [[ 9.99995853e-01 -2.76660071e-03 -8.00476708e-04 3.19253787e+00] [ 2.76516231e-03 9.99994570e-01 -1.79249107e-03 4.18319924e-01] [ 8.05431469e-04 1.79027019e-03 9.99998073e-01 -9.87102301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67650248099999 meters 0.11309815347487949 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.99 [[ 9.99995962e-01 -2.76242578e-03 -6.67785375e-04 3.19215976e+00] [ 2.76141790e-03 9.99995054e-01 -1.50552491e-03 4.17283433e-01] [ 6.71940973e-04 1.50367480e-03 9.99998644e-01 -9.86917334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70650248099999 meters 0.11373897112991065 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.99 [[ 9.99973252e-01 -7.16800472e-03 -1.45415502e-03 3.19319002e+00] [ 7.15863167e-03 9.99954204e-01 -6.35163630e-03 4.19722628e-01] [ 1.49961698e-03 6.34105665e-03 9.99978771e-01 -9.86275212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.73650248099999 meters 0.1137584128610943 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.99 [[ 9.99995976e-01 -2.74813255e-03 -7.03723918e-04 3.19232756e+00] [ 2.74723172e-03 9.99995410e-01 -1.27787378e-03 4.16791701e-01] [ 7.07232454e-04 1.27593535e-03 9.99998936e-01 -9.87015526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76650248099999 meters 0.11381255782353147 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.99 [[ 9.99996417e-01 -2.52959986e-03 -8.75984539e-04 3.19281494e+00] [ 2.52870744e-03 9.99996284e-01 -1.01837333e-03 4.16331359e-01] [ 8.78557361e-04 1.01615457e-03 9.99999098e-01 -9.87263034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79650248099999 meters 0.1140757205978226 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.99 [[ 9.99996688e-01 -2.39257913e-03 -9.47927932e-04 3.19316161e+00] [ 2.39176797e-03 9.99996773e-01 -8.55928460e-04 4.16027482e-01] [ 9.49972750e-04 8.53658402e-04 9.99999184e-01 -9.87583867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82650248099999 meters 0.1139939476699549 Centerline is valid? [False, False] Translation: X:3.19, Y:0.42, Z:-0.99 [[ 9.99997193e-01 -2.05316148e-03 -1.18251669e-03 3.19434142e+00] [ 2.05260926e-03 9.99997784e-01 -4.68012065e-04 4.16069908e-01] [ 1.18347497e-03 4.65583507e-04 9.99999191e-01 -9.88687102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85650248099999 meters 0.11337941522192817 Centerline is valid? [False, False] Translation: X:3.20, Y:0.42, Z:-0.99 [[ 9.99997211e-01 -1.72380833e-03 -1.61461389e-03 3.19590503e+00] [ 1.72330678e-03 9.99998466e-01 -3.11973513e-04 4.17173267e-01] [ 1.61514919e-03 3.09190167e-04 9.99998648e-01 -9.89808828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.886502481 meters 0.11306088204513581 Centerline is valid? [False, False] Translation: X:3.20, Y:0.42, Z:-0.99 [[ 9.99997321e-01 -1.38935192e-03 -1.85135902e-03 3.19683599e+00] [ 1.38926446e-03 9.99999034e-01 -4.85221754e-05 4.17058743e-01] [ 1.85142465e-03 4.59500181e-05 9.99998285e-01 -9.90528864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.916502481 meters 0.11307401828773403 Centerline is valid? [False, False] Translation: X:3.20, Y:0.42, Z:-0.99 [[ 9.99997072e-01 -1.30488658e-03 -2.03782016e-03 3.19713451e+00] [ 1.30476369e-03 9.99999147e-01 -6.16345210e-05 4.16991291e-01] [ 2.03789885e-03 5.89754667e-05 9.99997922e-01 -9.90435264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.946502481 meters 0.11296816077658978 Centerline is valid? [False, False] Translation: X:3.20, Y:0.42, Z:-0.99 [[ 9.99996327e-01 -1.32236358e-03 -2.36596991e-03 3.19749264e+00] [ 1.32167812e-03 9.99999084e-01 -2.91256596e-04 4.17522378e-01] [ 2.36635289e-03 2.88128475e-04 9.99997159e-01 -9.90018491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.976502481 meters 0.11252351303034894 Centerline is valid? [False, False] Translation: X:3.20, Y:0.42, Z:-0.99 [[ 9.99993235e-01 -1.48616667e-03 -3.36480431e-03 3.19870556e+00] [ 1.48158368e-03 9.99997972e-01 -1.36412045e-03 4.21154625e-01] [ 3.36682479e-03 1.35912598e-03 9.99993409e-01 -9.89070700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00650248099998 meters 0.11132022611498364 Centerline is valid? [False, False] Translation: X:3.20, Y:0.42, Z:-0.99 [[ 9.99989851e-01 -1.51370084e-03 -4.24347055e-03 3.20007451e+00] [ 1.50423424e-03 9.99996375e-01 -2.23316541e-03 4.24290013e-01] [ 4.24683551e-03 2.22675957e-03 9.99988503e-01 -9.88658636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03650248099999 meters 0.11118407399915216 Centerline is valid? [False, False] Translation: X:3.20, Y:0.42, Z:-0.99 [[ 9.99988721e-01 -1.30506389e-03 -4.56665741e-03 3.20089289e+00] [ 1.29517185e-03 9.99996810e-01 -2.16843351e-03 4.24582976e-01] [ 4.56947279e-03 2.16249445e-03 9.99987222e-01 -9.88982241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06650248099999 meters 0.11074478449118934 Centerline is valid? [False, False] Translation: X:3.20, Y:0.42, Z:-0.99 [[ 9.99987354e-01 -8.67304582e-04 -4.95367116e-03 3.20203298e+00] [ 8.58357005e-04 9.99997997e-01 -1.80809217e-03 4.24159354e-01] [ 4.95522940e-03 1.80381729e-03 9.99986096e-01 -9.89621523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.09650248099999 meters 0.11033613240626503 Centerline is valid? [False, False] Translation: X:3.20, Y:0.42, Z:-0.99 [[ 9.99985926e-01 -8.39575510e-04 -5.23867596e-03 3.20243805e+00] [ 8.29615480e-04 9.99997845e-01 -1.90313307e-03 4.24471940e-01] [ 5.24026250e-03 1.89876020e-03 9.99984467e-01 -9.89426868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12650248099999 meters 0.11018157789942601 Centerline is valid? [False, False] Translation: X:3.20, Y:0.43, Z:-0.99 [[ 9.99982086e-01 -6.87498841e-04 -5.94595629e-03 3.20372396e+00] [ 6.74680326e-04 9.99997445e-01 -2.15757469e-03 4.25944087e-01] [ 5.94742443e-03 2.15352442e-03 9.99979995e-01 -9.89383933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15650248099999 meters 0.11007618079711094 Centerline is valid? [False, False] Translation: X:3.20, Y:0.43, Z:-0.99 [[ 9.99980118e-01 -4.86648498e-04 -6.28701833e-03 3.20453479e+00] [ 4.73838203e-04 9.99997809e-01 -2.03890762e-03 4.26104444e-01] [ 6.28799678e-03 2.03588805e-03 9.99978158e-01 -9.89629684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18650248099999 meters 0.11002202267471486 Centerline is valid? [False, False] Translation: X:3.20, Y:0.43, Z:-0.99 [[ 9.99978728e-01 -4.62605827e-04 -6.50618553e-03 3.20484373e+00] [ 4.48765928e-04 9.99997634e-01 -2.12849007e-03 4.26359525e-01] [ 6.50715479e-03 2.12552503e-03 9.99976569e-01 -9.89445541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21650248099999 meters 0.10971519178110327 Centerline is valid? [False, False] Translation: X:3.21, Y:0.43, Z:-0.99 [[ 9.99976743e-01 -2.25971956e-04 -6.81626136e-03 3.20554237e+00] [ 2.12243167e-04 9.99997948e-01 -2.01477920e-03 4.26269650e-01] [ 6.81670266e-03 2.01328564e-03 9.99974739e-01 -9.89601799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.246502481 meters 0.10964932838653325 Centerline is valid? [False, False] Translation: X:3.21, Y:0.42, Z:-0.99 [[ 9.99977284e-01 2.64160828e-04 -6.73508613e-03 3.20612685e+00] [-2.72621363e-04 9.99999175e-01 -1.25530089e-03 4.24503276e-01] [ 6.73474897e-03 1.25710851e-03 9.99976531e-01 -9.90702839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.276502481 meters 0.10983156308587509 Centerline is valid? [False, False] Translation: X:3.21, Y:0.42, Z:-0.99 [[ 9.99976282e-01 2.95620942e-04 -6.88094955e-03 3.20617338e+00] [-3.04244012e-04 9.99999170e-01 -1.25216722e-03 4.24181211e-01] [ 6.88057367e-03 1.25423100e-03 9.99975542e-01 -9.90375602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.306502481 meters 0.11004702884392929 Centerline is valid? [False, False] Translation: X:3.21, Y:0.43, Z:-0.99 [[ 9.99971949e-01 3.00316414e-05 -7.48996229e-03 3.20630502e+00] [-4.46456857e-05 9.99998096e-01 -1.95099102e-03 4.26005098e-01] [ 7.48988944e-03 1.95127069e-03 9.99970047e-01 -9.88888848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.336502481 meters 0.10996349804379747 Centerline is valid? [False, False] Translation: X:3.21, Y:0.42, Z:-0.99 [[ 9.99971997e-01 2.11430591e-04 -7.48069715e-03 3.20628751e+00] [-2.23453102e-04 9.99998685e-01 -1.60633851e-03 4.24745285e-01] [ 7.48034769e-03 1.60796512e-03 9.99970729e-01 -9.88903969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.366502481 meters 0.11001271792641083 Centerline is valid? [False, False] Translation: X:3.21, Y:0.42, Z:-0.99 [[ 9.99972169e-01 4.54474208e-04 -7.44675857e-03 3.20625981e+00] [-4.62711606e-04 9.99999283e-01 -1.10448670e-03 4.23011926e-01] [ 7.44625127e-03 1.10790166e-03 9.99971663e-01 -9.88984554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39650248099998 meters 0.110108289283259 Centerline is valid? [False, False] Translation: X:3.21, Y:0.42, Z:-0.99 [[ 9.99972782e-01 5.67025589e-04 -7.35626927e-03 3.20591228e+00] [-5.71953226e-04 9.99999613e-01 -6.67768891e-04 4.21327274e-01] [ 7.35588778e-03 6.71958158e-04 9.99972719e-01 -9.88730019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42650248099999 meters 0.11025463641785009 Centerline is valid? [False, False] Translation: X:3.21, Y:0.42, Z:-0.99 [[ 0.99996273 -0.00356109 -0.00786434 3.20688419] [ 0.00352252 0.99998173 -0.00491233 0.42175509] [ 0.00788168 0.00488445 0.99995701 -0.98878456] [ 0. 0. 0. 1. ]] SLAMing on 95.45650248099999 meters 0.11018416014313363 Centerline is valid? [False, False] Translation: X:3.21, Y:0.42, Z:-0.99 [[ 9.99964999e-01 -2.97882670e-03 -7.81838063e-03 3.20768458e+00] [ 2.94847487e-03 9.99988084e-01 -3.89077249e-03 4.19727994e-01] [ 7.82987740e-03 3.86758401e-03 9.99961867e-01 -9.90177665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48650248099999 meters 0.11030812992832138 Centerline is valid? [False, False] Translation: X:3.21, Y:0.42, Z:-0.99 [[ 9.99969984e-01 -2.17913580e-03 -7.43518303e-03 3.20839192e+00] [ 2.16261318e-03 9.99995176e-01 -2.22953744e-03 4.16292093e-01] [ 7.44000563e-03 2.21339110e-03 9.99969873e-01 -9.92486920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51650248099999 meters 0.11011138193373379 Centerline is valid? [False, False] Translation: X:3.21, Y:0.42, Z:-0.99 [[ 9.99970757e-01 -1.89614263e-03 -7.40875626e-03 3.20868420e+00] [ 1.88347776e-03 9.99996754e-01 -1.71604911e-03 4.15135972e-01] [ 7.41198609e-03 1.70204470e-03 9.99971082e-01 -9.93044116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54650248099999 meters 0.11011371455066508 Centerline is valid? [False, False] Translation: X:3.21, Y:0.41, Z:-0.99 [[ 9.99971512e-01 -1.73594348e-03 -7.34582540e-03 3.20856482e+00] [ 1.72580650e-03 9.99997550e-01 -1.38607912e-03 4.13816192e-01] [ 7.34821356e-03 1.37336216e-03 9.99972058e-01 -9.93029523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57650248099999 meters 0.11001153952826963 Centerline is valid? [False, False] Translation: X:3.21, Y:0.41, Z:-0.99 [[ 9.99969830e-01 -1.58206869e-03 -7.60503002e-03 3.20904241e+00] [ 1.57238368e-03 9.99997945e-01 -1.27931083e-03 4.13679611e-01] [ 7.60703835e-03 1.26731421e-03 9.99970263e-01 -9.93028860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60650248099999 meters 0.1099333137371564 Centerline is valid? [False, False] Translation: X:3.22, Y:0.41, Z:-0.99 [[ 0.99995172 0.00479329 -0.00857797 3.22099704] [-0.00482889 0.99997979 -0.00413456 0.41285419] [ 0.00855797 0.00417578 0.99995466 -0.98867768] [ 0. 0. 0. 1. ]] SLAMing on 95.636502481 meters 0.10974176421283359 Centerline is valid? [False, False] Translation: X:3.22, Y:0.41, Z:-0.99 [[ 0.99995026 0.00460353 -0.00884732 3.22106098] [-0.00464441 0.99997861 -0.00460624 0.41383979] [ 0.00882593 0.0046471 0.99995025 -0.98801814] [ 0. 0. 0. 1. ]] SLAMing on 95.666502481 meters 0.10983493976165096 Centerline is valid? [False, False] Translation: X:3.23, Y:0.41, Z:-0.99 [[ 9.99992460e-01 1.22042868e-03 -3.68662724e-03 3.23376071e+00] [-1.22441190e-03 9.99998669e-01 -1.07838679e-03 4.14807903e-01] [ 3.68530624e-03 1.08289261e-03 9.99992623e-01 -9.87312318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.696502481 meters 0.10971289937260545 Centerline is valid? [False, False] Translation: X:3.23, Y:0.42, Z:-0.99 [[ 9.99985776e-01 -2.92947044e-03 -4.45714120e-03 3.23472194e+00] [ 2.90339606e-03 9.99978701e-01 -5.84529005e-03 4.16305202e-01] [ 4.47416988e-03 5.83226606e-03 9.99972983e-01 -9.86704621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.726502481 meters 0.10986838492946142 Centerline is valid? [False, False] Translation: X:3.24, Y:0.42, Z:-0.99 [[ 9.99985563e-01 -2.63521950e-03 -4.68283883e-03 3.23543370e+00] [ 2.60935407e-03 9.99981355e-01 -5.52100119e-03 4.15806972e-01] [ 4.69730056e-03 5.50870230e-03 9.99973794e-01 -9.87165756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75650248099998 meters 0.10985872739821757 Centerline is valid? [False, False] Translation: X:3.24, Y:0.42, Z:-0.99 [[ 9.99984528e-01 -2.26060196e-03 -5.08269906e-03 3.23671705e+00] [ 2.23416039e-03 9.99983974e-01 -5.20194261e-03 4.16076263e-01] [ 5.09437712e-03 5.19050656e-03 9.99973553e-01 -9.88036623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78650248099999 meters 0.1095466034513763 Centerline is valid? [False, False] Translation: X:3.24, Y:0.41, Z:-0.99 [[ 9.99984900e-01 -1.78887801e-03 -5.19605782e-03 3.23763792e+00] [ 1.76553165e-03 9.99988342e-01 -4.49420719e-03 4.14984000e-01] [ 5.20403683e-03 4.48496552e-03 9.99976401e-01 -9.89137480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81650248099999 meters 0.10922471106825214 Centerline is valid? [False, False] Translation: X:3.24, Y:0.41, Z:-0.99 [[ 9.99990207e-01 -1.00716761e-03 -4.30956759e-03 3.23779048e+00] [ 9.95881784e-04 9.99996072e-01 -2.62012812e-03 4.10281545e-01] [ 4.31218957e-03 2.61581064e-03 9.99987281e-01 -9.91808857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84650248099999 meters 0.10923321511771072 Centerline is valid? [False, False] Translation: X:3.24, Y:0.41, Z:-0.99 [[ 9.99991475e-01 -6.97942276e-04 -4.06985084e-03 3.23770850e+00] [ 6.90587332e-04 9.99998127e-01 -1.80830311e-03 4.07908672e-01] [ 4.07110531e-03 1.80547711e-03 9.99990083e-01 -9.92418945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87650248099999 meters 0.10935720316568545 Centerline is valid? [False, False] Translation: X:3.24, Y:0.40, Z:-0.99 [[ 9.99993570e-01 -6.44652095e-04 -3.52762894e-03 3.23650120e+00] [ 6.40956352e-04 9.99999245e-01 -1.04868657e-03 4.04493997e-01] [ 3.52830232e-03 1.04641877e-03 9.99993228e-01 -9.92070422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90650248099999 meters 0.10949421717494848 Centerline is valid? [False, False] Translation: X:3.24, Y:0.40, Z:-0.99 [[ 9.99993658e-01 -4.28216886e-04 -3.53568323e-03 3.23653735e+00] [ 4.26315852e-04 9.99999764e-01 -5.38407224e-04 4.02987464e-01] [ 3.53591295e-03 5.36896492e-04 9.99993605e-01 -9.92130259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93650248099999 meters 0.10955502875563584 Centerline is valid? [False, False] Translation: X:3.24, Y:0.40, Z:-0.99 [[ 0.99998228 -0.00436652 -0.00404574 3.23753473] [ 0.00434926 0.99998145 -0.00426364 0.40207078] [ 0.00406428 0.00424597 0.99998273 -0.99230018] [ 0. 0. 0. 1. ]] SLAMing on 95.96650248099999 meters 0.10968562642289084 Centerline is valid? [False, False] Translation: X:3.24, Y:0.40, Z:-0.99 [[ 0.99998406 -0.00397011 -0.00401434 3.23778786] [ 0.00395634 0.99998628 -0.00343298 0.39996801] [ 0.00402792 0.00341705 0.99998605 -0.99283586] [ 0. 0. 0. 1. ]] SLAMing on 95.996502481 meters 0.10992223016884245 Centerline is valid? [False, False] Translation: X:3.24, Y:0.40, Z:-0.99 [[ 9.99987309e-01 -3.67796745e-03 -3.44287601e-03 3.23724477e+00] [ 3.66980954e-03 9.99990451e-01 -2.37283080e-03 3.96607923e-01] [ 3.45157033e-03 2.36016599e-03 9.99991258e-01 -9.93612451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.026502481 meters 0.10998622855338575 Centerline is valid? [False, False] Translation: X:3.24, Y:0.39, Z:-0.99 [[ 9.99990021e-01 -3.23236386e-03 -3.08364055e-03 3.23729501e+00] [ 3.22815336e-03 9.99993852e-01 -1.36943203e-03 3.94037934e-01] [ 3.08804809e-03 1.35946390e-03 9.99994308e-01 -9.94731569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.056502481 meters 0.11047361214861824 Centerline is valid? [False, False] Translation: X:3.24, Y:0.39, Z:-1.00 [[ 9.99991879e-01 -2.85495624e-03 -2.84457613e-03 3.23721248e+00] [ 2.85384879e-03 9.99995850e-01 -3.93304521e-04 3.91197606e-01] [ 2.84568720e-03 3.85183336e-04 9.99995877e-01 -9.95338044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.086502481 meters 0.11029803889598545 Centerline is valid? [False, False] Translation: X:3.24, Y:0.39, Z:-1.00 [[ 9.99991327e-01 -2.87040874e-03 -3.01765808e-03 3.23742509e+00] [ 2.86910923e-03 9.99995790e-01 -4.34878527e-04 3.91467225e-01] [ 3.01889365e-03 4.26216765e-04 9.99995352e-01 -9.95145026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.116502481 meters 0.1106676109907715 Centerline is valid? [False, False] Translation: X:3.24, Y:0.39, Z:-0.99 [[ 9.99991121e-01 -2.91935740e-03 -3.03899660e-03 3.23724996e+00] [ 2.91806251e-03 9.99995650e-01 -4.30440771e-04 3.91185968e-01] [ 3.04023999e-03 4.21568967e-04 9.99995290e-01 -9.94787232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14650248099998 meters 0.11075678433301665 Centerline is valid? [False, False] Translation: X:3.24, Y:0.39, Z:-1.00 [[ 9.99992527e-01 -2.44961144e-03 -2.99103290e-03 3.23749193e+00] [ 2.45092827e-03 9.99996901e-01 4.36674246e-04 3.88608233e-01] [ 2.98995395e-03 -4.44001790e-04 9.99995432e-01 -9.95306308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17650248099999 meters 0.11143887826066415 Centerline is valid? [False, False] Translation: X:3.24, Y:0.39, Z:-1.00 [[ 9.99992478e-01 -2.24142134e-03 -3.16529780e-03 3.23797767e+00] [ 2.24364442e-03 9.99997239e-01 6.98954483e-04 3.88042481e-01] [ 3.16372241e-03 -7.06051029e-04 9.99994746e-01 -9.95583570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20650248099999 meters 0.11052924459498145 Centerline is valid? [False, False] Translation: X:3.24, Y:0.39, Z:-1.00 [[ 9.99992057e-01 -2.05303194e-03 -3.41634206e-03 3.23859115e+00] [ 2.05591912e-03 9.99997532e-01 8.41811078e-04 3.87904297e-01] [ 3.41460536e-03 -8.48828114e-04 9.99993810e-01 -9.95819530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.23650248099999 meters 0.11018677741211685 Centerline is valid? [False, False] Translation: X:3.24, Y:0.39, Z:-1.00 [[ 9.99989830e-01 -1.77124530e-03 -4.14748777e-03 3.24014444e+00] [ 1.77433760e-03 9.99998151e-01 7.42022704e-04 3.89247026e-01] [ 4.14616580e-03 -7.49374201e-04 9.99991124e-01 -9.96217578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26650248099999 meters 0.1099347458681272 Centerline is valid? [False, False] Translation: X:3.24, Y:0.39, Z:-1.00 [[ 9.99987782e-01 -1.63577138e-03 -4.66467933e-03 3.24103263e+00] [ 1.63890256e-03 9.99998434e-01 6.67509806e-04 3.89830939e-01] [ 4.66358014e-03 -6.75146605e-04 9.99988898e-01 -9.96126109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29650248099999 meters 0.10954974684191689 Centerline is valid? [False, False] Translation: X:3.24, Y:0.39, Z:-1.00 [[ 9.99985761e-01 -1.49133112e-03 -5.12384947e-03 3.24165526e+00] [ 1.49449063e-03 9.99998695e-01 6.12854669e-04 3.89897225e-01] [ 5.12292881e-03 -6.20503487e-04 9.99986685e-01 -9.95819279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32650248099999 meters 0.10939774827369676 Centerline is valid? [False, False] Translation: X:3.24, Y:0.39, Z:-1.00 [[ 9.99986189e-01 -1.13297511e-03 -5.13203507e-03 3.24202656e+00] [ 1.13872702e-03 9.99998727e-01 1.11800100e-03 3.88357304e-01] [ 5.13076187e-03 -1.12382955e-03 9.99986206e-01 -9.96361700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35650248099999 meters 0.1093674611406691 Centerline is valid? [False, False] Translation: X:3.24, Y:0.39, Z:-1.00 [[ 9.99986888e-01 -9.36552949e-04 -5.03451331e-03 3.24211227e+00] [ 9.44029100e-04 9.99998455e-01 1.48280881e-03 3.87329696e-01] [ 5.03311680e-03 -1.48754209e-03 9.99986227e-01 -9.96777427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.386502481 meters 0.10930197871507184 Centerline is valid? [False, False] Translation: X:3.24, Y:0.39, Z:-1.00 [[ 9.99985904e-01 -8.05954593e-04 -5.24802974e-03 3.24268722e+00] [ 8.14510183e-04 9.99998343e-01 1.62831483e-03 3.87245771e-01] [ 5.24670870e-03 -1.63256645e-03 9.99984903e-01 -9.97070057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.416502481 meters 0.10925816468733937 Centerline is valid? [False, False] Translation: X:3.24, Y:0.39, Z:-1.00 [[ 9.99985317e-01 -6.05141882e-04 -5.38509717e-03 3.24317141e+00] [ 6.15449291e-04 9.99997982e-01 1.91261065e-03 3.86769379e-01] [ 5.38392890e-03 -1.91589683e-03 9.99983671e-01 -9.97390423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.446502481 meters 0.10928884325659624 Centerline is valid? [False, False] Translation: X:3.24, Y:0.39, Z:-1.00 [[ 9.99970779e-01 -4.57349915e-03 -6.12565152e-03 3.24446169e+00] [ 4.55988593e-03 9.99987107e-01 -2.23445519e-03 3.86922421e-01] [ 6.13579183e-03 2.20645763e-03 9.99978742e-01 -9.97332832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.476502481 meters 0.1092317335852011 Centerline is valid? [False, False] Translation: X:3.25, Y:0.39, Z:-1.00 [[ 9.99971723e-01 -4.15440165e-03 -6.26853190e-03 3.24506725e+00] [ 4.14478026e-03 9.99990214e-01 -1.54708291e-03 3.85354391e-01] [ 6.27489775e-03 1.52105747e-03 9.99979156e-01 -9.97885481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50650248099998 meters 0.1092317335852011 Centerline is valid? [False, False] Translation: X:3.25, Y:0.39, Z:-1.00 [[ 9.99971723e-01 -4.15440165e-03 -6.26853190e-03 3.24506725e+00] [ 4.14478026e-03 9.99990214e-01 -1.54708291e-03 3.85354391e-01] [ 6.27489775e-03 1.52105747e-03 9.99979156e-01 -9.97885481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53650248099999 meters 0.1092628247898334 Centerline is valid? [False, False] Translation: X:3.24, Y:0.38, Z:-1.00 [[ 9.99974440e-01 -3.88020910e-03 -6.00531715e-03 3.24480455e+00] [ 3.87564095e-03 9.99992192e-01 -7.72134900e-04 3.82796069e-01] [ 6.00826631e-03 7.48840710e-04 9.99981670e-01 -9.98224271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56650248099999 meters 0.10930528994452222 Centerline is valid? [False, False] Translation: X:3.24, Y:0.38, Z:-1.00 [[ 9.99976031e-01 -3.59276131e-03 -5.91865400e-03 3.24499439e+00] [ 3.59177343e-03 9.99993534e-01 -1.77530463e-04 3.81417678e-01] [ 5.91925356e-03 1.56267743e-04 9.99982469e-01 -9.98779288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.59650248099999 meters 0.10961465329892313 Centerline is valid? [False, False] Translation: X:3.24, Y:0.38, Z:-1.00 [[ 9.99976637e-01 -3.55166054e-03 -5.84052378e-03 3.24482381e+00] [ 3.55248447e-03 9.99993681e-01 1.30702777e-04 3.80466767e-01] [ 5.84002266e-03 -1.51448093e-04 9.99982935e-01 -9.98708741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62650248099999 meters 0.10985199777243568 Centerline is valid? [False, False] Translation: X:3.25, Y:0.38, Z:-1.00 [[ 9.99977280e-01 -3.25032536e-03 -5.90547767e-03 3.24531950e+00] [ 3.25423875e-03 9.99994492e-01 6.53183507e-04 3.79441546e-01] [ 5.90332208e-03 -6.72386501e-04 9.99982349e-01 -9.99272358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65650248099999 meters 0.11034433905138062 Centerline is valid? [False, False] Translation: X:3.24, Y:0.38, Z:-1.00 [[ 9.99981497e-01 -3.15911196e-03 -5.19871057e-03 3.24457158e+00] [ 3.16689031e-03 9.99993877e-01 1.48865588e-03 3.76490393e-01] [ 5.19397591e-03 -1.50509208e-03 9.99985379e-01 -9.99938074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68650248099999 meters 0.11065642936835596 Centerline is valid? [False, False] Translation: X:3.24, Y:0.38, Z:-1.00 [[ 9.99982717e-01 -3.00607242e-03 -5.05263152e-03 3.24447066e+00] [ 3.01584530e-03 9.99993594e-01 1.92771135e-03 3.75196623e-01] [ 5.04680431e-03 -1.94291599e-03 9.99985377e-01 -1.00015779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71650248099999 meters 0.11176835586379608 Centerline is valid? [False, False] Translation: X:3.24, Y:0.37, Z:-1.00 [[ 9.99984567e-01 -3.09124936e-03 -4.61629238e-03 3.24380890e+00] [ 3.10168972e-03 9.99992645e-01 2.25619007e-03 3.73905069e-01] [ 4.60928398e-03 -2.27047356e-03 9.99986800e-01 -1.00025537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.746502481 meters 0.11271413635203407 Centerline is valid? [False, False] Translation: X:3.24, Y:0.37, Z:-1.00 [[ 9.99985080e-01 -3.06431962e-03 -4.52220576e-03 3.24368072e+00] [ 3.07601388e-03 9.99991938e-01 2.58127649e-03 3.73023018e-01] [ 4.51425944e-03 -2.59514834e-03 9.99986443e-01 -1.00028761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.776502481 meters 0.11300032708169823 Centerline is valid? [False, False] Translation: X:3.24, Y:0.37, Z:-1.00 [[ 9.99984723e-01 -3.11491446e-03 -4.56628514e-03 3.24363172e+00] [ 3.12639915e-03 9.99991962e-01 2.51012923e-03 3.73108116e-01] [ 4.55842960e-03 -2.52436691e-03 9.99986424e-01 -1.00005574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.806502481 meters 0.11433452420698649 Centerline is valid? [False, False] Translation: X:3.24, Y:0.37, Z:-1.00 [[ 9.99984234e-01 -3.21535400e-03 -4.60365825e-03 3.24370869e+00] [ 3.22635747e-03 9.99991952e-01 2.38473054e-03 3.73517402e-01] [ 4.59595345e-03 -2.39954599e-03 9.99986560e-01 -1.00003496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.836502481 meters 0.1143167399390963 Centerline is valid? [False, False] Translation: X:3.24, Y:0.37, Z:-1.00 [[ 9.99983387e-01 -3.15145035e-03 -4.82632856e-03 3.24407578e+00] [ 3.16306000e-03 9.99992118e-01 2.39974158e-03 3.73595762e-01] [ 4.81872785e-03 -2.41496768e-03 9.99985474e-01 -9.99950832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.866502481 meters 0.11453557310871575 Centerline is valid? [False, False] Translation: X:3.24, Y:0.37, Z:-1.00 [[ 9.99983609e-01 -3.01039170e-03 -4.87017677e-03 3.24440020e+00] [ 3.02302624e-03 9.99992079e-01 2.58898873e-03 3.73284002e-01] [ 4.86234432e-03 -2.60366896e-03 9.99984789e-01 -1.00029456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89650248099998 meters 0.11466103603301898 Centerline is valid? [False, False] Translation: X:3.25, Y:0.37, Z:-1.00 [[ 9.99982743e-01 -2.86202156e-03 -5.13049848e-03 3.24508516e+00] [ 2.87584096e-03 9.99992251e-01 2.68822803e-03 3.73406691e-01] [ 5.12276496e-03 -2.70293613e-03 9.99983226e-01 -1.00058518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92650248099999 meters 0.11502456017479878 Centerline is valid? [False, False] Translation: X:3.25, Y:0.38, Z:-1.00 [[ 9.99979082e-01 -3.34940859e-03 -5.53325486e-03 3.24510207e+00] [ 3.35863368e-03 9.99992984e-01 1.65875975e-03 3.75987900e-01] [ 5.52766017e-03 -1.67730923e-03 9.99983316e-01 -9.99428444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.95650248099999 meters 0.11501334171638414 Centerline is valid? [False, False] Translation: X:3.25, Y:0.38, Z:-1.00 [[ 9.99977560e-01 -3.26086419e-03 -5.85201051e-03 3.24571955e+00] [ 3.27050146e-03 9.99993310e-01 1.63801664e-03 3.76362619e-01] [ 5.84663001e-03 -1.65711890e-03 9.99981535e-01 -9.99455499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98650248099999 meters 0.11395275613631933 Centerline is valid? [False, False] Translation: X:3.25, Y:0.38, Z:-1.00 [[ 9.99977944e-01 -2.78077695e-03 -6.03142424e-03 3.24698888e+00] [ 2.79402418e-03 9.99993701e-01 2.18905691e-03 3.75994955e-01] [ 6.02529897e-03 -2.20586058e-03 9.99979415e-01 -1.00088901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01650248099999 meters 0.11371121080997207 Centerline is valid? [False, False] Translation: X:3.25, Y:0.38, Z:-1.00 [[ 9.99977063e-01 -2.73939560e-03 -6.19421160e-03 3.24728867e+00] [ 2.75278515e-03 9.99993891e-01 2.15413155e-03 3.76098542e-01] [ 6.18827274e-03 -2.17113347e-03 9.99978495e-01 -1.00087875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04650248099999 meters 0.11346852307608062 Centerline is valid? [False, False] Translation: X:3.25, Y:0.38, Z:-1.00 [[ 9.99970407e-01 -2.88696638e-03 -7.13101309e-03 3.24845597e+00] [ 2.89563376e-03 9.99995081e-01 1.20542447e-03 3.79063868e-01] [ 7.12749800e-03 -1.22603760e-03 9.99973847e-01 -1.00009883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07650248099999 meters 0.11318912915727099 Centerline is valid? [False, False] Translation: X:3.25, Y:0.38, Z:-1.00 [[ 9.99965967e-01 -2.90544537e-03 -7.72162772e-03 3.24941331e+00] [ 2.91132131e-03 9.99995481e-01 7.49840423e-04 3.80896111e-01] [ 7.71941421e-03 -7.72295042e-04 9.99969907e-01 -9.99892393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10650248099999 meters 0.11253098028929528 Centerline is valid? [False, False] Translation: X:3.25, Y:0.38, Z:-1.00 [[ 9.99962070e-01 -2.62059422e-03 -8.30614324e-03 3.25090908e+00] [ 2.62572140e-03 9.99996369e-01 6.06431445e-04 3.82326945e-01] [ 8.30452387e-03 -6.28218061e-04 9.99965320e-01 -1.00054644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.136502481 meters 0.11205513257694949 Centerline is valid? [False, False] Translation: X:3.25, Y:0.38, Z:-1.00 [[ 9.99961663e-01 -2.37504421e-03 -8.42800548e-03 3.25150868e+00] [ 2.38235077e-03 9.99996795e-01 8.57005342e-04 3.82009672e-01] [ 8.42594304e-03 -8.77050953e-04 9.99964116e-01 -1.00115433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.166502481 meters 0.11168592472206265 Centerline is valid? [False, False] Translation: X:3.25, Y:0.38, Z:-1.00 [[ 9.99960161e-01 -2.14618371e-03 -8.66429108e-03 3.25227214e+00] [ 2.15439495e-03 9.99997239e-01 9.38489123e-04 3.82199068e-01] [ 8.66225299e-03 -9.57118040e-04 9.99962024e-01 -1.00168325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.196502481 meters 0.11096417467244125 Centerline is valid? [False, False] Translation: X:3.25, Y:0.38, Z:-1.00 [[ 9.99956675e-01 -2.29132810e-03 -9.02205672e-03 3.25266999e+00] [ 2.29531841e-03 9.99997272e-01 4.31954335e-04 3.83597493e-01] [ 9.02104237e-03 -4.52644114e-04 9.99959207e-01 -1.00127801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.226502481 meters 0.11018232918774327 Centerline is valid? [False, False] Translation: X:3.25, Y:0.39, Z:-1.00 [[ 9.99942599e-01 -2.04184753e-03 -1.05180826e-02 3.25469481e+00] [ 2.03977959e-03 9.99997898e-01 -2.07331995e-04 3.89469524e-01] [ 1.05184838e-02 1.85865524e-04 9.99944662e-01 -1.00065630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25650248099998 meters 0.10934759964103218 Centerline is valid? [False, False] Translation: X:3.26, Y:0.39, Z:-1.00 [[ 9.99934302e-01 -1.56522863e-03 -1.13552189e-02 3.25683039e+00] [ 1.56152665e-03 9.99998725e-01 -3.34874174e-04 3.91475347e-01] [ 1.13557286e-02 3.17120697e-04 9.99935471e-01 -1.00166355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28650248099999 meters 0.10922884752577154 Centerline is valid? [False, False] Translation: X:3.26, Y:0.39, Z:-1.00 [[ 0.99990887 -0.00571809 -0.01222953 3.25837143] [ 0.00565559 0.9999708 -0.00513867 0.39357691] [ 0.01225856 0.00506903 0.99991201 -1.00161428] [ 0. 0. 0. 1. ]] SLAMing on 97.31650248099999 meters 0.10905513694280329 Centerline is valid? [False, False] Translation: X:3.26, Y:0.39, Z:-1.00 [[ 0.99990399 -0.00573645 -0.01261345 3.2589505 ] [ 0.00566669 0.99996849 -0.00555878 0.39491524] [ 0.01264494 0.00548677 0.999905 -1.00146082] [ 0. 0. 0. 1. ]] SLAMing on 97.34650248099999 meters 0.10937977169437225 Centerline is valid? [False, False] Translation: X:3.26, Y:0.40, Z:-1.00 [[ 9.99919540e-01 -1.83315372e-03 -1.25520090e-02 3.25811299e+00] [ 1.80913229e-03 9.99996511e-01 -1.92483862e-03 3.96126255e-01] [ 1.25554937e-02 1.90197551e-03 9.99919368e-01 -1.00033830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37650248099999 meters 0.10929786705832521 Centerline is valid? [False, False] Translation: X:3.27, Y:0.40, Z:-1.00 [[ 9.99945276e-01 2.75070188e-03 -1.00934623e-02 3.26931268e+00] [-2.81753608e-03 9.99974163e-01 -6.61329899e-03 3.96465865e-01] [ 1.00750103e-02 6.64137578e-03 9.99927190e-01 -9.98865252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40650248099999 meters 0.10932235447731008 Centerline is valid? [False, False] Translation: X:3.27, Y:0.40, Z:-1.00 [[ 9.99945101e-01 2.98149537e-03 -1.00451476e-02 3.26942050e+00] [-3.04368342e-03 9.99976264e-01 -6.18126565e-03 3.95367141e-01] [ 1.00264797e-02 6.21150056e-03 9.99930441e-01 -9.99172601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43650248099999 meters 0.1096277120401355 Centerline is valid? [False, False] Translation: X:3.27, Y:0.39, Z:-1.00 [[ 9.99950810e-01 3.03238668e-03 -9.44359017e-03 3.26840775e+00] [-3.08465607e-03 9.99979978e-01 -5.52526841e-03 3.92721745e-01] [ 9.42664634e-03 5.55412686e-03 9.99940143e-01 -9.99335257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46650248099999 meters 0.10966826314150896 Centerline is valid? [False, False] Translation: X:3.27, Y:0.39, Z:-1.00 [[ 9.99952219e-01 3.18153388e-03 -9.24329670e-03 3.26818780e+00] [-3.22821801e-03 9.99982088e-01 -5.04007081e-03 3.91190354e-01] [ 9.22709598e-03 5.06966936e-03 9.99944578e-01 -9.99585671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.496502481 meters 0.11031223567800055 Centerline is valid? [False, False] Translation: X:3.28, Y:0.39, Z:-1.00 [[ 9.99989025e-01 -2.04232213e-03 -4.21650475e-03 3.28071951e+00] [ 2.04062767e-03 9.99997835e-01 -4.06128277e-04 3.87218477e-01] [ 4.21732506e-03 3.97519503e-04 9.99991028e-01 -1.00168487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.526502481 meters 0.11053160599281737 Centerline is valid? [False, False] Translation: X:3.28, Y:0.39, Z:-1.00 [[ 9.99989153e-01 -1.74845483e-03 -4.31707685e-03 3.28117050e+00] [ 1.74905246e-03 9.99998461e-01 1.34661790e-04 3.86080721e-01] [ 4.31683476e-03 -1.42211123e-04 9.99990672e-01 -1.00208711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.556502481 meters 0.11139973264256087 Centerline is valid? [False, False] Translation: X:3.28, Y:0.38, Z:-1.00 [[ 9.99990793e-01 -1.57782427e-03 -3.99048207e-03 3.28070312e+00] [ 1.58152876e-03 9.99998321e-01 9.25346245e-04 3.83762434e-01] [ 3.98901534e-03 -9.31648788e-04 9.99991610e-01 -1.00229221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.586502481 meters 0.11169936222021798 Centerline is valid? [False, False] Translation: X:3.28, Y:0.38, Z:-1.00 [[ 9.99991321e-01 -1.26127574e-03 -3.97066916e-03 3.28092554e+00] [ 1.26743278e-03 9.99997998e-01 1.54849514e-03 3.82228863e-01] [ 3.96870813e-03 -1.55351426e-03 9.99990918e-01 -1.00271428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.616502481 meters 0.11231990457553033 Centerline is valid? [False, False] Translation: X:3.28, Y:0.38, Z:-1.00 [[ 9.99975467e-01 -5.31322230e-03 -4.56446876e-03 3.28217732e+00] [ 5.30143819e-03 9.99982593e-01 -2.58993638e-03 3.82575388e-01] [ 4.57815022e-03 2.56567460e-03 9.99986229e-01 -1.00296928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64650248099998 meters 0.1130301749580447 Centerline is valid? [False, False] Translation: X:3.28, Y:0.38, Z:-1.00 [[ 9.99976166e-01 -5.13128924e-03 -4.61931603e-03 3.28243158e+00] [ 5.12098502e-03 9.99984379e-01 -2.23975069e-03 3.81843472e-01] [ 4.63073669e-03 2.21604186e-03 9.99986823e-01 -1.00320448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67650248099999 meters 0.11317392674619102 Centerline is valid? [False, False] Translation: X:3.28, Y:0.38, Z:-1.00 [[ 9.99975702e-01 -5.06510815e-03 -4.78966134e-03 3.28270576e+00] [ 5.05453083e-03 9.99984766e-01 -2.21789617e-03 3.81887304e-01] [ 4.80082226e-03 2.19363279e-03 9.99986070e-01 -1.00312329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70650248099999 meters 0.11337703693799545 Centerline is valid? [False, False] Translation: X:3.28, Y:0.38, Z:-1.00 [[ 9.99975600e-01 -4.90273023e-03 -4.97619031e-03 3.28317292e+00] [ 4.89262854e-03 9.99985950e-01 -2.04015322e-03 3.81665946e-01] [ 4.98612272e-03 2.01575679e-03 9.99985538e-01 -1.00330378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.73650248099999 meters 0.11308627819093245 Centerline is valid? [False, False] Translation: X:3.28, Y:0.38, Z:-1.00 [[ 9.99976540e-01 -4.47469421e-03 -5.18615390e-03 3.28420279e+00] [ 4.46667321e-03 9.99988812e-01 -1.55717099e-03 3.81200403e-01] [ 5.19306374e-03 1.53396960e-03 9.99985339e-01 -1.00433142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76650248099999 meters 0.11246347111380256 Centerline is valid? [False, False] Translation: X:3.29, Y:0.38, Z:-1.00 [[ 9.99975237e-01 -4.20151715e-03 -5.64558185e-03 3.28535212e+00] [ 4.19326756e-03 9.99990124e-01 -1.47229019e-03 3.81664050e-01] [ 5.65171195e-03 1.44858030e-03 9.99982980e-01 -1.00481593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79650248099999 meters 0.11250349877712837 Centerline is valid? [False, False] Translation: X:3.29, Y:0.38, Z:-1.00 [[ 9.99973034e-01 -4.16412232e-03 -6.04905881e-03 3.28608070e+00] [ 4.15377118e-03 9.99989889e-01 -1.72275486e-03 3.82740278e-01] [ 6.05617141e-03 1.69758200e-03 9.99980220e-01 -1.00477139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82650248099999 meters 0.11188403244990308 Centerline is valid? [False, False] Translation: X:3.29, Y:0.39, Z:-1.00 [[ 9.99966396e-01 -4.00915722e-03 -7.15073273e-03 3.28799002e+00] [ 3.99164604e-03 9.99989004e-01 -2.46145923e-03 3.86087421e-01] [ 7.16052247e-03 2.43283332e-03 9.99971404e-01 -1.00467716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85650248099999 meters 0.11155390392607162 Centerline is valid? [False, False] Translation: X:3.29, Y:0.39, Z:-1.00 [[ 9.99964280e-01 -3.82374578e-03 -7.53768647e-03 3.28888990e+00] [ 3.80526082e-03 9.99989721e-01 -2.46515695e-03 3.86574689e-01] [ 7.54703513e-03 2.43638603e-03 9.99968553e-01 -1.00494617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.886502481 meters 0.11123090112744322 Centerline is valid? [False, False] Translation: X:3.29, Y:0.39, Z:-1.01 [[ 9.99959143e-01 -3.56462026e-03 -8.30692192e-03 3.29047545e+00] [ 3.54187283e-03 9.99989942e-01 -2.75147535e-03 3.88163190e-01] [ 8.31664634e-03 2.72194087e-03 9.99961711e-01 -1.00525205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.916502481 meters 0.1112293513155504 Centerline is valid? [False, False] Translation: X:3.29, Y:0.39, Z:-1.01 [[ 9.99955294e-01 -3.53286274e-03 -8.77094223e-03 3.29127816e+00] [ 3.50608660e-03 9.99989152e-01 -3.06632593e-03 3.89432416e-01] [ 8.78168000e-03 3.03543716e-03 9.99956833e-01 -1.00513251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.946502481 meters 0.1110376712423881 Centerline is valid? [False, False] Translation: X:3.29, Y:0.39, Z:-1.01 [[ 0.99995081 -0.00345117 -0.0092984 3.29233178] [ 0.00341968 0.99998837 -0.00340025 0.39107745] [ 0.00931003 0.00336828 0.99995099 -1.00524066] [ 0. 0. 0. 1. ]] SLAMing on 97.976502481 meters 0.11111657790218307 Centerline is valid? [False, False] Translation: X:3.29, Y:0.39, Z:-1.01 [[ 9.99950302e-01 -3.15069163e-03 -9.45871909e-03 3.29307955e+00] [ 3.12199434e-03 9.99990484e-01 -3.04718483e-03 3.90763510e-01] [ 9.46822982e-03 3.01750333e-03 9.99950622e-01 -1.00592263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00650248099998 meters 0.11130718325497929 Centerline is valid? [False, False] Translation: X:3.29, Y:0.39, Z:-1.01 [[ 9.99949154e-01 -2.95785394e-03 -9.64055686e-03 3.29366191e+00] [ 2.93001575e-03 9.99991501e-01 -2.90045812e-03 3.90705791e-01] [ 9.64905406e-03 2.87206366e-03 9.99949322e-01 -1.00625977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03650248099999 meters 0.11130332631986584 Centerline is valid? [False, False] Translation: X:3.29, Y:0.39, Z:-1.01 [[ 9.99948596e-01 -2.77310945e-03 -9.75272668e-03 3.29400191e+00] [ 2.74734680e-03 9.99992704e-01 -2.65398975e-03 3.90211492e-01] [ 9.76001533e-03 2.62705920e-03 9.99948919e-01 -1.00644496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06650248099999 meters 0.1114577909230769 Centerline is valid? [False, False] Translation: X:3.29, Y:0.39, Z:-1.01 [[ 9.99949010e-01 -2.48062447e-03 -9.78893409e-03 3.29425552e+00] [ 2.45986982e-03 9.99994702e-01 -2.13168718e-03 3.88882345e-01] [ 9.79417015e-03 2.10749898e-03 9.99949815e-01 -1.00672830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.09650248099999 meters 0.11151656954245984 Centerline is valid? [False, False] Translation: X:3.29, Y:0.39, Z:-1.01 [[ 9.99950967e-01 -2.24238624e-03 -9.64551494e-03 3.29427616e+00] [ 2.22671559e-03 9.99996184e-01 -1.63508915e-03 3.87522723e-01] [ 9.64914464e-03 1.61353116e-03 9.99952144e-01 -1.00716036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12650248099999 meters 0.11190289472415835 Centerline is valid? [False, False] Translation: X:3.29, Y:0.39, Z:-1.01 [[ 9.99949715e-01 -2.04172859e-03 -9.81828808e-03 3.29465867e+00] [ 2.02970399e-03 9.99997178e-01 -1.23452283e-03 3.86694600e-01] [ 9.82078093e-03 1.21453253e-03 9.99951037e-01 -1.00729072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15650248099999 meters 0.11190780947354166 Centerline is valid? [False, False] Translation: X:3.29, Y:0.39, Z:-1.01 [[ 9.99949422e-01 -1.91915412e-03 -9.87267715e-03 3.29487967e+00] [ 1.90933480e-03 9.99997673e-01 -1.00392493e-03 3.86269492e-01] [ 9.87458087e-03 9.85023904e-04 9.99950760e-01 -1.00743664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18650248099999 meters 0.11224502893852824 Centerline is valid? [False, False] Translation: X:3.29, Y:0.38, Z:-1.01 [[ 9.99954990e-01 -1.83513050e-03 -9.30864644e-03 3.29398359e+00] [ 1.83218183e-03 9.99998269e-01 -3.25284860e-04 3.83591322e-01] [ 9.30922726e-03 3.08215086e-04 9.99956621e-01 -1.00759645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21650248099999 meters 0.11249956327009823 Centerline is valid? [False, False] Translation: X:3.29, Y:0.38, Z:-1.01 [[ 0.99993558 -0.00603298 -0.00961455 3.29486136] [ 0.00598887 0.99997144 -0.0046099 0.38418368] [ 0.00964209 0.00455202 0.99994315 -1.00802207] [ 0. 0. 0. 1. ]] SLAMing on 98.246502481 meters 0.11264881918883193 Centerline is valid? [False, False] Translation: X:3.30, Y:0.38, Z:-1.01 [[ 0.99993589 -0.00596004 -0.00962731 3.2950335 ] [ 0.00591708 0.99997243 -0.00448533 0.38398792] [ 0.00965377 0.00442808 0.9999436 -1.00822209] [ 0. 0. 0. 1. ]] SLAMing on 98.276502481 meters 0.11293654953551416 Centerline is valid? [False, False] Translation: X:3.30, Y:0.39, Z:-1.01 [[ 0.99993245 -0.00609292 -0.00989766 3.2953401 ] [ 0.00604559 0.99997018 -0.00480504 0.38523773] [ 0.00992664 0.00474488 0.99993947 -1.007902 ] [ 0. 0. 0. 1. ]] SLAMing on 98.306502481 meters 0.1130650545668764 Centerline is valid? [False, False] Translation: X:3.30, Y:0.39, Z:-1.01 [[ 0.99993177 -0.00592368 -0.01006814 3.2959822 ] [ 0.00587715 0.99997194 -0.00464441 0.38531413] [ 0.01009537 0.00458492 0.99993853 -1.00836158] [ 0. 0. 0. 1. ]] SLAMing on 98.336502481 meters 0.11311292712874155 Centerline is valid? [False, False] Translation: X:3.30, Y:0.38, Z:-1.01 [[ 0.99993376 -0.00561955 -0.01004488 3.29652225] [ 0.005578 0.99997579 -0.00415958 0.38461985] [ 0.01006802 0.00410328 0.9999409 -1.00924999] [ 0. 0. 0. 1. ]] SLAMing on 98.366502481 meters 0.11327260386236306 Centerline is valid? [False, False] Translation: X:3.30, Y:0.38, Z:-1.01 [[ 0.9999367 -0.00534826 -0.00989954 3.29650204] [ 0.0053128 0.99997939 -0.0036051 0.382748 ] [ 0.00991862 0.00355228 0.9999445 -1.00958734] [ 0. 0. 0. 1. ]] SLAMing on 98.39650248099998 meters 0.11327260386236306 Centerline is valid? [False, False] Translation: X:3.30, Y:0.38, Z:-1.01 [[ 0.9999367 -0.00534826 -0.00989954 3.29650204] [ 0.0053128 0.99997939 -0.0036051 0.382748 ] [ 0.00991862 0.00355228 0.9999445 -1.00958734] [ 0. 0. 0. 1. ]] SLAMing on 98.42650248099999 meters 0.11345824968682626 Centerline is valid? [False, False] Translation: X:3.30, Y:0.38, Z:-1.01 [[ 0.99993606 -0.00540972 -0.00993072 3.29639271] [ 0.00537315 0.9999787 -0.00370473 0.3828186 ] [ 0.00995055 0.00365114 0.99994383 -1.0093013 ] [ 0. 0. 0. 1. ]] SLAMing on 98.45650248099999 meters 0.11336751235240551 Centerline is valid? [False, False] Translation: X:3.30, Y:0.38, Z:-1.01 [[ 0.99993469 -0.00520862 -0.01017278 3.29719306] [ 0.00517298 0.9999804 -0.00352703 0.3830009 ] [ 0.01019095 0.00347418 0.99994204 -1.00977366] [ 0. 0. 0. 1. ]] SLAMing on 98.48650248099999 meters 0.11392357122938582 Centerline is valid? [False, False] Translation: X:3.30, Y:0.38, Z:-1.01 [[ 9.99933986e-01 -4.86450245e-03 -1.04095821e-02 3.29822538e+00] [ 4.83194047e-03 9.99983362e-01 -3.15094526e-03 3.82975891e-01] [ 1.04247367e-02 3.10043877e-03 9.99940854e-01 -1.01063536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51650248099999 meters 0.1138039436381051 Centerline is valid? [False, False] Translation: X:3.30, Y:0.38, Z:-1.01 [[ 9.99933345e-01 -4.78270705e-03 -1.05086718e-02 3.29845800e+00] [ 4.75044475e-03 9.99983934e-01 -3.09288397e-03 3.82947820e-01] [ 1.05232953e-02 3.04275694e-03 9.99939999e-01 -1.01068866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54650248099999 meters 0.11291542533642762 Centerline is valid? [False, False] Translation: X:3.30, Y:0.38, Z:-1.01 [[ 9.99930409e-01 -4.56210670e-03 -1.08795308e-02 3.29931561e+00] [ 4.52911318e-03 9.99985076e-01 -3.05533579e-03 3.83377910e-01] [ 1.08933072e-02 3.00584854e-03 9.99936148e-01 -1.01091403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57650248099999 meters 0.11265926222406582 Centerline is valid? [False, False] Translation: X:3.30, Y:0.38, Z:-1.01 [[ 9.99927723e-01 -4.35480776e-03 -1.12064183e-02 3.30022553e+00] [ 4.32204507e-03 9.99986320e-01 -2.94612478e-03 3.83690584e-01] [ 1.12190948e-02 2.89747719e-03 9.99932866e-01 -1.01134829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60650248099999 meters 0.11236975715826393 Centerline is valid? [False, False] Translation: X:3.30, Y:0.39, Z:-1.01 [[ 9.99922503e-01 -4.30306862e-03 -1.16821386e-02 3.30104708e+00] [ 4.26490100e-03 9.99985493e-01 -3.29012603e-03 3.85274371e-01] [ 1.16961267e-02 3.24004789e-03 9.99926349e-01 -1.01122951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.636502481 meters 0.11265830730257481 Centerline is valid? [False, False] Translation: X:3.30, Y:0.39, Z:-1.01 [[ 0.99991665 -0.00431397 -0.01216905 3.30160033] [ 0.00427029 0.99998436 -0.00361264 0.38622378] [ 0.01218445 0.00356037 0.99991943 -1.01068906] [ 0. 0. 0. 1. ]] SLAMing on 98.666502481 meters 0.11216650868075505 Centerline is valid? [False, False] Translation: X:3.30, Y:0.39, Z:-1.01 [[ 0.99991058 -0.00433445 -0.01265049 3.30224653] [ 0.00428297 0.99998245 -0.00409369 0.38794902] [ 0.01266801 0.00403914 0.9999116 -1.01032097] [ 0. 0. 0. 1. ]] SLAMing on 98.696502481 meters 0.11178571413635303 Centerline is valid? [False, False] Translation: X:3.30, Y:0.39, Z:-1.01 [[ 0.99990767 -0.0037923 -0.01304901 3.3038276 ] [ 0.00374497 0.99998633 -0.0036497 0.388006 ] [ 0.01306267 0.00360049 0.9999082 -1.01158337] [ 0. 0. 0. 1. ]] SLAMing on 98.726502481 meters 0.11159644544299949 Centerline is valid? [False, False] Translation: X:3.30, Y:0.39, Z:-1.01 [[ 9.99907803e-01 -3.39617552e-03 -1.31472986e-02 3.30487294e+00] [ 3.35492390e-03 9.99989384e-01 -3.15843494e-03 3.87710410e-01] [ 1.31578857e-02 3.11403556e-03 9.99908582e-01 -1.01284032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75650248099998 meters 0.1112532357171854 Centerline is valid? [False, False] Translation: X:3.31, Y:0.39, Z:-1.01 [[ 9.99905383e-01 -2.93045364e-03 -1.34401720e-02 3.30645015e+00] [ 2.89306115e-03 9.99991893e-01 -2.80074342e-03 3.88378971e-01] [ 1.34482705e-02 2.76159518e-03 9.99905754e-01 -1.01438768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78650248099999 meters 0.11121319926477848 Centerline is valid? [False, False] Translation: X:3.31, Y:0.39, Z:-1.02 [[ 9.99903227e-01 -2.65076903e-03 -1.36568978e-02 3.30735319e+00] [ 2.61638290e-03 9.99993364e-01 -2.53510981e-03 3.88472505e-01] [ 1.36635271e-02 2.49913281e-03 9.99903527e-01 -1.01513771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81650248099999 meters 0.11125970449529436 Centerline is valid? [False, False] Translation: X:3.31, Y:0.39, Z:-1.02 [[ 9.99898624e-01 -2.36015658e-03 -1.40417741e-02 3.30826538e+00] [ 2.32665634e-03 9.99994409e-01 -2.40161278e-03 3.88594413e-01] [ 1.40473637e-02 2.36869893e-03 9.99898525e-01 -1.01542003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84650248099999 meters 0.11135765682439627 Centerline is valid? [False, False] Translation: X:3.31, Y:0.39, Z:-1.02 [[ 9.99895755e-01 -2.12150192e-03 -1.42821213e-02 3.30893730e+00] [ 2.09047945e-03 9.99995424e-01 -2.18669782e-03 3.88383549e-01] [ 1.42866950e-02 2.15661339e-03 9.99895614e-01 -1.01575949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87650248099999 meters 0.11123904483429453 Centerline is valid? [False, False] Translation: X:3.31, Y:0.39, Z:-1.02 [[ 9.99895485e-01 -1.93061012e-03 -1.43280041e-02 3.30945805e+00] [ 1.90238624e-03 9.99996224e-01 -1.98320844e-03 3.88369034e-01] [ 1.43317788e-02 1.95574376e-03 9.99895382e-01 -1.01640410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90650248099999 meters 0.11138514361774425 Centerline is valid? [False, False] Translation: X:3.31, Y:0.39, Z:-1.02 [[ 9.99892572e-01 -1.92123126e-03 -1.45311082e-02 3.30969191e+00] [ 1.89057531e-03 9.99995959e-01 -2.12312042e-03 3.88788462e-01] [ 1.45351285e-02 2.09542018e-03 9.99892164e-01 -1.01620823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93650248099999 meters 0.11162283020793626 Centerline is valid? [False, False] Translation: X:3.31, Y:0.39, Z:-1.01 [[ 9.99886909e-01 -2.16795366e-03 -1.48818743e-02 3.30946600e+00] [ 2.12836645e-03 9.99994156e-01 -2.67541899e-03 3.89716723e-01] [ 1.48875875e-02 2.64344234e-03 9.99885679e-01 -1.01490140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96650248099999 meters 0.1116447144926964 Centerline is valid? [False, False] Translation: X:3.31, Y:0.39, Z:-1.02 [[ 9.99885524e-01 -1.95741034e-03 -1.50035625e-02 3.30977096e+00] [ 1.92191915e-03 9.99995322e-01 -2.37957142e-03 3.88953840e-01] [ 1.50081501e-02 2.35046338e-03 9.99884609e-01 -1.01503353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.996502481 meters 0.11149069434163138 Centerline is valid? [False, False] Translation: X:3.31, Y:0.39, Z:-1.02 [[ 9.99890365e-01 -1.35486186e-03 -1.47452394e-02 3.30996819e+00] [ 1.33731523e-03 9.99998386e-01 -1.19978118e-03 3.85388646e-01] [ 1.47468411e-02 1.17993061e-03 9.99890563e-01 -1.01599865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.026502481 meters 0.11144001355475915 Centerline is valid? [False, False] Translation: X:3.31, Y:0.38, Z:-1.02 [[ 9.99892706e-01 -1.16621864e-03 -1.46019587e-02 3.30981282e+00] [ 1.15607791e-03 9.99999085e-01 -7.02898600e-04 3.83714432e-01] [ 1.46027651e-02 6.85942181e-04 9.99893139e-01 -1.01623796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.056502481 meters 0.11156394850412556 Centerline is valid? [False, False] Translation: X:3.31, Y:0.38, Z:-1.02 [[ 9.99898530e-01 -1.16846383e-03 -1.41973189e-02 3.30882031e+00] [ 1.16521469e-03 9.99999293e-01 -2.37126079e-04 3.81318148e-01] [ 1.41975859e-02 2.20559093e-04 9.99899185e-01 -1.01586469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.086502481 meters 0.11153713818254687 Centerline is valid? [False, False] Translation: X:3.31, Y:0.38, Z:-1.02 [[ 9.99898960e-01 -8.54094989e-04 -1.41894102e-02 3.30909527e+00] [ 8.59760103e-04 9.99999553e-01 3.93154153e-04 3.79830711e-01] [ 1.41890681e-02 -4.05313918e-04 9.99899248e-01 -1.01632788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.116502481 meters 0.111342511285626 Centerline is valid? [False, False] Translation: X:3.31, Y:0.38, Z:-1.02 [[ 9.99903652e-01 -5.37021386e-04 -1.38707953e-02 3.30876625e+00] [ 5.54658272e-04 9.99999043e-01 1.26769656e-03 3.76984066e-01] [ 1.38701012e-02 -1.27526797e-03 9.99902992e-01 -1.01670726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14650248099998 meters 0.11158142474699939 Centerline is valid? [False, False] Translation: X:3.31, Y:0.38, Z:-1.02 [[ 9.99906785e-01 -4.45606781e-04 -1.36463489e-02 3.30816396e+00] [ 4.68441741e-04 9.99998496e-01 1.67018776e-03 3.75103339e-01] [ 1.36455841e-02 -1.67642459e-03 9.99905489e-01 -1.01646508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17650248099999 meters 0.11166759694370153 Centerline is valid? [False, False] Translation: X:3.31, Y:0.37, Z:-1.02 [[ 9.99909292e-01 -2.62008647e-04 -1.34662138e-02 3.30724247e+00] [ 2.92723766e-04 9.99997360e-01 2.27898195e-03 3.71617063e-01] [ 1.34655812e-02 -2.28271711e-03 9.99906729e-01 -1.01561799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20650248099999 meters 0.11166959610301677 Centerline is valid? [False, False] Translation: X:3.31, Y:0.37, Z:-1.02 [[ 9.99910821e-01 -2.50427837e-06 -1.33547896e-02 3.30721488e+00] [ 4.07954143e-05 9.99995889e-01 2.86694955e-03 3.69887132e-01] [ 1.33547276e-02 -2.86723869e-03 9.99906711e-01 -1.01591727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.23650248099999 meters 0.11146186315685991 Centerline is valid? [False, False] Translation: X:3.31, Y:0.37, Z:-1.02 [[ 9.99894080e-01 -4.00162500e-03 -1.39934325e-02 3.30813676e+00] [ 3.98745514e-03 9.99991509e-01 -1.04036215e-03 3.69203964e-01] [ 1.39974768e-02 9.84453772e-04 9.99901546e-01 -1.01569251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26650248099999 meters 0.11124028284786261 Centerline is valid? [False, False] Translation: X:3.31, Y:0.37, Z:-1.02 [[ 9.99893689e-01 -3.70542785e-03 -1.41025122e-02 3.30857352e+00] [ 3.69848308e-03 9.99993026e-01 -5.18497262e-04 3.67959449e-01] [ 1.41043351e-02 4.66284237e-04 9.99900420e-01 -1.01607897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29650248099999 meters 0.11099527107662482 Centerline is valid? [False, False] Translation: X:3.31, Y:0.37, Z:-1.02 [[ 9.99894322e-01 -2.93992077e-03 -1.42373229e-02 3.30954088e+00] [ 2.94944525e-03 9.99995440e-01 6.48028090e-04 3.65296717e-01] [ 1.42353528e-02 -6.89951812e-04 9.99898434e-01 -1.01719009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32650248099999 meters 0.11083648845115135 Centerline is valid? [False, False] Translation: X:3.31, Y:0.36, Z:-1.02 [[ 9.99895101e-01 -2.70862942e-03 -1.42285314e-02 3.30968199e+00] [ 2.72427784e-03 9.99995705e-01 1.08052442e-03 3.63998185e-01] [ 1.42255436e-02 -1.11917354e-03 9.99898185e-01 -1.01747181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35650248099999 meters 0.11078164835562848 Centerline is valid? [False, False] Translation: X:3.31, Y:0.36, Z:-1.02 [[ 9.99896974e-01 -2.62428384e-03 -1.41121950e-02 3.30938058e+00] [ 2.64300252e-03 9.99995652e-01 1.30793171e-03 3.62697179e-01] [ 1.41087012e-02 -1.34509552e-03 9.99899563e-01 -1.01738381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.386502481 meters 0.11072913272157917 Centerline is valid? [False, False] Translation: X:3.31, Y:0.36, Z:-1.02 [[ 9.99895720e-01 -2.64982069e-03 -1.41960758e-02 3.30942351e+00] [ 2.66802562e-03 9.99995642e-01 1.26360621e-03 3.62647403e-01] [ 1.41926656e-02 -1.30134993e-03 9.99898432e-01 -1.01726640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.416502481 meters 0.11071399651000927 Centerline is valid? [False, False] Translation: X:3.31, Y:0.36, Z:-1.02 [[ 9.99896348e-01 -2.17834468e-03 -1.42319546e-02 3.30999019e+00] [ 2.20718151e-03 9.99995542e-01 2.01081039e-03 3.60965978e-01] [ 1.42275109e-02 -2.04201447e-03 9.99896699e-01 -1.01806795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.446502481 meters 0.11067252975076243 Centerline is valid? [False, False] Translation: X:3.31, Y:0.36, Z:-1.02 [[ 9.99898160e-01 -1.86222665e-03 -1.41492583e-02 3.31022137e+00] [ 1.89936293e-03 9.99994786e-01 2.61162542e-03 3.59513078e-01] [ 1.41443211e-02 -2.63823403e-03 9.99896484e-01 -1.01868289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.476502481 meters 0.11073611971352967 Centerline is valid? [False, False] Translation: X:3.31, Y:0.36, Z:-1.02 [[ 9.99902396e-01 -1.71671665e-03 -1.38655070e-02 3.30968905e+00] [ 1.76061804e-03 9.99993474e-01 3.15464492e-03 3.57340384e-01] [ 1.38600009e-02 -3.17874887e-03 9.99898893e-01 -1.01872008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50650248099998 meters 0.1108118859926266 Centerline is valid? [False, False] Translation: X:3.31, Y:0.36, Z:-1.02 [[ 9.99903925e-01 -1.53384508e-03 -1.37763427e-02 3.30964372e+00] [ 1.58340402e-03 9.99992312e-01 3.58720763e-03 3.56118594e-01] [ 1.37707346e-02 -3.60867651e-03 9.99898667e-01 -1.01894341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53650248099999 meters 0.11062418328175737 Centerline is valid? [False, False] Translation: X:3.31, Y:0.36, Z:-1.02 [[ 9.99887235e-01 -5.71515308e-03 -1.38871874e-02 3.30989796e+00] [ 5.71104872e-03 9.99983636e-01 -3.35189550e-04 3.55119528e-01] [ 1.38888758e-02 2.55841349e-04 9.99903512e-01 -1.01906094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56650248099999 meters 0.11078410738485017 Centerline is valid? [False, False] Translation: X:3.31, Y:0.35, Z:-1.02 [[ 9.99892636e-01 -5.28451165e-03 -1.36670977e-02 3.30992364e+00] [ 5.29442061e-03 9.99985747e-01 6.88943330e-04 3.52483656e-01] [ 1.36632621e-02 -7.61228726e-04 9.99906364e-01 -1.01972605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.59650248099999 meters 0.11078179398503087 Centerline is valid? [False, False] Translation: X:3.31, Y:0.35, Z:-1.02 [[ 9.99906427e-01 -5.71533505e-03 -1.24286560e-02 3.30783333e+00] [ 5.72784363e-03 9.99983124e-01 9.71067730e-04 3.47252139e-01] [ 1.24228963e-02 -1.04216626e-03 9.99922290e-01 -1.01951351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62650248099999 meters 0.1108960912529137 Centerline is valid? [False, False] Translation: X:3.31, Y:0.34, Z:-1.02 [[ 9.99915807e-01 -5.19181736e-03 -1.18922108e-02 3.30774073e+00] [ 5.21985228e-03 9.99983668e-01 2.32759345e-03 3.43806058e-01] [ 1.18799321e-02 -2.38947306e-03 9.99926576e-01 -1.02082472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65650248099999 meters 0.11142719553272816 Centerline is valid? [False, False] Translation: X:3.31, Y:0.34, Z:-1.02 [[ 9.99893779e-01 -8.86767406e-03 -1.15669900e-02 3.30806947e+00] [ 8.86411141e-03 9.99960648e-01 -3.59232957e-04 3.40061230e-01] [ 1.15697204e-02 2.56663711e-04 9.99933036e-01 -1.02226171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68650248099999 meters 0.11187986232724952 Centerline is valid? [False, False] Translation: X:3.31, Y:0.34, Z:-1.02 [[ 9.99897657e-01 -8.49711377e-03 -1.15098006e-02 3.30834257e+00] [ 8.50310010e-03 9.99963737e-01 4.71270411e-04 3.38177580e-01] [ 1.15053788e-02 -5.69091166e-04 9.99933649e-01 -1.02285354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71650248099999 meters 0.11217639793883623 Centerline is valid? [False, False] Translation: X:3.31, Y:0.34, Z:-1.02 [[ 9.99901094e-01 -8.36034779e-03 -1.13095671e-02 3.30810806e+00] [ 8.37145975e-03 9.99964521e-01 9.35543519e-04 3.36854596e-01] [ 1.13013444e-02 -1.03012857e-03 9.99935607e-01 -1.02298809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.746502481 meters 0.11246862174060847 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-1.02 [[ 9.99911421e-01 -8.08864009e-03 -1.05699581e-02 3.30722375e+00] [ 8.11117668e-03 9.99964918e-01 2.09100971e-03 3.33004737e-01] [ 1.05526738e-02 -2.17655928e-03 9.99941950e-01 -1.02356378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.776502481 meters 0.11279280515369315 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-1.02 [[ 9.99914910e-01 -7.57636690e-03 -1.06194045e-02 3.30784490e+00] [ 7.60877387e-03 9.99966509e-01 3.01460254e-03 3.31052978e-01] [ 1.05962091e-02 -3.09514667e-03 9.99939068e-01 -1.02442491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.806502481 meters 0.11274517629602797 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-1.03 [[ 0.99991712 -0.00727084 -0.01062518 3.3082551 ] [ 0.00730934 0.99996685 0.00358886 0.32990181] [ 0.01059873 -0.00366623 0.99993711 -1.02505824] [ 0. 0. 0. 1. ]] SLAMing on 99.836502481 meters 0.11282287208835108 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-1.03 [[ 0.99991639 -0.00702573 -0.01085598 3.3089958 ] [ 0.00706836 0.99996744 0.003894 0.32959661] [ 0.01082826 -0.0039704 0.99993349 -1.02555509] [ 0. 0. 0. 1. ]] SLAMing on 99.866502481 meters 0.11260511425362094 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-1.03 [[ 0.99991393 -0.0071099 -0.01102663 3.30937724] [ 0.00715001 0.99996795 0.00360295 0.33071208] [ 0.01100066 -0.00368148 0.99993271 -1.02565959] [ 0. 0. 0. 1. ]] SLAMing on 99.89650248099998 meters 0.11261822155116298 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-1.03 [[ 0.99991361 -0.00682737 -0.01123195 3.31010362] [ 0.00687183 0.99996869 0.00392417 0.33039894] [ 0.01120481 -0.00400101 0.99992922 -1.02619668] [ 0. 0. 0. 1. ]] SLAMing on 99.92650248099999 meters 0.11209680896000389 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-1.03 [[ 0.99991568 -0.00673981 -0.01109998 3.31013402] [ 0.00678567 0.99996858 0.004099 0.32989738] [ 0.01107201 -0.00417398 0.99992999 -1.02664087] [ 0. 0. 0. 1. ]] SLAMing on 99.95650248099999 meters 0.11186213767590557 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-1.03 [[ 0.99991295 -0.00653481 -0.01146266 3.31100566] [ 0.0065835 0.99996944 0.0042155 0.33012199] [ 0.01143476 -0.0042906 0.99992542 -1.0270113 ] [ 0. 0. 0. 1. ]] SLAMing on 99.98650248099999 meters 0.11186565570640655 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-1.03 [[ 0.99990598 -0.00643344 -0.01210948 3.31215359] [ 0.00648118 0.99997136 0.00390706 0.33178113] [ 0.012084 -0.00398517 0.99991904 -1.02706967] [ 0. 0. 0. 1. ]] SLAMing on 100.01650248099999 meters 0.1116403306044427 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-1.03 [[ 0.99990528 -0.00644163 -0.01216324 3.31240701] [ 0.00648878 0.99997157 0.003841 0.33215629] [ 0.01213815 -0.00391956 0.99991865 -1.02730429] [ 0. 0. 0. 1. ]] SLAMing on 100.04650248099999 meters 0.11139516560249423 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-1.03 [[ 0.99990667 -0.00590918 -0.01231828 3.31337968] [ 0.00596584 0.99997177 0.00456819 0.33098169] [ 0.01229093 -0.00464126 0.99991369 -1.02842778] [ 0. 0. 0. 1. ]] SLAMing on 100.07650248099999 meters 0.11137666969870047 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-1.03 [[ 0.99990792 -0.00549839 -0.01240622 3.31399932] [ 0.00556325 0.99997101 0.00519964 0.32974805] [ 0.01237727 -0.00526818 0.99990952 -1.02917851] [ 0. 0. 0. 1. ]] SLAMing on 100.10650248099999 meters 0.11132094393660674 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-1.03 [[ 0.99990861 -0.00549473 -0.01235199 3.31388465] [ 0.00556019 0.99997065 0.00527139 0.32938865] [ 0.01232266 -0.00533959 0.99990982 -1.02917842] [ 0. 0. 0. 1. ]] SLAMing on 100.136502481 meters 0.11106551281184958 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-1.03 [[ 0.99990694 -0.00558303 -0.01244757 3.3140526 ] [ 0.00564717 0.99997093 0.00512336 0.3299354 ] [ 0.0124186 -0.00519318 0.9999094 -1.02917484] [ 0. 0. 0. 1. ]] SLAMing on 100.166502481 meters 0.11089397290967544 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-1.03 [[ 0.999909 -0.00501105 -0.01252538 3.31490781] [ 0.00508709 0.99996878 0.00604618 0.32819552] [ 0.01249469 -0.00610935 0.99990327 -1.03031218] [ 0. 0. 0. 1. ]] SLAMing on 100.196502481 meters 0.11075333351876379 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-1.03 [[ 0.99990915 -0.00501659 -0.0125108 3.31485534] [ 0.0050933 0.99996838 0.00610691 0.32789664] [ 0.01247976 -0.00617008 0.99990309 -1.03029414] [ 0. 0. 0. 1. ]] SLAMing on 100.226502481 meters 0.11092318698536663 Centerline is valid? [False, False] Translation: X:3.32, Y:0.33, Z:-1.03 [[ 0.99990681 -0.00478627 -0.01278516 3.31560249] [ 0.00486789 0.99996792 0.00636051 0.32773493] [ 0.01275431 -0.00642216 0.99989804 -1.03066703] [ 0. 0. 0. 1. ]] SLAMing on 100.25650248099998 meters 0.11079736715737211 Centerline is valid? [False, False] Translation: X:3.32, Y:0.33, Z:-1.03 [[ 0.99990755 -0.00473358 -0.01274677 3.31551221] [ 0.00481714 0.99996706 0.00653245 0.32701543] [ 0.01271543 -0.00659325 0.99989742 -1.03064799] [ 0. 0. 0. 1. ]] SLAMing on 100.28650248099999 meters 0.11092814420490005 Centerline is valid? [False, False] Translation: X:3.32, Y:0.33, Z:-1.03 [[ 9.99957233e-01 -1.55719305e-03 -9.11631051e-03 3.32225365e+00] [ 1.56428594e-03 9.99998479e-01 7.70964844e-04 3.26442711e-01] [ 9.11509611e-03 -7.85192388e-04 9.99958148e-01 -1.02752653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31650248099999 meters 0.11092814420490005 Centerline is valid? [False, False] Translation: X:3.32, Y:0.33, Z:-1.03 [[ 9.99957233e-01 -1.55719305e-03 -9.11631051e-03 3.32225365e+00] [ 1.56428594e-03 9.99998479e-01 7.70964844e-04 3.26442711e-01] [ 9.11509611e-03 -7.85192388e-04 9.99958148e-01 -1.02752653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34650248099999 meters 0.11091391473719203 Centerline is valid? [False, False] Translation: X:3.32, Y:0.33, Z:-1.03 [[ 9.99956529e-01 -1.36870851e-03 -9.22313711e-03 3.32254452e+00] [ 1.37865936e-03 9.99998474e-01 1.07262949e-03 3.25769048e-01] [ 9.22165492e-03 -1.08529842e-03 9.99956891e-01 -1.02769781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37650248099999 meters 0.11070101593110722 Centerline is valid? [False, False] Translation: X:3.32, Y:0.32, Z:-1.03 [[ 9.99956502e-01 -9.24880613e-04 -9.28107278e-03 3.32311348e+00] [ 9.41830374e-04 9.99997897e-01 1.82206734e-03 3.24138491e-01] [ 9.27936806e-03 -1.83072928e-03 9.99955270e-01 -1.02843464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40650248099999 meters 0.11074265519885772 Centerline is valid? [False, False] Translation: X:3.32, Y:0.32, Z:-1.03 [[ 9.99937976e-01 -4.99086135e-03 -9.95670630e-03 3.32438123e+00] [ 4.96760026e-03 9.99984878e-01 -2.35958851e-03 3.24445106e-01] [ 9.96833211e-03 2.30998122e-03 9.99947647e-01 -1.02858403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43650248099999 meters 0.11089073406875888 Centerline is valid? [False, False] Translation: X:3.32, Y:0.32, Z:-1.03 [[ 9.99936342e-01 -4.80083693e-03 -1.02109739e-02 3.32488057e+00] [ 4.77946061e-03 9.99986338e-01 -2.11683913e-03 3.24076332e-01] [ 1.02209970e-02 2.06790142e-03 9.99945626e-01 -1.02864093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46650248099999 meters 0.11091426512396599 Centerline is valid? [False, False] Translation: X:3.33, Y:0.32, Z:-1.03 [[ 9.99938918e-01 -4.19549595e-03 -1.02253707e-02 3.32549207e+00] [ 4.18544740e-03 9.99990737e-01 -1.00390865e-03 3.21622322e-01] [ 1.02294879e-02 9.61049582e-04 9.99947216e-01 -1.02955182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.496502481 meters 0.11106010270025357 Centerline is valid? [False, False] Translation: X:3.33, Y:0.32, Z:-1.03 [[ 9.99940412e-01 -3.64335550e-03 -1.02906656e-02 3.32613913e+00] [ 3.64307736e-03 9.99993363e-01 -4.57736749e-05 3.19503445e-01] [ 1.02907640e-02 8.28125662e-06 9.99947049e-01 -1.03041034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.526502481 meters 0.11131327897664649 Centerline is valid? [False, False] Translation: X:3.33, Y:0.32, Z:-1.03 [[ 9.99941074e-01 -3.26987951e-03 -1.03515960e-02 3.32633721e+00] [ 3.27720430e-03 9.99994391e-01 6.90716634e-04 3.17497787e-01] [ 1.03492794e-02 -7.24600228e-04 9.99946182e-01 -1.03058587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.556502481 meters 0.1111669798412723 Centerline is valid? [False, False] Translation: X:3.33, Y:0.32, Z:-1.03 [[ 9.99941192e-01 -3.09452386e-03 -1.03940225e-02 3.32654855e+00] [ 3.10517327e-03 9.99994670e-01 1.00858823e-03 3.16800071e-01] [ 1.03908460e-02 -1.04080416e-03 9.99945472e-01 -1.03080024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.586502481 meters 0.11109710519453701 Centerline is valid? [False, False] Translation: X:3.33, Y:0.32, Z:-1.03 [[ 9.99940381e-01 -2.79205561e-03 -1.05564573e-02 3.32718982e+00] [ 2.80717402e-03 9.99995055e-01 1.41760151e-03 3.16202181e-01] [ 1.05524471e-02 -1.44715080e-03 9.99943274e-01 -1.03133364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61650248099998 meters 0.11119673858554202 Centerline is valid? [False, False] Translation: X:3.34, Y:0.32, Z:-1.03 [[ 9.99974495e-01 1.42558397e-03 -6.99841034e-03 3.33693122e+00] [-1.44675967e-03 9.99994388e-01 -3.02165748e-03 3.16147711e-01] [ 6.99406344e-03 3.03170543e-03 9.99970945e-01 -1.03101834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64650248099998 meters 0.11135695525524704 Centerline is valid? [False, False] Translation: X:3.34, Y:0.32, Z:-1.03 [[ 9.99974683e-01 1.44201680e-03 -6.96809971e-03 3.33673889e+00] [-1.46243769e-03 9.99994649e-01 -2.92641939e-03 3.15618024e-01] [ 6.96384248e-03 2.93653571e-03 9.99971440e-01 -1.03083839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67650248099999 meters 0.11136164139097905 Centerline is valid? [False, False] Translation: X:3.34, Y:0.31, Z:-1.03 [[ 9.99976821e-01 1.75582179e-03 -6.57836317e-03 3.33641326e+00] [-1.77013614e-03 9.99996077e-01 -2.17078350e-03 3.13291307e-01] [ 6.57452586e-03 2.18237778e-03 9.99976006e-01 -1.03144717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70650248099999 meters 0.1113844060592856 Centerline is valid? [False, False] Translation: X:3.34, Y:0.31, Z:-1.03 [[ 9.99968621e-01 -2.20255174e-03 -7.60961552e-03 3.33814565e+00] [ 2.15347743e-03 9.99976872e-01 -6.45117315e-03 3.14533213e-01] [ 7.62364857e-03 6.43458358e-03 9.99950237e-01 -1.03147557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.73650248099999 meters 0.11128600605668837 Centerline is valid? [False, False] Translation: X:3.34, Y:0.31, Z:-1.03 [[ 9.99966680e-01 -2.11955922e-03 -7.88335829e-03 3.33868837e+00] [ 2.06887501e-03 9.99977175e-01 -6.43187347e-03 3.14891998e-01] [ 7.89681109e-03 6.41534947e-03 9.99948240e-01 -1.03151594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76650248099999 meters 0.11124377638391571 Centerline is valid? [False, False] Translation: X:3.34, Y:0.32, Z:-1.03 [[ 9.99965664e-01 -2.01656746e-03 -8.03771256e-03 3.33911082e+00] [ 1.96557331e-03 9.99977924e-01 -6.34721961e-03 3.15039296e-01] [ 8.05033472e-03 6.33120296e-03 9.99947553e-01 -1.03170286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79650248099999 meters 0.1110257643435897 Centerline is valid? [False, False] Translation: X:3.34, Y:0.31, Z:-1.03 [[ 9.99968160e-01 -1.42158722e-03 -7.85231728e-03 3.33956034e+00] [ 1.37958639e-03 9.99984728e-01 -5.35167427e-03 3.12841749e-01] [ 7.85980524e-03 5.34067092e-03 9.99954849e-01 -1.03294343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82650248099999 meters 0.1111664280031718 Centerline is valid? [False, False] Translation: X:3.34, Y:0.31, Z:-1.03 [[ 9.99968434e-01 -1.05095140e-03 -7.87565419e-03 3.34013778e+00] [ 1.01348751e-03 9.99988160e-01 -4.75940655e-03 3.11788796e-01] [ 7.88056285e-03 4.75127444e-03 9.99957660e-01 -1.03382272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85650248099999 meters 0.11098096552357745 Centerline is valid? [False, False] Translation: X:3.34, Y:0.31, Z:-1.03 [[ 9.99967918e-01 -9.97886686e-04 -7.94779626e-03 3.34049597e+00] [ 9.59834706e-04 9.99988067e-01 -4.79011591e-03 3.12241598e-01] [ 7.95248141e-03 4.78233366e-03 9.99956943e-01 -1.03416110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.886502481 meters 0.11105760862519067 Centerline is valid? [False, False] Translation: X:3.34, Y:0.31, Z:-1.04 [[ 9.99967888e-01 -5.13198815e-04 -7.99748148e-03 3.34144768e+00] [ 4.80172838e-04 9.99991352e-01 -4.13092018e-03 3.11509912e-01] [ 7.99953231e-03 4.12694736e-03 9.99959487e-01 -1.03544647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.916502481 meters 0.11118118872188923 Centerline is valid? [False, False] Translation: X:3.34, Y:0.31, Z:-1.04 [[ 9.99968042e-01 -2.47108907e-04 -7.99085972e-03 3.34167265e+00] [ 2.18020839e-04 9.99993348e-01 -3.64083374e-03 3.10400056e-01] [ 7.99170625e-03 3.63897521e-03 9.99961445e-01 -1.03584893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.946502481 meters 0.11133738887498053 Centerline is valid? [False, False] Translation: X:3.34, Y:0.31, Z:-1.04 [[ 9.99967641e-01 -5.99286968e-05 -8.04444381e-03 3.34190471e+00] [ 3.32187832e-05 9.99994487e-01 -3.32038593e-03 3.09754438e-01] [ 8.04459844e-03 3.32001126e-03 9.99962130e-01 -1.03607023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.976502481 meters 0.11130410447359952 Centerline is valid? [False, False] Translation: X:3.34, Y:0.31, Z:-1.04 [[ 9.99966053e-01 1.20982082e-04 -8.23888019e-03 3.34243827e+00] [-1.46331888e-04 9.99995257e-01 -3.07631756e-03 3.09559089e-01] [ 8.23846894e-03 3.07741873e-03 9.99961328e-01 -1.03633063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00650248099998 meters 0.1113649069848347 Centerline is valid? [False, False] Translation: X:3.34, Y:0.31, Z:-1.04 [[ 9.99966103e-01 3.35218666e-04 -8.22678165e-03 3.34272170e+00] [-3.57458931e-04 9.99996285e-01 -2.70207648e-03 3.08830465e-01] [ 8.22584530e-03 2.70492562e-03 9.99962509e-01 -1.03678787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03650248099999 meters 0.11149958113377013 Centerline is valid? [False, False] Translation: X:3.34, Y:0.31, Z:-1.04 [[ 9.99965705e-01 6.35715236e-04 -8.25742734e-03 3.34312104e+00] [-6.53512230e-04 9.99997469e-01 -2.15275161e-03 3.07773979e-01] [ 8.25603790e-03 2.15807411e-03 9.99963590e-01 -1.03730463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06650248099999 meters 0.11201886272135948 Centerline is valid? [False, False] Translation: X:3.34, Y:0.31, Z:-1.04 [[ 9.99967559e-01 9.73375662e-04 -7.99589473e-03 3.34327124e+00] [-9.85511303e-04 9.99998368e-01 -1.51393405e-03 3.06400181e-01] [ 7.99440806e-03 1.52176498e-03 9.99966886e-01 -1.03819912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.09650248099999 meters 0.11172194844726563 Centerline is valid? [False, False] Translation: X:3.34, Y:0.31, Z:-1.04 [[ 9.99958723e-01 -3.20635361e-03 -8.50123384e-03 3.34434435e+00] [ 3.15620071e-03 9.99977576e-01 -5.90635198e-03 3.07255712e-01] [ 8.51998106e-03 5.87927659e-03 9.99946421e-01 -1.03848470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12650248099999 meters 0.11211231988103317 Centerline is valid? [False, False] Translation: X:3.34, Y:0.31, Z:-1.04 [[ 9.99961037e-01 -2.74574462e-03 -8.38955404e-03 3.34464209e+00] [ 2.70345750e-03 9.99983606e-01 -5.04763908e-03 3.05228528e-01] [ 8.40327603e-03 5.02476161e-03 9.99952067e-01 -1.03931036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15650248099999 meters 0.11214133272762239 Centerline is valid? [False, False] Translation: X:3.34, Y:0.31, Z:-1.04 [[ 9.99959688e-01 -2.85604572e-03 -8.51263210e-03 3.34451640e+00] [ 2.81158211e-03 9.99982368e-01 -5.23064910e-03 3.05509812e-01] [ 8.52742097e-03 5.20650428e-03 9.99950086e-01 -1.03874640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18650248099999 meters 0.11279145647193332 Centerline is valid? [False, False] Translation: X:3.35, Y:0.31, Z:-1.04 [[ 9.99956485e-01 -2.79752902e-03 -8.89950318e-03 3.34503450e+00] [ 2.75081062e-03 9.99982396e-01 -5.25746773e-03 3.06003027e-01] [ 8.91405443e-03 5.23275810e-03 9.99946578e-01 -1.03842389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21650248099999 meters 0.11256625682720851 Centerline is valid? [False, False] Translation: X:3.35, Y:0.30, Z:-1.04 [[ 9.99957841e-01 -2.37148091e-03 -8.87088508e-03 3.34558577e+00] [ 2.33124874e-03 9.99986964e-01 -4.54289940e-03 3.04672492e-01] [ 8.88154284e-03 4.52202763e-03 9.99950333e-01 -1.03936088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.246502481 meters 0.11262141377549799 Centerline is valid? [False, False] Translation: X:3.35, Y:0.30, Z:-1.04 [[ 9.99960369e-01 -1.85340981e-03 -8.70774467e-03 3.34608594e+00] [ 1.82223765e-03 9.99991909e-01 -3.58639087e-03 3.02699134e-01] [ 8.71432126e-03 3.57038116e-03 9.99955656e-01 -1.04058823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.276502481 meters 0.11267574285326676 Centerline is valid? [False, False] Translation: X:3.35, Y:0.30, Z:-1.04 [[ 9.99959939e-01 -1.69756458e-03 -8.78853702e-03 3.34648269e+00] [ 1.66771745e-03 9.99992821e-01 -3.40235886e-03 3.02505912e-01] [ 8.79424966e-03 3.38756576e-03 9.99955592e-01 -1.04095123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.306502481 meters 0.11258232537401282 Centerline is valid? [False, False] Translation: X:3.35, Y:0.30, Z:-1.04 [[ 9.99958843e-01 -1.55744874e-03 -8.93797773e-03 3.34719506e+00] [ 1.52800006e-03 9.99993385e-01 -3.30066436e-03 3.02926951e-01] [ 8.94305922e-03 3.28687128e-03 9.99954608e-01 -1.04157968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.336502481 meters 0.11302129394051719 Centerline is valid? [False, False] Translation: X:3.35, Y:0.30, Z:-1.04 [[ 9.99957730e-01 -1.41367372e-03 -9.08512977e-03 3.34783639e+00] [ 1.38475237e-03 9.99993957e-01 -3.18887466e-03 3.03180199e-01] [ 9.08958289e-03 3.17615921e-03 9.99953645e-01 -1.04210060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36650248099998 meters 0.11256763384774954 Centerline is valid? [False, False] Translation: X:3.35, Y:0.30, Z:-1.04 [[ 9.99958008e-01 -1.15994181e-03 -9.09045597e-03 3.34831442e+00] [ 1.13386467e-03 9.99995229e-01 -2.87325755e-03 3.02762103e-01] [ 9.09374542e-03 2.86282955e-03 9.99954553e-01 -1.04283404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39650248099998 meters 0.11249624443108676 Centerline is valid? [False, False] Translation: X:3.35, Y:0.30, Z:-1.04 [[ 9.99957629e-01 -1.04183738e-03 -9.14634915e-03 3.34859087e+00] [ 1.01683859e-03 9.99995736e-01 -2.73742273e-03 3.02568946e-01] [ 9.14916210e-03 2.72800638e-03 9.99954424e-01 -1.04309249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42650248099999 meters 0.11236738453839194 Centerline is valid? [False, False] Translation: X:3.35, Y:0.30, Z:-1.04 [[ 9.99956850e-01 -1.00086617e-03 -9.23560016e-03 3.34892498e+00] [ 9.75357709e-04 9.99995699e-01 -2.76606193e-03 3.02933727e-01] [ 9.23832889e-03 2.75693456e-03 9.99953525e-01 -1.04333554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.45650248099999 meters 0.11226600502754286 Centerline is valid? [False, False] Translation: X:3.35, Y:0.30, Z:-1.04 [[ 9.99954199e-01 -8.61512416e-04 -9.53194202e-03 3.34983434e+00] [ 8.34838216e-04 9.99995726e-01 -2.80202652e-03 3.03816082e-01] [ 9.53431526e-03 2.79394056e-03 9.99950644e-01 -1.04386746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48650248099999 meters 0.11233301310291746 Centerline is valid? [False, False] Translation: X:3.36, Y:0.31, Z:-1.04 [[ 0.99998007 0.00364963 -0.0051519 3.35972148] [-0.0036846 0.99997013 -0.00679378 0.30583811] [ 0.00512695 0.00681263 0.99996365 -1.04452409] [ 0. 0. 0. 1. ]] SLAMing on 101.51650248099999 meters 0.11241991201655983 Centerline is valid? [False, False] Translation: X:3.36, Y:0.31, Z:-1.04 [[ 0.99998029 0.00344916 -0.00524694 3.35969369] [-0.00348695 0.99996793 -0.00720996 0.30677602] [ 0.0052219 0.00722812 0.99996024 -1.04417901] [ 0. 0. 0. 1. ]] SLAMing on 101.54650248099999 meters 0.11168248847135219 Centerline is valid? [False, False] Translation: X:3.36, Y:0.31, Z:-1.04 [[ 0.99997844 0.003669 -0.00544674 3.3604322 ] [-0.00370741 0.99996821 -0.0070592 0.30687425] [ 0.00542066 0.00707924 0.99996025 -1.04478093] [ 0. 0. 0. 1. ]] SLAMing on 101.57650248099999 meters 0.11188486052019886 Centerline is valid? [False, False] Translation: X:3.36, Y:0.31, Z:-1.04 [[ 0.99997705 0.00374911 -0.00564278 3.36090777] [-0.00378892 0.99996789 -0.00706114 0.30721168] [ 0.00561612 0.00708236 0.99995915 -1.04494784] [ 0. 0. 0. 1. ]] SLAMing on 101.60650248099999 meters 0.112021828499191 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-1.04 [[ 9.99964078e-01 -2.47606149e-03 -8.10625374e-03 3.36729228e+00] [ 2.47187078e-03 9.99996806e-01 -5.26950493e-04 3.08445828e-01] [ 8.10753261e-03 5.06893953e-04 9.99967005e-01 -1.04118878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.636502481 meters 0.11172101579359724 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-1.04 [[ 9.99963752e-01 -2.18313072e-03 -8.22973298e-03 3.36791525e+00] [ 2.18231457e-03 9.99997613e-01 -1.08149178e-04 3.07826018e-01] [ 8.22994944e-03 9.01853919e-05 9.99966129e-01 -1.04180361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.666502481 meters 0.11181533872852108 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-1.04 [[ 9.99964364e-01 -1.81022552e-03 -8.24587315e-03 3.36856079e+00] [ 1.81407524e-03 9.99998249e-01 4.59411003e-04 3.06961590e-01] [ 8.24502707e-03 -4.74353266e-04 9.99965897e-01 -1.04276786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.696502481 meters 0.1118005513146508 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-1.04 [[ 9.99965505e-01 -1.64020727e-03 -8.14234655e-03 3.36893677e+00] [ 1.64640252e-03 9.99998360e-01 7.54223034e-04 3.06670071e-01] [ 8.14109611e-03 -7.67602597e-04 9.99966566e-01 -1.04361383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.726502481 meters 0.11177850174802452 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-1.04 [[ 9.99965604e-01 -1.40218378e-03 -8.17468760e-03 3.36942860e+00] [ 1.41136786e-03 9.99998379e-01 1.11781746e-03 3.06199438e-01] [ 8.17310696e-03 -1.12931650e-03 9.99965962e-01 -1.04428437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75650248099998 meters 0.11242830939419889 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-1.04 [[ 0.99994636 -0.00567907 -0.00866228 3.37042446] [ 0.00564935 0.99997808 -0.00345219 0.30757341] [ 0.0086817 0.00340307 0.99995652 -1.04441874] [ 0. 0. 0. 1. ]] SLAMing on 101.78650248099999 meters 0.1124336779253849 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-1.04 [[ 0.99994585 -0.00569881 -0.0087078 3.37052266] [ 0.00566878 0.99997792 -0.00346898 0.30764309] [ 0.00872737 0.00341943 0.99995607 -1.04442885] [ 0. 0. 0. 1. ]] SLAMing on 101.81650248099999 meters 0.11271045145288856 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-1.04 [[ 0.99994468 -0.00564482 -0.00887507 3.37094783] [ 0.00561412 0.99997818 -0.00348023 0.30796531] [ 0.00889452 0.00343021 0.99995456 -1.04459091] [ 0. 0. 0. 1. ]] SLAMing on 101.84650248099999 meters 0.11267553215194055 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-1.04 [[ 0.99994422 -0.00556279 -0.00897887 3.37137736] [ 0.00553214 0.9999788 -0.00343482 0.30818473] [ 0.00899778 0.00338495 0.99995379 -1.04492753] [ 0. 0. 0. 1. ]] SLAMing on 101.87650248099999 meters 0.11302743360210715 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-1.05 [[ 9.99943195e-01 -5.41840273e-03 -9.17865942e-03 3.37211882e+00] [ 5.38812513e-03 9.99979972e-01 -3.32021854e-03 3.08560223e-01] [ 9.19646587e-03 3.27057417e-03 9.99952363e-01 -1.04547290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90650248099999 meters 0.1134412644800397 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-1.05 [[ 9.99941976e-01 -5.42273050e-03 -9.30796962e-03 3.37235895e+00] [ 5.39121043e-03 9.99979660e-01 -3.40811044e-03 3.08927511e-01] [ 9.32626156e-03 3.35773147e-03 9.99950872e-01 -1.04546556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93650248099999 meters 0.11347036791859269 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-1.05 [[ 0.99994114 -0.00547582 -0.00936702 3.37229779] [ 0.00544295 0.99997895 -0.00353147 0.30900982] [ 0.00938616 0.00348028 0.99994989 -1.0451983 ] [ 0. 0. 0. 1. ]] SLAMing on 101.96650248099999 meters 0.11305041222455052 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-1.05 [[ 9.99941050e-01 -5.38991245e-03 -9.42580242e-03 3.37250522e+00] [ 5.35797287e-03 9.99979830e-01 -3.41050226e-03 3.08781794e-01] [ 9.44399461e-03 3.35979802e-03 9.99949760e-01 -1.04537904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.996502481 meters 0.1131120103763415 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-1.05 [[ 0.99993871 -0.00533921 -0.00969853 3.37313022] [ 0.0053053 0.99997974 -0.00351853 0.30949773] [ 0.00971712 0.00346686 0.99994678 -1.04556001] [ 0. 0. 0. 1. ]] SLAMing on 102.026502481 meters 0.11384793606672534 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-1.05 [[ 0.99993675 -0.00536739 -0.00988326 3.3734037 ] [ 0.005331 0.99997893 -0.00370478 0.31016531] [ 0.00990293 0.00365186 0.9999443 -1.04544209] [ 0. 0. 0. 1. ]] SLAMing on 102.056502481 meters 0.11262694233671756 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-1.05 [[ 0.99993259 -0.00542724 -0.01026477 3.3738978 ] [ 0.00538554 0.99997715 -0.00408583 0.311365 ] [ 0.01028671 0.00403027 0.99993897 -1.04514797] [ 0. 0. 0. 1. ]] SLAMing on 102.086502481 meters 0.11257485010451793 Centerline is valid? [False, False] Translation: X:3.37, Y:0.31, Z:-1.05 [[ 0.99993115 -0.00527029 -0.01048463 3.37454643] [ 0.00522864 0.99997835 -0.00399579 0.31154753] [ 0.01050547 0.0039407 0.99993705 -1.04553681] [ 0. 0. 0. 1. ]] SLAMing on 102.11650248099998 meters 0.11243528776378747 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 0.99993069 -0.00503797 -0.01064087 3.37523841] [ 0.00499801 0.99998037 -0.00377899 0.31149934] [ 0.0106597 0.00372554 0.99993624 -1.04620227] [ 0. 0. 0. 1. ]] SLAMing on 102.14650248099998 meters 0.11162654741728402 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 0.99992901 -0.00503914 -0.01079776 3.37530932] [ 0.00499794 0.99998014 -0.0038396 0.31153561] [ 0.0108169 0.00378536 0.99993433 -1.04586389] [ 0. 0. 0. 1. ]] SLAMing on 102.17650248099999 meters 0.11171061480889867 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 0.99992353 -0.00504007 -0.01129307 3.37608448] [ 0.00499313 0.9999788 -0.00418061 0.31291485] [ 0.0113139 0.0041239 0.99992749 -1.04568311] [ 0. 0. 0. 1. ]] SLAMing on 102.20650248099999 meters 0.11171061480889867 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 0.99992353 -0.00504007 -0.01129307 3.37608448] [ 0.00499313 0.9999788 -0.00418061 0.31291485] [ 0.0113139 0.0041239 0.99992749 -1.04568311] [ 0. 0. 0. 1. ]] SLAMing on 102.23650248099999 meters 0.1110707964181022 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 0.9999267 -0.00449639 -0.01124137 3.37722786] [ 0.00445765 0.99998405 -0.00346894 0.31237471] [ 0.01125679 0.00341857 0.9999308 -1.04759408] [ 0. 0. 0. 1. ]] SLAMing on 102.26650248099999 meters 0.11038305260541678 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 9.99925633e-01 -4.21373821e-03 -1.14443113e-02 3.37798603e+00] [ 4.17819394e-03 9.99986379e-01 -3.12798146e-03 3.12010113e-01] [ 1.14573359e-02 3.07993229e-03 9.99929619e-01 -1.04820163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29650248099999 meters 0.11035101968361075 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 9.99923693e-01 -4.16676402e-03 -1.16295206e-02 3.37840911e+00] [ 4.13016681e-03 9.99986449e-01 -3.16916837e-03 3.12371441e-01] [ 1.16425682e-02 3.12089468e-03 9.99927353e-01 -1.04831916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32650248099999 meters 0.11017242694800224 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 0.99992039 -0.00422277 -0.01189018 3.37881458] [ 0.00418203 0.99998531 -0.0034489 0.31335359] [ 0.01190457 0.0033989 0.99992336 -1.04819451] [ 0. 0. 0. 1. ]] SLAMing on 102.35650248099999 meters 0.10986323257947253 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 9.99919283e-01 -4.10514816e-03 -1.20239721e-02 3.37912217e+00] [ 4.06506718e-03 9.99986106e-01 -3.35596801e-03 3.13282126e-01] [ 1.20375818e-02 3.30681887e-03 9.99922078e-01 -1.04828966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.386502481 meters 0.1099802107925591 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 0.99991713 -0.00420167 -0.01216863 3.37906262] [ 0.00415891 0.9999851 -0.00353712 0.31354799] [ 0.01218331 0.00348622 0.9999197 -1.04779635] [ 0. 0. 0. 1. ]] SLAMing on 102.416502481 meters 0.10986711683685269 Centerline is valid? [False, False] Translation: X:3.38, Y:0.32, Z:-1.05 [[ 0.99991241 -0.00438857 -0.01248642 3.37956798] [ 0.00433775 0.99998221 -0.00409424 0.31544634] [ 0.01250417 0.00403971 0.99991366 -1.04763547] [ 0. 0. 0. 1. ]] SLAMing on 102.446502481 meters 0.10977004338659888 Centerline is valid? [False, False] Translation: X:3.38, Y:0.32, Z:-1.05 [[ 0.99991049 -0.00419575 -0.01270441 3.38041082] [ 0.00414599 0.99998364 -0.00394112 0.31570664] [ 0.01272074 0.0038881 0.99991153 -1.04827326] [ 0. 0. 0. 1. ]] SLAMing on 102.476502481 meters 0.10975007448616934 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 9.99913477e-01 -3.86656388e-03 -1.25733056e-02 3.38080896e+00] [ 3.82418701e-03 9.99986933e-01 -3.39268141e-03 3.14780068e-01] [ 1.25862593e-02 3.34430519e-03 9.99915197e-01 -1.04921129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50650248099998 meters 0.10979732306616917 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 9.99913302e-01 -3.72655140e-03 -1.26293530e-02 3.38106206e+00] [ 3.68665668e-03 9.99988146e-01 -3.18069864e-03 3.14422433e-01] [ 1.26410563e-02 3.13386279e-03 9.99915188e-01 -1.04945318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53650248099999 meters 0.11003136871530472 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 9.99914411e-01 -3.52841958e-03 -1.25984743e-02 3.38143761e+00] [ 3.49232538e-03 9.99989738e-01 -2.88581719e-03 3.14094967e-01] [ 1.26085274e-02 2.84157222e-03 9.99916472e-01 -1.05006530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56650248099999 meters 0.11028228198994512 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 9.99914395e-01 -3.31354977e-03 -1.26579250e-02 3.38170607e+00] [ 3.28170264e-03 9.99991400e-01 -2.53592639e-03 3.13376837e-01] [ 1.26662191e-02 2.49416975e-03 9.99916670e-01 -1.05030371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59650248099999 meters 0.11080551894091693 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 9.99911955e-01 -3.32216321e-03 -1.28469758e-02 3.38196742e+00] [ 3.28989663e-03 9.99991383e-01 -2.53192785e-03 3.13537163e-01] [ 1.28552765e-02 2.48943971e-03 9.99914269e-01 -1.05014812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62650248099999 meters 0.11066021343770707 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 9.99908962e-01 -3.35454070e-03 -1.30696273e-02 3.38233956e+00] [ 3.31959242e-03 9.99990859e-01 -2.69478419e-03 3.14200474e-01] [ 1.30785476e-02 2.65115302e-03 9.99910958e-01 -1.05004517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65650248099999 meters 0.11062144231812186 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 9.99908065e-01 -3.32612120e-03 -1.31453050e-02 3.38239653e+00] [ 3.29112340e-03 9.99990985e-01 -2.68311660e-03 3.14189774e-01] [ 1.31541108e-02 2.63960711e-03 9.99909997e-01 -1.04991350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68650248099999 meters 0.11064315188616572 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 9.99907156e-01 -3.19262025e-03 -1.32471200e-02 3.38273807e+00] [ 3.15943927e-03 9.99991821e-01 -2.52494127e-03 3.13980800e-01] [ 1.32550728e-02 2.48285337e-03 9.99909065e-01 -1.05014373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71650248099999 meters 0.11130336971288006 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 9.99904963e-01 -3.17528512e-03 -1.34157460e-02 3.38313681e+00] [ 3.14054706e-03 9.99991663e-01 -2.60962412e-03 3.14469349e-01] [ 1.34239205e-02 2.56724333e-03 9.99906599e-01 -1.05025137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.746502481 meters 0.11051180115926362 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 9.99903740e-01 -2.81093140e-03 -1.35870790e-02 3.38413220e+00] [ 2.78136732e-03 9.99993724e-01 -2.19430309e-03 3.14203038e-01] [ 1.35931618e-02 2.15630121e-03 9.99905284e-01 -1.05124759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.776502481 meters 0.11095234010033539 Centerline is valid? [False, False] Translation: X:3.38, Y:0.31, Z:-1.05 [[ 9.99904093e-01 -2.47620366e-03 -1.36261888e-02 3.38487751e+00] [ 2.45231512e-03 9.99995427e-01 -1.76956354e-03 3.13787083e-01] [ 1.36305083e-02 1.73597811e-03 9.99905593e-01 -1.05226111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.806502481 meters 0.11115367842856443 Centerline is valid? [False, False] Translation: X:3.39, Y:0.31, Z:-1.05 [[ 9.99902964e-01 -2.40124267e-03 -1.37221418e-02 3.38529200e+00] [ 2.37754551e-03 9.99995655e-01 -1.74298070e-03 3.14053723e-01] [ 1.37262675e-02 1.71018655e-03 9.99904328e-01 -1.05258010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.836502481 meters 0.1115453338235945 Centerline is valid? [False, False] Translation: X:3.40, Y:0.31, Z:-1.05 [[ 9.99938202e-01 1.30369369e-03 -1.10405263e-02 3.39564282e+00] [-1.38366983e-03 9.99972838e-01 -7.23933230e-03 3.14866267e-01] [ 1.10307886e-02 7.25416137e-03 9.99912846e-01 -1.05121813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86650248099998 meters 0.1116627803952898 Centerline is valid? [False, False] Translation: X:3.40, Y:0.32, Z:-1.05 [[ 9.99937945e-01 9.91810235e-04 -1.10960894e-02 3.39531755e+00] [-1.07795718e-03 9.99969306e-01 -7.76043611e-03 3.15888583e-01] [ 1.10880519e-02 7.77191564e-03 9.99908322e-01 -1.05052275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89650248099998 meters 0.11179998863652892 Centerline is valid? [False, False] Translation: X:3.40, Y:0.32, Z:-1.05 [[ 9.99987657e-01 -2.70811196e-03 -4.16562326e-03 3.40239878e+00] [ 2.71155593e-03 9.99995986e-01 8.21335405e-04 3.16717589e-01] [ 4.16338227e-03 -8.32620587e-04 9.99990986e-01 -1.05399029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92650248099999 meters 0.11143154429660954 Centerline is valid? [False, False] Translation: X:3.40, Y:0.32, Z:-1.05 [[ 9.99987986e-01 -2.37135262e-03 -4.29007720e-03 3.40325068e+00] [ 2.37676145e-03 9.99996387e-01 1.25611744e-03 3.16316438e-01] [ 4.28708300e-03 -1.26629884e-03 9.99990009e-01 -1.05491388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95650248099999 meters 0.11194014031471983 Centerline is valid? [False, False] Translation: X:3.40, Y:0.31, Z:-1.06 [[ 9.99989728e-01 -2.02816890e-03 -4.05332670e-03 3.40352705e+00] [ 2.03580134e-03 9.99996161e-01 1.87976900e-03 3.14982861e-01] [ 4.04949865e-03 -1.88800146e-03 9.99990018e-01 -1.05596613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98650248099999 meters 0.11214025385734241 Centerline is valid? [False, False] Translation: X:3.40, Y:0.31, Z:-1.06 [[ 9.99989939e-01 -1.88548242e-03 -4.07022743e-03 3.40378217e+00] [ 1.89394908e-03 9.99996049e-01 2.07729436e-03 3.14611045e-01] [ 4.06629465e-03 -2.08498226e-03 9.99989559e-01 -1.05629886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01650248099999 meters 0.11189028515106149 Centerline is valid? [False, False] Translation: X:3.40, Y:0.31, Z:-1.06 [[ 9.99990241e-01 -1.69870761e-03 -4.07820619e-03 3.40410785e+00] [ 1.70833170e-03 9.99995762e-01 2.35756103e-03 3.14180806e-01] [ 4.07418410e-03 -2.36450495e-03 9.99988905e-01 -1.05676368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04650248099999 meters 0.11235058170061438 Centerline is valid? [False, False] Translation: X:3.40, Y:0.31, Z:-1.06 [[ 9.99990104e-01 -1.63382775e-03 -4.13788125e-03 3.40431030e+00] [ 1.64384982e-03 9.99995721e-01 2.41978689e-03 3.14114430e-01] [ 4.13391003e-03 -2.42656500e-03 9.99988511e-01 -1.05688558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07650248099999 meters 0.11251398575020448 Centerline is valid? [False, False] Translation: X:3.40, Y:0.31, Z:-1.06 [[ 9.99989370e-01 -1.56693456e-03 -4.33647088e-03 3.40474166e+00] [ 1.57744215e-03 9.99995826e-01 2.42071584e-03 3.14418090e-01] [ 4.33265967e-03 -2.42753064e-03 9.99987668e-01 -1.05697689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10650248099999 meters 0.11205322604514442 Centerline is valid? [False, False] Translation: X:3.41, Y:0.31, Z:-1.06 [[ 9.99988603e-01 -1.32011751e-03 -4.58810118e-03 3.40556806e+00] [ 1.33231852e-03 9.99995582e-01 2.65723546e-03 3.14402137e-01] [ 4.58457305e-03 -2.66331799e-03 9.99985944e-01 -1.05752427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.136502481 meters 0.11215044962462085 Centerline is valid? [False, False] Translation: X:3.41, Y:0.31, Z:-1.06 [[ 9.99988286e-01 -1.23976081e-03 -4.67878820e-03 3.40602213e+00] [ 1.25209032e-03 9.99995749e-01 2.63318441e-03 3.14836032e-01] [ 4.67550379e-03 -2.63901183e-03 9.99985588e-01 -1.05797129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.166502481 meters 0.11126850568100068 Centerline is valid? [False, False] Translation: X:3.41, Y:0.32, Z:-1.06 [[ 9.99988321e-01 -1.27842658e-03 -4.66091009e-03 3.40601074e+00] [ 1.29029985e-03 9.99995928e-01 2.54529806e-03 3.15010798e-01] [ 4.65763713e-03 -2.55128230e-03 9.99985899e-01 -1.05800813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.196502481 meters 0.11097094737766107 Centerline is valid? [False, False] Translation: X:3.41, Y:0.32, Z:-1.06 [[ 9.99987964e-01 -1.14375300e-03 -4.77115789e-03 3.40656281e+00] [ 1.15601639e-03 9.99996034e-01 2.56835209e-03 3.15389344e-01] [ 4.76820140e-03 -2.57383671e-03 9.99985320e-01 -1.05858418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.226502481 meters 0.11108047217891964 Centerline is valid? [False, False] Translation: X:3.41, Y:0.32, Z:-1.06 [[ 9.99987346e-01 -9.53420475e-04 -4.93954218e-03 3.40718524e+00] [ 9.67003793e-04 9.99995756e-01 2.74825616e-03 3.15398597e-01] [ 4.93690097e-03 -2.75299794e-03 9.99984024e-01 -1.05906093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25650248099998 meters 0.11119002615030528 Centerline is valid? [False, False] Translation: X:3.41, Y:0.32, Z:-1.06 [[ 9.99986309e-01 -1.30442395e-03 -5.06762887e-03 3.40671905e+00] [ 1.31524111e-03 9.99996863e-01 2.13181493e-03 3.16348834e-01] [ 5.06483218e-03 -2.13845090e-03 9.99984887e-01 -1.05797985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28650248099999 meters 0.11129093693942099 Centerline is valid? [False, False] Translation: X:3.41, Y:0.32, Z:-1.06 [[ 9.99985581e-01 -1.29955295e-03 -5.21039012e-03 3.40688580e+00] [ 1.31034635e-03 9.99997002e-01 2.06863714e-03 3.16539996e-01] [ 5.20768620e-03 -2.07543473e-03 9.99984286e-01 -1.05784395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31650248099999 meters 0.11106489727646368 Centerline is valid? [False, False] Translation: X:3.41, Y:0.32, Z:-1.06 [[ 9.99986768e-01 -1.07259671e-03 -5.03118569e-03 3.40715603e+00] [ 1.08474083e-03 9.99996504e-01 2.41166101e-03 3.15924223e-01] [ 5.02858136e-03 -2.41708664e-03 9.99984435e-01 -1.05873868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34650248099999 meters 0.11081081486835472 Centerline is valid? [False, False] Translation: X:3.41, Y:0.32, Z:-1.06 [[ 9.99970491e-01 -4.97196940e-03 -5.85639406e-03 3.40912167e+00] [ 4.96109536e-03 9.99985946e-01 -1.86984784e-03 3.17322515e-01] [ 5.86560857e-03 1.84073854e-03 9.99981103e-01 -1.05950435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37650248099999 meters 0.11054243682148114 Centerline is valid? [False, False] Translation: X:3.41, Y:0.32, Z:-1.06 [[ 9.99969815e-01 -4.69837477e-03 -6.18822775e-03 3.41034743e+00] [ 4.68776297e-03 9.99987519e-01 -1.72822630e-03 3.18030761e-01] [ 6.19627037e-03 1.69916518e-03 9.99979359e-01 -1.06044274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40650248099999 meters 0.11069078348602159 Centerline is valid? [False, False] Translation: X:3.41, Y:0.32, Z:-1.06 [[ 9.99967841e-01 -4.77002825e-03 -6.44707540e-03 3.41082815e+00] [ 4.75691523e-03 9.99986589e-01 -2.04775424e-03 3.19329666e-01] [ 6.45675679e-03 2.01702020e-03 9.99977121e-01 -1.06040540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43650248099999 meters 0.11099505713591416 Centerline is valid? [False, False] Translation: X:3.41, Y:0.32, Z:-1.06 [[ 9.99964718e-01 -4.79089505e-03 -6.89995954e-03 3.41141012e+00] [ 4.77449150e-03 9.99985742e-01 -2.39185382e-03 3.20623673e-01] [ 6.91132028e-03 2.35882564e-03 9.99973334e-01 -1.06003620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46650248099999 meters 0.11113144666811277 Centerline is valid? [False, False] Translation: X:3.41, Y:0.32, Z:-1.06 [[ 9.99964123e-01 -4.78462897e-03 -6.99006425e-03 3.41151928e+00] [ 4.76778029e-03 9.99985694e-01 -2.42505483e-03 3.20682055e-01] [ 7.00156724e-03 2.39164073e-03 9.99972629e-01 -1.05994336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.496502481 meters 0.11106055767389605 Centerline is valid? [False, False] Translation: X:3.41, Y:0.32, Z:-1.06 [[ 9.99962490e-01 -4.66541291e-03 -7.29741842e-03 3.41221791e+00] [ 4.64765998e-03 9.99986204e-01 -2.44783790e-03 3.21277858e-01] [ 7.30873792e-03 2.41383016e-03 9.99970377e-01 -1.06016099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.526502481 meters 0.11103202903277007 Centerline is valid? [False, False] Translation: X:3.41, Y:0.32, Z:-1.06 [[ 9.99962586e-01 -4.42754748e-03 -7.43118381e-03 3.41287084e+00] [ 4.41168125e-03 9.99987957e-01 -2.15012419e-03 3.21008536e-01] [ 7.44061409e-03 2.11725973e-03 9.99970077e-01 -1.06077327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.556502481 meters 0.11152382031915441 Centerline is valid? [False, False] Translation: X:3.41, Y:0.32, Z:-1.06 [[ 9.99962743e-01 -4.32196037e-03 -7.47215670e-03 3.41323579e+00] [ 4.30699661e-03 9.99988690e-01 -2.01753521e-03 3.21032679e-01] [ 7.48079190e-03 1.98527749e-03 9.99970048e-01 -1.06119656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.586502481 meters 0.11172122602629737 Centerline is valid? [False, False] Translation: X:3.41, Y:0.32, Z:-1.06 [[ 9.99962469e-01 -4.23158501e-03 -7.56005637e-03 3.41358438e+00] [ 4.21707623e-03 9.99989238e-01 -1.93404870e-03 3.21054012e-01] [ 7.56815910e-03 1.90209478e-03 9.99969552e-01 -1.06146373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61650248099998 meters 0.11147648271885924 Centerline is valid? [False, False] Translation: X:3.41, Y:0.32, Z:-1.06 [[ 9.99963168e-01 -3.89734013e-03 -7.64682503e-03 3.41431232e+00] [ 3.88622882e-03 9.99991372e-01 -1.46738248e-03 3.20418693e-01] [ 7.65247795e-03 1.43761112e-03 9.99969686e-01 -1.06230698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64650248099998 meters 0.11133889648645946 Centerline is valid? [False, False] Translation: X:3.42, Y:0.32, Z:-1.06 [[ 9.99959869e-01 -3.58442145e-03 -8.21054615e-03 3.41596675e+00] [ 3.57293736e-03 9.99992619e-01 -1.41294111e-03 3.21691498e-01] [ 8.21555012e-03 1.38354864e-03 9.99965295e-01 -1.06324546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67650248099999 meters 0.11133099879811091 Centerline is valid? [False, False] Translation: X:3.42, Y:0.32, Z:-1.06 [[ 9.99957853e-01 -3.67435088e-03 -8.41380241e-03 3.41637381e+00] [ 3.66002020e-03 9.99991826e-01 -1.71800027e-03 3.22909400e-01] [ 8.42004617e-03 1.68713317e-03 9.99963128e-01 -1.06326753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70650248099999 meters 0.1113543747478187 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:-1.06 [[ 9.99950830e-01 -3.68305607e-03 -9.20724057e-03 3.41775436e+00] [ 3.66196669e-03 9.99990635e-01 -2.30633190e-03 3.25824429e-01] [ 9.21564869e-03 2.27250189e-03 9.99954953e-01 -1.06317850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.73650248099999 meters 0.11147076201084882 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:-1.06 [[ 9.99949203e-01 -3.72177809e-03 -9.36695683e-03 3.41810812e+00] [ 3.69861599e-03 9.99990063e-01 -2.48885459e-03 3.26732658e-01] [ 9.37612672e-03 2.45408339e-03 9.99953032e-01 -1.06323643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76650248099999 meters 0.11181278108399755 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:-1.06 [[ 9.99949515e-01 -3.53867775e-03 -9.40456152e-03 3.41841162e+00] [ 3.51755515e-03 9.99991256e-01 -2.26158851e-03 3.26217303e-01] [ 9.41248232e-03 2.22839327e-03 9.99953219e-01 -1.06355916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79650248099999 meters 0.11197306003888752 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:-1.06 [[ 9.99951907e-01 -3.19954262e-03 -9.27071099e-03 3.41910846e+00] [ 3.18341534e-03 9.99993395e-01 -1.75382968e-03 3.25720086e-01] [ 9.27626121e-03 1.72423281e-03 9.99955488e-01 -1.06492690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82650248099999 meters 0.11199249546564843 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:-1.07 [[ 9.99951147e-01 -3.07062475e-03 -9.39543899e-03 3.41973231e+00] [ 3.05526827e-03 9.99993974e-01 -1.64837745e-03 3.26090479e-01] [ 9.40044392e-03 1.61959134e-03 9.99954503e-01 -1.06547267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85650248099999 meters 0.112013288349862 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:-1.07 [[ 9.99950793e-01 -3.16946966e-03 -9.40033790e-03 3.41989745e+00] [ 3.15241054e-03 9.99993359e-01 -1.82899764e-03 3.26962147e-01] [ 9.40607242e-03 1.79927392e-03 9.99954143e-01 -1.06565678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.886502481 meters 0.11214933495323212 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:-1.07 [[ 9.99949262e-01 -3.06066590e-03 -9.59720595e-03 3.42061649e+00] [ 3.04373819e-03 9.99993787e-01 -1.77792646e-03 3.27526717e-01] [ 9.60258797e-03 1.74862487e-03 9.99952365e-01 -1.06615839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.916502481 meters 0.11214230261630607 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:-1.07 [[ 9.99948201e-01 -2.98367851e-03 -9.73102869e-03 3.42116958e+00] [ 2.96670483e-03 9.99994054e-01 -1.75825268e-03 3.28046797e-01] [ 9.73621688e-03 1.72929252e-03 9.99951107e-01 -1.06658149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.946502481 meters 0.11229709693523852 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:-1.07 [[ 9.99949446e-01 -2.91379195e-03 -9.62367662e-03 3.42123229e+00] [ 2.89822826e-03 9.99994470e-01 -1.63077956e-03 3.27867139e-01] [ 9.62837516e-03 1.60280551e-03 9.99952362e-01 -1.06693124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.976502481 meters 0.11294141511516248 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:-1.07 [[ 9.99948013e-01 -3.17633420e-03 -9.68923688e-03 3.42083010e+00] [ 3.15662832e-03 9.99992920e-01 -2.04840634e-03 3.28431825e-01] [ 9.69567470e-03 2.01771453e-03 9.99950960e-01 -1.06609246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00650248099998 meters 0.11320957925067529 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:-1.07 [[ 9.99947456e-01 -3.18349140e-03 -9.74426561e-03 3.42087582e+00] [ 3.16355696e-03 9.99992873e-01 -2.06049134e-03 3.28503226e-01] [ 9.75075572e-03 2.02955653e-03 9.99950401e-01 -1.06598636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03650248099999 meters 0.11352504548787858 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:-1.07 [[ 9.99947669e-01 -3.15289476e-03 -9.73229380e-03 3.42115050e+00] [ 3.13354629e-03 9.99993085e-01 -2.00267841e-03 3.28759669e-01] [ 9.73854073e-03 1.97207701e-03 9.99950635e-01 -1.06640115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06650248099999 meters 0.11384035629751514 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:-1.07 [[ 9.99948259e-01 -2.90604371e-03 -9.74853178e-03 3.42169992e+00] [ 2.89027410e-03 9.99994493e-01 -1.63133794e-03 3.28362508e-01] [ 9.75321883e-03 1.60307761e-03 9.99951151e-01 -1.06716671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.09650248099999 meters 0.11399850431157132 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:-1.07 [[ 9.99947243e-01 -2.84996167e-03 -9.86858206e-03 3.42207463e+00] [ 2.83418822e-03 9.99994684e-01 -1.61196658e-03 3.28616663e-01] [ 9.87312364e-03 1.58391212e-03 9.99950005e-01 -1.06737144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12650248099999 meters 0.11399850431157132 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:-1.07 [[ 9.99947243e-01 -2.84996167e-03 -9.86858206e-03 3.42207463e+00] [ 2.83418822e-03 9.99994684e-01 -1.61196658e-03 3.28616663e-01] [ 9.87312364e-03 1.58391212e-03 9.99950005e-01 -1.06737144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15650248099999 meters 0.11411033039205823 Centerline is valid? [False, False] Translation: X:3.42, Y:0.33, Z:-1.07 [[ 9.99946551e-01 -2.63548079e-03 -9.99750131e-03 3.42263641e+00] [ 2.62234466e-03 9.99995681e-01 -1.32682242e-03 3.28344387e-01] [ 1.00009549e-02 1.30053461e-03 9.99949143e-01 -1.06782530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18650248099999 meters 0.11411564558361306 Centerline is valid? [False, False] Translation: X:3.43, Y:0.33, Z:-1.07 [[ 9.99964278e-01 2.27528294e-03 -8.14033953e-03 3.43385704e+00] [-2.31616274e-03 9.99984738e-01 -5.01598088e-03 3.27533486e-01] [ 8.12880252e-03 5.03465606e-03 9.99954286e-01 -1.06732669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21650248099999 meters 0.11419322893280558 Centerline is valid? [False, False] Translation: X:3.43, Y:0.33, Z:-1.07 [[ 9.99964441e-01 2.33600664e-03 -8.10311537e-03 3.43388610e+00] [-2.37549448e-03 9.99985335e-01 -4.86696995e-03 3.26982633e-01] [ 8.09162726e-03 4.88604579e-03 9.99955325e-01 -1.06748641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.246502481 meters 0.11411398557757256 Centerline is valid? [False, False] Translation: X:3.43, Y:0.33, Z:-1.07 [[ 9.99962350e-01 2.36059961e-03 -8.35023628e-03 3.43435440e+00] [-2.40229299e-03 9.99984681e-01 -4.98657708e-03 3.27644533e-01] [ 8.33833706e-03 5.00644905e-03 9.99952703e-01 -1.06748875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.276502481 meters 0.11393346419161536 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.07 [[ 9.99959152e-01 2.49899503e-03 -8.68612587e-03 3.43510879e+00] [-2.54201752e-03 9.99984540e-01 -4.94550667e-03 3.27988581e-01] [ 8.67363278e-03 4.96738494e-03 9.99950045e-01 -1.06767601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.306502481 meters 0.11345995110953938 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.07 [[ 9.99956055e-01 2.72979966e-03 -8.96866058e-03 3.43599940e+00] [-2.77327225e-03 9.99984450e-01 -4.83831041e-03 3.28297242e-01] [ 8.95531350e-03 4.86297032e-03 9.99948076e-01 -1.06826643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.336502481 meters 0.11333062277054913 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.08 [[ 9.99967506e-01 6.29725525e-04 8.03683727e-03 3.43502591e+00] [-6.09558377e-04 9.99996660e-01 -2.51154180e-03 3.28045703e-01] [-8.03839201e-03 2.50656127e-03 9.99964550e-01 -1.07726551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36650248099998 meters 0.11278983979960401 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.08 [[ 9.99972963e-01 4.28894895e-04 7.34099713e-03 3.43555014e+00] [-4.04547379e-04 9.99994414e-01 -3.31781335e-03 3.30003978e-01] [-7.34237912e-03 3.31475386e-03 9.99967550e-01 -1.07611430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39650248099998 meters 0.11269786215251118 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.08 [[ 9.99975108e-01 4.17255458e-04 7.04338047e-03 3.43589238e+00] [-3.92556670e-04 9.99993771e-01 -3.50768504e-03 3.30587804e-01] [-7.04480020e-03 3.50483280e-03 9.99969043e-01 -1.07580491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42650248099999 meters 0.11226148024255793 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.08 [[ 9.99977285e-01 7.15725845e-04 6.70199705e-03 3.43670140e+00] [-6.93918469e-04 9.99994460e-01 -3.25562257e-03 3.30253096e-01] [-6.70429005e-03 3.25089798e-03 9.99972242e-01 -1.07613825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.45650248099999 meters 0.11195161785623665 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.08 [[ 9.99978665e-01 1.01347308e-03 6.45316860e-03 3.43756462e+00] [-9.94749348e-04 9.99995289e-01 -2.90402734e-03 3.29966642e-01] [-6.45608135e-03 2.89754610e-03 9.99974961e-01 -1.07683467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48650248099999 meters 0.1117838199814366 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.08 [[ 9.99981244e-01 1.21172697e-03 6.00367069e-03 3.43845147e+00] [-1.19464024e-03 9.99995229e-01 -2.84881754e-03 3.30344939e-01] [-6.00709403e-03 2.84159188e-03 9.99977920e-01 -1.07697906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51650248099999 meters 0.11173004074069946 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.08 [[ 9.99982445e-01 1.38160314e-03 5.76207497e-03 3.43909715e+00] [-1.36604775e-03 9.99995415e-01 -2.70267881e-03 3.30409474e-01] [-5.76578258e-03 2.69476010e-03 9.99979747e-01 -1.07729561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54650248099999 meters 0.11166857030852462 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.08 [[ 9.99982786e-01 1.70807268e-03 5.61344908e-03 3.43971215e+00] [-1.69517142e-03 9.99995913e-01 -2.30223235e-03 3.29590685e-01] [-5.61735852e-03 2.29267696e-03 9.99981594e-01 -1.07783778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57650248099999 meters 0.1116225121392491 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.08 [[ 9.99982323e-01 1.68561775e-03 5.70188810e-03 3.43932258e+00] [-1.67293150e-03 9.99996117e-01 -2.22896040e-03 3.28787679e-01] [-5.70562314e-03 2.21938213e-03 9.99981260e-01 -1.07754773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60650248099999 meters 0.11166575640539197 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.08 [[ 9.99982765e-01 2.04532570e-03 5.50335962e-03 3.44000741e+00] [-2.03598988e-03 9.99996480e-01 -1.70145420e-03 3.27661780e-01] [-5.50682028e-03 1.69022009e-03 9.99983409e-01 -1.07810264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.636502481 meters 0.11144434327830238 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.08 [[ 9.99983366e-01 2.22330427e-03 5.32205428e-03 3.44056285e+00] [-2.21546375e-03 9.99996453e-01 -1.47865521e-03 3.27425331e-01] [-5.32532290e-03 1.46683979e-03 9.99984745e-01 -1.07848090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.666502481 meters 0.11165873741362929 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.08 [[ 9.99984285e-01 2.28467553e-03 5.11950806e-03 3.44087137e+00] [-2.27714871e-03 9.99996319e-01 -1.47556919e-03 3.27383198e-01] [-5.12286041e-03 1.46388812e-03 9.99985807e-01 -1.07836750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.696502481 meters 0.11175073315412119 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.08 [[ 9.99986186e-01 2.29205024e-03 4.73021968e-03 3.44122544e+00] [-2.28451924e-03 9.99996115e-01 -1.59689416e-03 3.27734754e-01] [-4.73386147e-03 1.58606583e-03 9.99987537e-01 -1.07784556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.726502481 meters 0.11175707665572739 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.08 [[ 9.99985611e-01 2.36140357e-03 4.81679514e-03 3.44108019e+00] [-2.35458333e-03 9.99996218e-01 -1.42110713e-03 3.26918305e-01] [-4.82013273e-03 1.40974514e-03 9.99987389e-01 -1.07787985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75650248099998 meters 0.11169669467357424 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.08 [[ 9.99989234e-01 -1.77728280e-03 4.28632869e-03 3.44209743e+00] [ 1.80257695e-03 9.99980944e-01 -5.90449739e-03 3.27967160e-01] [-4.27575305e-03 5.91216026e-03 9.99973382e-01 -1.07798906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78650248099999 meters 0.11168946446480327 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.08 [[ 9.99989836e-01 -1.36122832e-03 4.29829313e-03 3.44273220e+00] [ 1.38321626e-03 9.99985953e-01 -5.11668285e-03 3.26504794e-01] [-4.29126778e-03 5.12257631e-03 9.99977672e-01 -1.07907044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81650248099999 meters 0.11173997275272382 Centerline is valid? [False, False] Translation: X:3.44, Y:0.33, Z:-1.08 [[ 9.99990416e-01 -1.14388344e-03 4.22601770e-03 3.44315480e+00] [ 1.16402384e-03 9.99987963e-01 -4.76642800e-03 3.25910875e-01] [-4.22051459e-03 4.77130150e-03 9.99979711e-01 -1.07948861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84650248099999 meters 0.11187062304538226 Centerline is valid? [False, False] Translation: X:3.44, Y:0.32, Z:-1.08 [[ 9.99990427e-01 -7.42340485e-04 4.31208627e-03 3.44348047e+00] [ 7.59283408e-04 9.99991994e-01 -3.92886350e-03 3.23975757e-01] [-4.30913519e-03 3.93209999e-03 9.99982985e-01 -1.08024699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87650248099999 meters 0.11200652161824871 Centerline is valid? [False, False] Translation: X:3.44, Y:0.32, Z:-1.08 [[ 9.99990405e-01 -2.91271832e-04 4.37090666e-03 3.44382779e+00] [ 3.04548374e-04 9.99995342e-01 -3.03712189e-03 3.21737856e-01] [-4.37000167e-03 3.03842390e-03 9.99985835e-01 -1.08097355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90650248099999 meters 0.11211240776751259 Centerline is valid? [False, False] Translation: X:3.44, Y:0.32, Z:-1.08 [[ 9.99991391e-01 1.96261097e-05 4.14946706e-03 3.44438931e+00] [-9.22927437e-06 9.99996861e-01 -2.50558760e-03 3.20524235e-01] [-4.14950321e-03 2.50552773e-03 9.99988252e-01 -1.08123161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93650248099999 meters 0.11200797301736802 Centerline is valid? [False, False] Translation: X:3.44, Y:0.32, Z:-1.08 [[ 9.99992159e-01 1.76919524e-04 3.95613160e-03 3.44486586e+00] [-1.67742670e-04 9.99997295e-01 -2.31986474e-03 3.20338678e-01] [-3.95653133e-03 2.31918294e-03 9.99989484e-01 -1.08140783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96650248099999 meters 0.11163928517837439 Centerline is valid? [False, False] Translation: X:3.45, Y:0.32, Z:-1.08 [[ 9.99993561e-01 1.24718917e-04 3.58638865e-03 3.44508796e+00] [-1.15461462e-04 9.99996662e-01 -2.58136624e-03 3.20689104e-01] [-3.58669862e-03 2.58093553e-03 9.99990237e-01 -1.08069395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.996502481 meters 0.11141947647939003 Centerline is valid? [False, False] Translation: X:3.45, Y:0.32, Z:-1.08 [[ 9.99994312e-01 3.61622442e-04 3.35337672e-03 3.44580869e+00] [-3.53679342e-04 9.99997131e-01 -2.36897752e-03 3.20613057e-01] [-3.35422378e-03 2.36777802e-03 9.99991571e-01 -1.08119252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.026502481 meters 0.11110377427216983 Centerline is valid? [False, False] Translation: X:3.46, Y:0.32, Z:-1.08 [[ 9.99978000e-01 -3.71535222e-03 5.49497566e-03 3.46361241e+00] [ 3.71717989e-03 9.99993039e-01 -3.22432032e-04 3.21706867e-01] [-5.49373946e-03 3.42850752e-04 9.99984851e-01 -1.08113605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.056502481 meters 0.11086678835123091 Centerline is valid? [False, False] Translation: X:3.46, Y:0.32, Z:-1.08 [[ 9.99978360e-01 -3.83149388e-03 5.34776118e-03 3.46354264e+00] [ 3.83463789e-03 9.99992481e-01 -5.77782234e-04 3.22018838e-01] [-5.34550720e-03 5.98276459e-04 9.99985534e-01 -1.08061622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.086502481 meters 0.11077614595327392 Centerline is valid? [False, False] Translation: X:3.46, Y:0.32, Z:-1.08 [[ 9.99980337e-01 -3.66994517e-03 5.08497976e-03 3.46412320e+00] [ 3.67224020e-03 9.99993160e-01 -4.42071886e-04 3.21975816e-01] [-5.08332260e-03 4.60736461e-04 9.99986974e-01 -1.08078314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11650248099998 meters 0.11067618655904117 Centerline is valid? [False, False] Translation: X:3.47, Y:0.32, Z:-1.08 [[ 9.99983566e-01 -3.30605398e-03 4.68370489e-03 3.46521327e+00] [ 3.30636162e-03 9.99994532e-01 -5.79421087e-05 3.21740320e-01] [-4.68348772e-03 7.34271786e-05 9.99989030e-01 -1.08137075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14650248099998 meters 0.11041690828345316 Centerline is valid? [False, False] Translation: X:3.47, Y:0.32, Z:-1.08 [[ 9.99985688e-01 -2.79790420e-03 4.56027154e-03 3.46586197e+00] [ 2.79435508e-03 9.99995788e-01 7.84456357e-04 3.19766299e-01] [-4.56244717e-03 -7.71702112e-04 9.99989294e-01 -1.08205731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17650248099999 meters 0.11049438555994272 Centerline is valid? [False, False] Translation: X:3.47, Y:0.32, Z:-1.08 [[ 9.99986526e-01 -2.54636622e-03 4.52359188e-03 3.46618559e+00] [ 2.54078451e-03 9.99996004e-01 1.23922854e-03 3.18670621e-01] [-4.52672934e-03 -1.22771837e-03 9.99989001e-01 -1.08249695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20650248099999 meters 0.11051168033061977 Centerline is valid? [False, False] Translation: X:3.47, Y:0.32, Z:-1.08 [[ 9.99988089e-01 -2.24121013e-03 4.33579498e-03 3.46663028e+00] [ 2.23359160e-03 9.99995955e-01 1.76116881e-03 3.17490402e-01] [-4.33972459e-03 -1.75146344e-03 9.99989050e-01 -1.08265390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.23650248099999 meters 0.11060195154168759 Centerline is valid? [False, False] Translation: X:3.47, Y:0.32, Z:-1.08 [[ 9.99988664e-01 -2.09455138e-03 4.27608866e-03 3.46679537e+00] [ 2.08588883e-03 9.99995766e-01 2.02926749e-03 3.16699128e-01] [-4.28032096e-03 -2.02032504e-03 9.99988799e-01 -1.08273681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26650248099999 meters 0.1103770825428466 Centerline is valid? [False, False] Translation: X:3.47, Y:0.31, Z:-1.08 [[ 9.99987120e-01 -1.91294473e-03 4.70117258e-03 3.46628505e+00] [ 1.89992299e-03 9.99994351e-01 2.77279914e-03 3.14072682e-01] [-4.70645023e-03 -2.76383156e-03 9.99985105e-01 -1.08313438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29650248099999 meters 0.11063927349969281 Centerline is valid? [False, False] Translation: X:3.47, Y:0.31, Z:-1.08 [[ 9.99986349e-01 -1.67529916e-03 4.94919810e-03 3.46603351e+00] [ 1.65774762e-03 9.99992331e-01 3.54831684e-03 3.11630533e-01] [-4.95510463e-03 -3.54006388e-03 9.99981457e-01 -1.08342606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32650248099999 meters 0.11061212478843893 Centerline is valid? [False, False] Translation: X:3.47, Y:0.31, Z:-1.08 [[ 9.99986688e-01 -1.63396802e-03 4.89422570e-03 3.46602821e+00] [ 1.61587114e-03 9.99991852e-01 3.69927211e-03 3.10994301e-01] [-4.90023031e-03 -3.69131442e-03 9.99981181e-01 -1.08327220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35650248099999 meters 0.11052210967296386 Centerline is valid? [False, False] Translation: X:3.47, Y:0.31, Z:-1.08 [[ 9.99976118e-01 -5.66203012e-03 3.96286781e-03 3.46781222e+00] [ 5.66513706e-03 9.99983654e-01 -7.73227270e-04 3.13042164e-01] [-3.95842499e-03 7.95658993e-04 9.99991849e-01 -1.08348367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.386502481 meters 0.1104027098224037 Centerline is valid? [False, False] Translation: X:3.47, Y:0.31, Z:-1.08 [[ 9.99978014e-01 -5.40840684e-03 3.83674831e-03 3.46821473e+00] [ 5.40986726e-03 9.99985298e-01 -3.70364383e-04 3.12148083e-01] [-3.83468882e-03 3.91112539e-04 9.99992571e-01 -1.08375347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.416502481 meters 0.11063199998172775 Centerline is valid? [False, False] Translation: X:3.47, Y:0.31, Z:-1.08 [[ 9.99978449e-01 -5.26843988e-03 3.91731402e-03 3.46790309e+00] [ 5.26832389e-03 9.99986121e-01 3.99280661e-05 3.10367896e-01] [-3.91747001e-03 -1.92895265e-05 9.99992326e-01 -1.08352748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.446502481 meters 0.11034072482185901 Centerline is valid? [False, False] Translation: X:3.47, Y:0.31, Z:-1.08 [[ 9.99979972e-01 -5.11809634e-03 3.72299764e-03 3.46839418e+00] [ 5.11735427e-03 9.99986884e-01 2.08818052e-04 3.10236759e-01] [-3.72401757e-03 -1.89761972e-04 9.99993048e-01 -1.08376933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.476502481 meters 0.11010242418829738 Centerline is valid? [False, False] Translation: X:3.47, Y:0.31, Z:-1.08 [[ 9.99981957e-01 -4.95821127e-03 3.39153260e-03 3.46899260e+00] [ 4.95725032e-03 9.99987670e-01 2.91684985e-04 3.10308219e-01] [-3.39293702e-03 -2.74867046e-04 9.99994206e-01 -1.08378829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50650248099998 meters 0.10989323389439866 Centerline is valid? [False, False] Translation: X:3.47, Y:0.31, Z:-1.08 [[ 9.99982966e-01 -4.86403926e-03 3.22627186e-03 3.46926967e+00] [ 4.86290359e-03 9.99988111e-01 3.59757856e-04 3.10192888e-01] [-3.22798338e-03 -3.44062678e-04 9.99994731e-01 -1.08376285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53650248099999 meters 0.10970708189684229 Centerline is valid? [False, False] Translation: X:3.47, Y:0.31, Z:-1.08 [[ 9.99985392e-01 -4.61787797e-03 2.80923825e-03 3.47023593e+00] [ 4.61647518e-03 9.99989216e-01 5.05630417e-04 3.10539101e-01] [-2.81154290e-03 -4.92654252e-04 9.99995926e-01 -1.08411077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56650248099999 meters 0.1093555307820487 Centerline is valid? [False, False] Translation: X:3.47, Y:0.31, Z:-1.08 [[ 9.99987808e-01 -4.18953080e-03 2.61393524e-03 3.47090236e+00] [ 4.18654591e-03 9.99990579e-01 1.14634289e-03 3.08979899e-01] [-2.61871326e-03 -1.13538555e-03 9.99995927e-01 -1.08462642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.59650248099999 meters 0.10925493270882865 Centerline is valid? [False, False] Translation: X:3.47, Y:0.31, Z:-1.09 [[ 9.99989218e-01 -3.90545511e-03 2.51237123e-03 3.47137326e+00] [ 3.90151560e-03 9.99991155e-01 1.57103905e-03 3.08146347e-01] [-2.51848463e-03 -1.56122005e-03 9.99995610e-01 -1.08508706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62650248099999 meters 0.10918303639848308 Centerline is valid? [False, False] Translation: X:3.47, Y:0.31, Z:-1.09 [[ 9.99990642e-01 -3.68604334e-03 2.26473675e-03 3.47189440e+00] [ 3.68187443e-03 9.99991525e-01 1.84221283e-03 3.07720400e-01] [-2.27150804e-03 -1.83385712e-03 9.99995739e-01 -1.08520308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65650248099999 meters 0.10910104477287752 Centerline is valid? [False, False] Translation: X:3.47, Y:0.31, Z:-1.09 [[ 9.99991024e-01 -3.61720004e-03 2.20615528e-03 3.47196837e+00] [ 3.61286099e-03 9.99991538e-01 1.96761564e-03 3.07318702e-01] [-2.21325387e-03 -1.95962744e-03 9.99995631e-01 -1.08515075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68650248099999 meters 0.10904467014285353 Centerline is valid? [False, False] Translation: X:3.47, Y:0.31, Z:-1.09 [[ 9.99991855e-01 -3.34705849e-03 2.25540774e-03 3.47188550e+00] [ 3.34126813e-03 9.99991125e-01 2.56621779e-03 3.05371030e-01] [-2.26397701e-03 -2.55866097e-03 9.99994164e-01 -1.08517600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71650248099999 meters 0.10928192268025085 Centerline is valid? [False, False] Translation: X:3.47, Y:0.30, Z:-1.09 [[ 9.99993170e-01 -2.99067163e-03 2.17144415e-03 3.47221719e+00] [ 2.98374381e-03 9.99990471e-01 3.18668155e-03 3.03805158e-01] [-2.18095378e-03 -3.18018075e-03 9.99992565e-01 -1.08547598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.746502481 meters 0.10900903525858278 Centerline is valid? [False, False] Translation: X:3.47, Y:0.30, Z:-1.09 [[ 9.99992718e-01 -2.79595106e-03 2.59734831e-03 3.47182871e+00] [ 2.78578108e-03 9.99988472e-01 3.91092578e-03 3.01405041e-01] [-2.60825312e-03 -3.90366166e-03 9.99988979e-01 -1.08602535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.776502481 meters 0.10924519617848413 Centerline is valid? [False, False] Translation: X:3.47, Y:0.30, Z:-1.09 [[ 9.99974693e-01 -6.78007478e-03 2.15502639e-03 3.47310554e+00] [ 6.78049777e-03 9.99976994e-01 -1.89035694e-04 3.02007872e-01] [-2.15369514e-03 2.03643061e-04 9.99997660e-01 -1.08669836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.806502481 meters 0.10966582634608484 Centerline is valid? [False, False] Translation: X:3.47, Y:0.30, Z:-1.09 [[ 9.99977514e-01 -6.27238057e-03 2.37240120e-03 3.47352686e+00] [ 6.26996704e-03 9.99979820e-01 1.02341089e-03 2.99385895e-01] [-2.37877255e-03 -1.00851300e-03 9.99996662e-01 -1.08796819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.836502481 meters 0.10982218243385336 Centerline is valid? [False, False] Translation: X:3.47, Y:0.30, Z:-1.09 [[ 9.99979847e-01 -5.83815917e-03 2.49440761e-03 3.47396286e+00] [ 5.83358468e-03 9.99981297e-01 1.83725360e-03 2.97730660e-01] [-2.50508713e-03 -1.82266523e-03 9.99995201e-01 -1.08895154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86650248099998 meters 0.11031969849556664 Centerline is valid? [False, False] Translation: X:3.47, Y:0.29, Z:-1.09 [[ 9.99979482e-01 -5.58982775e-03 3.12873526e-03 3.47330086e+00] [ 5.58106187e-03 9.99980496e-01 2.80348509e-03 2.94548326e-01] [-3.14434524e-03 -2.78596590e-03 9.99991176e-01 -1.08959262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89650248099998 meters 0.11082436012804585 Centerline is valid? [False, False] Translation: X:3.47, Y:0.29, Z:-1.09 [[ 9.99980945e-01 -5.22196755e-03 3.29263545e-03 3.47339122e+00] [ 5.21013627e-03 9.99979977e-01 3.59165301e-03 2.92550291e-01] [-3.31132502e-03 -3.57442949e-03 9.99988129e-01 -1.09020233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92650248099999 meters 0.11153227093940771 Centerline is valid? [False, False] Translation: X:3.47, Y:0.29, Z:-1.09 [[ 0.99998003 -0.00524027 0.00353378 3.47271185] [ 0.00522615 0.99997838 0.00399158 0.29073588] [-0.00355462 -0.00397303 0.99998579 -1.08974729] [ 0. 0. 0. 1. ]] SLAMing on 105.95650248099999 meters 0.1124158726335731 Centerline is valid? [False, False] Translation: X:3.47, Y:0.29, Z:-1.09 [[ 0.99998029 -0.00522088 0.00348619 3.47272942] [ 0.00520638 0.99997782 0.00415317 0.29045323] [-0.0035078 -0.00413494 0.9999853 -1.08958306] [ 0. 0. 0. 1. ]] SLAMing on 105.98650248099999 meters 0.11271109356762152 Centerline is valid? [False, False] Translation: X:3.47, Y:0.29, Z:-1.09 [[ 9.99981792e-01 -4.98434089e-03 3.40189385e-03 3.47312260e+00] [ 4.96885357e-03 9.99977322e-01 4.54592603e-03 2.89623323e-01] [-3.42447515e-03 -4.52893974e-03 9.99983881e-01 -1.08993631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01650248099999 meters 0.11271109356762152 Centerline is valid? [False, False] Translation: X:3.47, Y:0.29, Z:-1.09 [[ 9.99981792e-01 -4.98434089e-03 3.40189385e-03 3.47312260e+00] [ 4.96885357e-03 9.99977322e-01 4.54592603e-03 2.89623323e-01] [-3.42447515e-03 -4.52893974e-03 9.99983881e-01 -1.08993631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04650248099999 meters 0.11302972912060821 Centerline is valid? [False, False] Translation: X:3.47, Y:0.29, Z:-1.09 [[ 0.99998058 -0.00465251 0.00414554 3.47247889] [ 0.00462927 0.99997362 0.00559808 0.28594235] [-0.00417148 -0.00557878 0.99997574 -1.09088917] [ 0. 0. 0. 1. ]] SLAMing on 106.07650248099999 meters 0.11346413847853919 Centerline is valid? [False, False] Translation: X:3.47, Y:0.28, Z:-1.09 [[ 9.99955558e-01 -8.59846517e-03 3.86630882e-03 3.47312497e+00] [ 8.59169738e-03 9.99961535e-01 1.76366734e-03 2.84746338e-01] [-3.88132493e-03 -1.73037081e-03 9.99990971e-01 -1.09112331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10650248099999 meters 0.11342026965042595 Centerline is valid? [False, False] Translation: X:3.47, Y:0.28, Z:-1.09 [[ 9.99956969e-01 -8.53730173e-03 3.62977390e-03 3.47345594e+00] [ 8.53090241e-03 9.99962036e-01 1.77485303e-03 2.84877034e-01] [-3.64478856e-03 -1.74381141e-03 9.99991837e-01 -1.09099336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.136502481 meters 0.11287587899359551 Centerline is valid? [False, False] Translation: X:3.47, Y:0.29, Z:-1.09 [[ 9.99960958e-01 -8.42482428e-03 2.66556369e-03 3.47456462e+00] [ 8.42121908e-03 9.99963615e-01 1.36085468e-03 2.86834644e-01] [-2.67693166e-03 -1.33835425e-03 9.99995521e-01 -1.09025358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.166502481 meters 0.11234721965844628 Centerline is valid? [False, False] Translation: X:3.48, Y:0.29, Z:-1.09 [[ 9.99964008e-01 -8.16176428e-03 2.31699093e-03 3.47547821e+00] [ 8.15816849e-03 9.99965509e-01 1.55715612e-03 2.86909619e-01] [-2.32962015e-03 -1.53819767e-03 9.99996103e-01 -1.09071868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.196502481 meters 0.1108461025624138 Centerline is valid? [False, False] Translation: X:3.48, Y:0.29, Z:-1.09 [[ 9.99970254e-01 -7.52148983e-03 1.70841940e-03 3.47706959e+00] [ 7.51784319e-03 9.99969470e-01 2.13099729e-03 2.86348524e-01] [-1.72439552e-03 -2.11809027e-03 9.99996270e-01 -1.09167749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.226502481 meters 0.11031694606992339 Centerline is valid? [False, False] Translation: X:3.48, Y:0.29, Z:-1.09 [[ 9.99972729e-01 -7.23816872e-03 1.46655665e-03 3.47773810e+00] [ 7.23459169e-03 9.99970878e-01 2.42986714e-03 2.85861600e-01] [-1.48410173e-03 -2.41919094e-03 9.99995972e-01 -1.09211198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25650248099998 meters 0.10960447814573589 Centerline is valid? [False, False] Translation: X:3.48, Y:0.29, Z:-1.09 [[ 9.99976485e-01 -6.77059639e-03 1.09006247e-03 3.47892914e+00] [ 6.76752075e-03 9.99973177e-01 2.80091098e-03 2.85748274e-01] [-1.10899707e-03 -2.79346810e-03 9.99995483e-01 -1.09302330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28650248099999 meters 0.10906401829459457 Centerline is valid? [False, False] Translation: X:3.48, Y:0.29, Z:-1.09 [[ 9.99978364e-01 -6.52551770e-03 8.29795782e-04 3.47965166e+00] [ 6.52296257e-03 9.99974088e-01 3.04553122e-03 2.85551082e-01] [-8.49647948e-04 -3.04005260e-03 9.99995018e-01 -1.09344525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31650248099999 meters 0.1085680389538741 Centerline is valid? [False, False] Translation: X:3.48, Y:0.29, Z:-1.09 [[ 9.99978936e-01 -6.47940664e-03 3.80528140e-04 3.48024373e+00] [ 6.47829748e-03 9.99974963e-01 2.84706994e-03 2.86310075e-01] [-3.98965937e-04 -2.84454480e-03 9.99995875e-01 -1.09320424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34650248099999 meters 0.10853881548383672 Centerline is valid? [False, False] Translation: X:3.48, Y:0.29, Z:-1.09 [[ 9.99980444e-01 -6.25390060e-03 1.46450823e-05 3.48114901e+00] [ 6.25383040e-03 9.99976112e-01 2.94359902e-03 2.86777076e-01] [-3.30537081e-05 -2.94344987e-03 9.99995667e-01 -1.09360150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37650248099999 meters 0.10836019760718114 Centerline is valid? [False, False] Translation: X:3.48, Y:0.29, Z:-1.09 [[ 9.99982981e-01 -5.83351128e-03 -9.31265049e-05 3.48191927e+00] [ 5.83380483e-03 9.99976697e-01 3.54576760e-03 2.85791966e-01] [ 7.24400595e-05 -3.54625053e-03 9.99993709e-01 -1.09450309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40650248099999 meters 0.1079180930671962 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-1.10 [[ 9.99985198e-01 -5.43725025e-03 -1.99292226e-04 3.48262070e+00] [ 5.43800999e-03 9.99977079e-01 4.03362016e-03 2.84800063e-01] [ 1.77355855e-04 -4.03464420e-03 9.99991845e-01 -1.09531788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43650248099999 meters 0.10799613566236563 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-1.10 [[ 9.99986168e-01 -5.24642880e-03 -3.73783242e-04 3.48319251e+00] [ 5.24796249e-03 9.99977293e-01 4.22767676e-03 2.84626476e-01] [ 3.51594549e-04 -4.22957988e-03 9.99990993e-01 -1.09573236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46650248099999 meters 0.10794730170704714 Centerline is valid? [False, False] Translation: X:3.48, Y:0.29, Z:-1.10 [[ 9.99986113e-01 -5.21761749e-03 -7.41677301e-04 3.48386577e+00] [ 5.22058977e-03 9.99978116e-01 4.06370804e-03 2.85563190e-01] [ 7.20458196e-04 -4.06752360e-03 9.99991468e-01 -1.09573277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.496502481 meters 0.10800832941697976 Centerline is valid? [False, False] Translation: X:3.48, Y:0.29, Z:-1.10 [[ 9.99986071e-01 -5.19734841e-03 -9.19198775e-04 3.48416887e+00] [ 5.20098099e-03 9.99978496e-01 3.99467199e-03 2.85882321e-01] [ 8.98417306e-04 -3.99939709e-03 9.99991599e-01 -1.09568991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.526502481 meters 0.10816334179813449 Centerline is valid? [False, False] Translation: X:3.48, Y:0.29, Z:-1.10 [[ 9.99986697e-01 -5.03837264e-03 -1.10512941e-03 3.48443330e+00] [ 5.04302469e-03 9.99978261e-01 4.24790261e-03 2.85119908e-01] [ 1.08370287e-03 -4.25341930e-03 9.99990367e-01 -1.09558029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.556502481 meters 0.1082871060024104 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-1.10 [[ 9.99988052e-01 -4.73682175e-03 -1.20724834e-03 3.48489812e+00] [ 4.74248692e-03 9.99977550e-01 4.73377895e-03 2.84072886e-01] [ 1.18479817e-03 -4.73944776e-03 9.99988067e-01 -1.09603164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.586502481 meters 0.10851185624138616 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-1.10 [[ 9.99988892e-01 -4.58166141e-03 -1.10602280e-03 3.48483790e+00] [ 4.58728774e-03 9.99976272e-01 5.13921082e-03 2.82818652e-01] [ 1.08245043e-03 -5.14422738e-03 9.99986183e-01 -1.09619311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61650248099998 meters 0.10863852662186954 Centerline is valid? [False, False] Translation: X:3.48, Y:0.28, Z:-1.10 [[ 9.99988475e-01 -4.62800075e-03 -1.27761533e-03 3.48494118e+00] [ 4.63438372e-03 9.99976565e-01 5.03908678e-03 2.83023939e-01] [ 1.25426449e-03 -5.04494967e-03 9.99986488e-01 -1.09586403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64650248099998 meters 0.108760289635764 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-1.10 [[ 9.99988062e-01 -4.64963920e-03 -1.50226296e-03 3.48530612e+00] [ 4.65699046e-03 9.99977015e-01 4.92759138e-03 2.83491359e-01] [ 1.47931691e-03 -4.93452857e-03 9.99986731e-01 -1.09577404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67650248099999 meters 0.10875084638558877 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-1.10 [[ 9.99989844e-01 -4.28091321e-03 -1.40928114e-03 3.48566907e+00] [ 4.28875195e-03 9.99975084e-01 5.60700433e-03 2.82000141e-01] [ 1.38524293e-03 -5.61299144e-03 9.99983288e-01 -1.09656101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70650248099999 meters 0.10928467957559798 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-1.10 [[ 9.99960548e-01 -8.66048755e-03 -1.97449342e-03 3.48623190e+00] [ 8.66243041e-03 9.99962003e-01 9.77559899e-04 2.82997604e-01] [ 1.96595225e-03 -9.94625244e-04 9.99997573e-01 -1.09588238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.73650248099999 meters 0.1095777507742444 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-1.10 [[ 9.99962290e-01 -8.43877019e-03 -2.05067426e-03 3.48668761e+00] [ 8.44149328e-03 9.99963495e-01 1.32289455e-03 2.82520102e-01] [ 2.03943579e-03 -1.34015541e-03 9.99997022e-01 -1.09634038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76650248099999 meters 0.10966550371024533 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-1.10 [[ 9.99966613e-01 -7.92100201e-03 -2.00751405e-03 3.48748868e+00] [ 7.92562413e-03 9.99965935e-01 2.30500986e-03 2.80809880e-01] [ 1.98918768e-03 -2.32084370e-03 9.99995328e-01 -1.09770935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79650248099999 meters 0.10961816309592849 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-1.10 [[ 9.99969928e-01 -7.49258828e-03 -2.00126378e-03 3.48814035e+00] [ 7.49863395e-03 9.99967292e-01 3.03070270e-03 2.79524471e-01] [ 1.97849052e-03 -3.04561831e-03 9.99993405e-01 -1.09871431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82650248099999 meters 0.1105326016867454 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-1.10 [[ 9.99972779e-01 -7.08282131e-03 -2.06736232e-03 3.48892421e+00] [ 7.09048206e-03 9.99967935e-01 3.72206385e-03 2.78486704e-01] [ 2.04093332e-03 -3.73662113e-03 9.99990936e-01 -1.09972806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85650248099999 meters 0.11073415296190348 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-1.10 [[ 9.99973191e-01 -7.04073985e-03 -2.01104242e-03 3.48896049e+00] [ 7.04835931e-03 9.99967912e-01 3.80719005e-03 2.78370253e-01] [ 1.98417245e-03 -3.82126253e-03 9.99990730e-01 -1.09987389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.886502481 meters 0.11024391064628622 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-1.10 [[ 9.99973221e-01 -7.00547728e-03 -2.11678946e-03 3.48917827e+00] [ 7.01352490e-03 9.99968114e-01 3.81860875e-03 2.78455108e-01] [ 2.08997078e-03 -3.83335265e-03 9.99990469e-01 -1.09991739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.916502481 meters 0.10976670183696151 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-1.10 [[ 9.99971795e-01 -7.18727652e-03 -2.18017571e-03 3.48907792e+00] [ 7.19479697e-03 9.99968126e-01 3.46146808e-03 2.79202763e-01] [ 2.15522769e-03 -3.47705637e-03 9.99991633e-01 -1.09957701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.946502481 meters 0.10971755735304577 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-1.10 [[ 9.99972406e-01 -6.94914841e-03 -2.62629834e-03 3.49040759e+00] [ 6.95794638e-03 9.99970162e-01 3.35579334e-03 2.80712012e-01] [ 2.60290007e-03 -3.37397438e-03 9.99990921e-01 -1.10040570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.976502481 meters 0.10949682109112421 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-1.10 [[ 9.99972030e-01 -6.91983267e-03 -2.83833241e-03 3.49091350e+00] [ 6.92888797e-03 9.99970897e-01 3.19303015e-03 2.81568359e-01] [ 2.81615457e-03 -3.21260732e-03 9.99990874e-01 -1.10060319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00650248099998 meters 0.10949236415549245 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-1.10 [[ 9.99968543e-01 -7.10939890e-03 -3.51707734e-03 3.49173451e+00] [ 7.11740845e-03 9.99972094e-01 2.27008156e-03 2.84403055e-01] [ 3.50084027e-03 -2.29504262e-03 9.99991238e-01 -1.10003766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03650248099999 meters 0.1087701678244299 Centerline is valid? [False, False] Translation: X:3.49, Y:0.28, Z:-1.10 [[ 9.99969244e-01 -6.93600448e-03 -3.66108443e-03 3.49249515e+00] [ 6.94464022e-03 9.99973121e-01 2.35137463e-03 2.84954291e-01] [ 3.64467687e-03 -2.37672723e-03 9.99990534e-01 -1.10077741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06650248099999 meters 0.10854402989254533 Centerline is valid? [False, False] Translation: X:3.49, Y:0.29, Z:-1.10 [[ 9.99970944e-01 -6.63587164e-03 -3.75190250e-03 3.49333511e+00] [ 6.64550693e-03 9.99974638e-01 2.56150151e-03 2.85105523e-01] [ 3.73480955e-03 -2.58636038e-03 9.99989681e-01 -1.10184795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.09650248099999 meters 0.10850464913539086 Centerline is valid? [False, False] Translation: X:3.49, Y:0.29, Z:-1.10 [[ 9.99967655e-01 -6.76912003e-03 -4.34381488e-03 3.49422587e+00] [ 6.77731213e-03 9.99975278e-01 1.87398173e-03 2.87618107e-01] [ 4.33102228e-03 -1.90336051e-03 9.99988810e-01 -1.10159113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12650248099999 meters 0.10839614750327776 Centerline is valid? [False, False] Translation: X:3.49, Y:0.29, Z:-1.10 [[ 9.99966581e-01 -6.71530077e-03 -4.66277398e-03 3.49494816e+00] [ 6.72339555e-03 9.99975914e-01 1.72254402e-03 2.88636245e-01] [ 4.65109428e-03 -1.75383613e-03 9.99987646e-01 -1.10179617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15650248099999 meters 0.10836819216306057 Centerline is valid? [False, False] Translation: X:3.50, Y:0.29, Z:-1.10 [[ 9.99966321e-01 -6.52863081e-03 -4.97326961e-03 3.49579131e+00] [ 6.53748510e-03 9.99977071e-01 1.76620465e-03 2.89200211e-01] [ 4.96162468e-03 -1.79865784e-03 9.99986073e-01 -1.10223837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18650248099999 meters 0.10848150630621996 Centerline is valid? [False, False] Translation: X:3.50, Y:0.29, Z:-1.10 [[ 9.99966735e-01 -6.38209921e-03 -5.07920083e-03 3.49610522e+00] [ 6.39197507e-03 9.99977708e-01 1.93052127e-03 2.88950039e-01] [ 5.06676682e-03 -1.96292317e-03 9.99985237e-01 -1.10243139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21650248099999 meters 0.10837422411058081 Centerline is valid? [False, False] Translation: X:3.50, Y:0.29, Z:-1.10 [[ 9.99964906e-01 -6.38643039e-03 -5.42224820e-03 3.49652767e+00] [ 6.39592158e-03 9.99978041e-01 1.73488206e-03 2.89567322e-01] [ 5.41104943e-03 -1.76950145e-03 9.99983795e-01 -1.10216114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.246502481 meters 0.1084586474506553 Centerline is valid? [False, False] Translation: X:3.50, Y:0.29, Z:-1.10 [[ 9.99965089e-01 -6.27806150e-03 -5.51422860e-03 3.49684720e+00] [ 6.28833360e-03 9.99978522e-01 1.84747707e-03 2.89519109e-01] [ 5.50251159e-03 -1.88208789e-03 9.99983090e-01 -1.10237490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.276502481 meters 0.10825025824134996 Centerline is valid? [False, False] Translation: X:3.50, Y:0.29, Z:-1.10 [[ 9.99964814e-01 -6.26804360e-03 -5.57514700e-03 3.49687007e+00] [ 6.27832196e-03 9.99978620e-01 1.82801738e-03 2.89479144e-01] [ 5.56356971e-03 -1.86295563e-03 9.99982788e-01 -1.10224043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.306502481 meters 0.10841300305860693 Centerline is valid? [False, False] Translation: X:3.50, Y:0.29, Z:-1.10 [[ 9.99968718e-01 -5.69843460e-03 -5.48553538e-03 3.49758054e+00] [ 5.71369585e-03 9.99979839e-01 2.77045028e-03 2.87656739e-01] [ 5.46963755e-03 -2.80170629e-03 9.99981117e-01 -1.10356012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.336502481 meters 0.10858178085510473 Centerline is valid? [False, False] Translation: X:3.50, Y:0.29, Z:-1.10 [[ 9.99971867e-01 -5.48271027e-03 -5.11906973e-03 3.49720943e+00] [ 5.50014037e-03 9.99979104e-01 3.39708740e-03 2.85414637e-01] [ 5.10033751e-03 -3.42514743e-03 9.99981127e-01 -1.10399015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36650248099998 meters 0.10899559859503778 Centerline is valid? [False, False] Translation: X:3.50, Y:0.29, Z:-1.10 [[ 9.99968141e-01 -5.58733553e-03 -5.70076428e-03 3.49766480e+00] [ 5.60495839e-03 9.99979549e-01 3.08003552e-03 2.86413603e-01] [ 5.68343850e-03 -3.11188994e-03 9.99979007e-01 -1.10314381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39650248099998 meters 0.10877679210112548 Centerline is valid? [False, False] Translation: X:3.50, Y:0.29, Z:-1.10 [[ 9.99968541e-01 -5.47774237e-03 -5.73677676e-03 3.49775461e+00] [ 5.49644482e-03 9.99979615e-01 3.24942171e-03 2.85883178e-01] [ 5.71886032e-03 -3.28085137e-03 9.99978265e-01 -1.10314697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42650248099999 meters 0.10847328058591334 Centerline is valid? [False, False] Translation: X:3.50, Y:0.29, Z:-1.10 [[ 9.99968451e-01 -5.31393112e-03 -5.90413709e-03 3.49809833e+00] [ 5.33444755e-03 9.99979770e-01 3.46462609e-03 2.85294640e-01] [ 5.88560686e-03 -3.49601209e-03 9.99976568e-01 -1.10323114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.45650248099999 meters 0.10850096606735254 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-1.10 [[ 0.99996844 -0.00501223 -0.00616353 3.49886413] [ 0.0050359 0.99997998 0.00383026 0.28479332] [ 0.00614421 -0.00386118 0.99997367 -1.10370189] [ 0. 0. 0. 1. ]] SLAMing on 107.48650248099999 meters 0.10821959449473383 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-1.10 [[ 0.99996981 -0.00475252 -0.00614676 3.49920087] [ 0.00477868 0.99997956 0.00424753 0.28387559] [ 0.00612645 -0.00427677 0.99997209 -1.10426478] [ 0. 0. 0. 1. ]] SLAMing on 107.51650248099999 meters 0.10796214047350923 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-1.11 [[ 0.99997238 -0.00415184 -0.00616533 3.50017521] [ 0.00418365 0.99997796 0.00515568 0.28225477] [ 0.00614379 -0.00518133 0.9999677 -1.10569539] [ 0. 0. 0. 1. ]] SLAMing on 107.54650248099999 meters 0.10785929753891549 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-1.11 [[ 0.99997036 -0.00412826 -0.00649874 3.50073979] [ 0.00416073 0.99997889 0.00499045 0.2830914 ] [ 0.006478 -0.00501734 0.99996643 -1.10563173] [ 0. 0. 0. 1. ]] SLAMing on 107.57650248099999 meters 0.10807637442059922 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-1.11 [[ 0.99996928 -0.00403106 -0.00672159 3.50106597] [ 0.00406511 0.99997894 0.0050592 0.28291863] [ 0.00670105 -0.00508637 0.99996461 -1.10554256] [ 0. 0. 0. 1. ]] SLAMing on 107.60650248099999 meters 0.10771556600055787 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-1.11 [[ 9.99940259e-01 -8.03658653e-03 -7.40888058e-03 3.50240308e+00] [ 8.04165489e-03 9.99967451e-01 6.54555867e-04 2.83964937e-01] [ 7.40337903e-03 -7.14096424e-04 9.99972340e-01 -1.10575645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.636502481 meters 0.10773708257371793 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-1.11 [[ 9.99941295e-01 -7.82930733e-03 -7.49052066e-03 3.50281263e+00] [ 7.83652739e-03 9.99968857e-01 9.35028362e-04 2.83550826e-01] [ 7.48296676e-03 -9.93673142e-04 9.99971509e-01 -1.10614321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.666502481 meters 0.10787976038395568 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-1.11 [[ 9.99938596e-01 -7.77720393e-03 -7.89423647e-03 3.50314642e+00] [ 7.78446834e-03 9.99969305e-01 8.89907033e-04 2.83561177e-01] [ 7.88707317e-03 -9.51304823e-04 9.99968444e-01 -1.10559479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.696502481 meters 0.10786316121011152 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-1.11 [[ 9.99939201e-01 -7.61163851e-03 -7.97857532e-03 3.50339830e+00] [ 7.62106982e-03 9.99970295e-01 1.15234341e-03 2.83081097e-01] [ 7.96956710e-03 -1.21307863e-03 9.99967507e-01 -1.10573280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.726502481 meters 0.10772040858873416 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-1.11 [[ 9.99946066e-01 -6.92734270e-03 -7.73808305e-03 3.50384234e+00] [ 6.94677308e-03 9.99972778e-01 2.48695698e-03 2.79839171e-01] [ 7.72064440e-03 -2.54057755e-03 9.99966968e-01 -1.10708861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75650248099998 meters 0.10792005108939047 Centerline is valid? [False, False] Translation: X:3.50, Y:0.28, Z:-1.11 [[ 0.99994993 -0.00635733 -0.00772846 3.50435885] [ 0.00638482 0.99997336 0.00353676 0.27740495] [ 0.00770577 -0.00358593 0.99996388 -1.10796175] [ 0. 0. 0. 1. ]] SLAMing on 107.78650248099999 meters 0.10803415107674895 Centerline is valid? [False, False] Translation: X:3.50, Y:0.27, Z:-1.11 [[ 0.99995522 -0.0063296 -0.00703559 3.50323205] [ 0.00635999 0.9999705 0.00430628 0.27445365] [ 0.00700813 -0.00435083 0.99996598 -1.10806232] [ 0. 0. 0. 1. ]] SLAMing on 107.81650248099999 meters 0.10842074719215138 Centerline is valid? [False, False] Translation: X:3.50, Y:0.27, Z:-1.11 [[ 9.99918222e-01 -1.04334564e-02 -7.39549165e-03 3.50415318e+00] [ 1.04353281e-02 9.99945527e-01 2.14547937e-04 2.74545926e-01] [ 7.39285032e-03 -2.91704773e-04 9.99972630e-01 -1.10836680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84650248099999 meters 0.10920811402074972 Centerline is valid? [False, False] Translation: X:3.50, Y:0.27, Z:-1.11 [[ 9.99927960e-01 -1.01736463e-02 -6.36955121e-03 3.50305528e+00] [ 1.01836672e-02 9.99946955e-01 1.54281302e-03 2.69128112e-01] [ 6.35351730e-03 -1.60756727e-03 9.99978524e-01 -1.10924963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87650248099999 meters 0.10942152323977003 Centerline is valid? [False, False] Translation: X:3.50, Y:0.27, Z:-1.11 [[ 9.99932417e-01 -9.76876994e-03 -6.30330375e-03 3.50328133e+00] [ 9.78409505e-03 9.99949242e-01 2.40504340e-03 2.67052234e-01] [ 6.27948949e-03 -2.46655298e-03 9.99977242e-01 -1.10979489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90650248099999 meters 0.10995097354835354 Centerline is valid? [False, False] Translation: X:3.50, Y:0.26, Z:-1.11 [[ 0.99993868 -0.00943589 -0.00579713 3.50284703] [ 0.00945643 0.99994906 0.00352756 0.2637628 ] [ 0.00576354 -0.00358216 0.99997697 -1.11049349] [ 0. 0. 0. 1. ]] SLAMing on 107.93650248099999 meters 0.10995097354835354 Centerline is valid? [False, False] Translation: X:3.50, Y:0.26, Z:-1.11 [[ 0.99993868 -0.00943589 -0.00579713 3.50284703] [ 0.00945643 0.99994906 0.00352756 0.2637628 ] [ 0.00576354 -0.00358216 0.99997697 -1.11049349] [ 0. 0. 0. 1. ]] SLAMing on 107.96650248099999 meters 0.1105969821743951 Centerline is valid? [False, False] Translation: X:3.50, Y:0.26, Z:-1.11 [[ 0.99994372 -0.00887863 -0.00580668 3.50339612] [ 0.00890506 0.99995004 0.00454061 0.2614394 ] [ 0.00576608 -0.00459206 0.99997283 -1.11134068] [ 0. 0. 0. 1. ]] SLAMing on 107.996502481 meters 0.1105314799292755 Centerline is valid? [False, False] Translation: X:3.50, Y:0.26, Z:-1.11 [[ 0.99994427 -0.00881186 -0.00581488 3.50320037] [ 0.00883979 0.99994943 0.0047953 0.26032245] [ 0.00577233 -0.00484644 0.9999716 -1.11106808] [ 0. 0. 0. 1. ]] SLAMing on 108.026502481 meters 0.11057498179006828 Centerline is valid? [False, False] Translation: X:3.50, Y:0.26, Z:-1.11 [[ 0.9999437 -0.00871934 -0.00604694 3.50366521] [ 0.0087488 0.9999499 0.00486337 0.26041641] [ 0.00600423 -0.004916 0.99996989 -1.11113486] [ 0. 0. 0. 1. ]] SLAMing on 108.056502481 meters 0.11040952449143752 Centerline is valid? [False, False] Translation: X:3.50, Y:0.26, Z:-1.11 [[ 0.99994292 -0.00861771 -0.00631632 3.50416356] [ 0.0086489 0.99995046 0.0049276 0.260446 ] [ 0.00627354 -0.00498195 0.99996791 -1.11116459] [ 0. 0. 0. 1. ]] SLAMing on 108.086502481 meters 0.11045968806935634 Centerline is valid? [False, False] Translation: X:3.50, Y:0.26, Z:-1.11 [[ 0.99994311 -0.00847245 -0.00648043 3.50440179] [ 0.00850577 0.99995066 0.0051318 0.2598836 ] [ 0.00643664 -0.00518663 0.99996583 -1.111101 ] [ 0. 0. 0. 1. ]] SLAMing on 108.11650248099998 meters 0.109995371009638 Centerline is valid? [False, False] Translation: X:3.50, Y:0.26, Z:-1.11 [[ 0.99994351 -0.00829236 -0.00664924 3.50474362] [ 0.00832821 0.99995084 0.00538207 0.25923623] [ 0.00660428 -0.00543715 0.99996341 -1.11120674] [ 0. 0. 0. 1. ]] SLAMing on 108.14650248099998 meters 0.1102242950111151 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99994389 -0.00810507 -0.00682091 3.5051522 ] [ 0.00814328 0.99995119 0.00559416 0.25873982] [ 0.00677523 -0.00564939 0.99996109 -1.11137756] [ 0. 0. 0. 1. ]] SLAMing on 108.17650248099999 meters 0.10969745230250981 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99994082 -0.00825096 -0.00709056 3.50530179] [ 0.00828821 0.99995192 0.00524055 0.25957852] [ 0.00704698 -0.00529901 0.99996113 -1.11092536] [ 0. 0. 0. 1. ]] SLAMing on 108.20650248099999 meters 0.10942197721039634 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99994013 -0.00812995 -0.00732448 3.50587748] [ 0.008169 0.9999525 0.005317 0.25977921] [ 0.0072809 -0.00537651 0.99995904 -1.11117882] [ 0. 0. 0. 1. ]] SLAMing on 108.23650248099999 meters 0.10864156115073807 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99994013 -0.00809829 -0.00735837 3.50613579] [ 0.00813755 0.99995274 0.00532011 0.25995639] [ 0.00731494 -0.00537967 0.99995877 -1.11149707] [ 0. 0. 0. 1. ]] SLAMing on 108.26650248099999 meters 0.10826203158219606 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99994006 -0.00767974 -0.00780422 3.50732577] [ 0.00772454 0.99995377 0.00572704 0.25967414] [ 0.00775987 -0.00578698 0.99995315 -1.11218469] [ 0. 0. 0. 1. ]] SLAMing on 108.29650248099999 meters 0.10791056813273416 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99993694 -0.00789833 -0.00798269 3.50723256] [ 0.00794092 0.99995433 0.00531758 0.2604581 ] [ 0.00794033 -0.00538063 0.999954 -1.11156666] [ 0. 0. 0. 1. ]] SLAMing on 108.32650248099999 meters 0.10796324098052487 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99993712 -0.00769182 -0.00816094 3.50767932] [ 0.00773714 0.99995474 0.0055358 0.2601145 ] [ 0.00811799 -0.0055986 0.99995138 -1.1117893 ] [ 0. 0. 0. 1. ]] SLAMing on 108.35650248099999 meters 0.10797239623895201 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99993814 -0.00733063 -0.00836504 3.50837113] [ 0.00738125 0.99995453 0.00603719 0.25917792] [ 0.0083204 -0.00609856 0.99994679 -1.11232827] [ 0. 0. 0. 1. ]] SLAMing on 108.386502481 meters 0.10797853181530721 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99993582 -0.00749193 -0.00849839 3.5084044 ] [ 0.00754082 0.99995512 0.00573602 0.25981166] [ 0.00845503 -0.00579974 0.99994744 -1.11203947] [ 0. 0. 0. 1. ]] SLAMing on 108.416502481 meters 0.10769628722162934 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99993419 -0.00738554 -0.00877942 3.50902593] [ 0.00743625 0.99995577 0.0057578 0.26013939] [ 0.00873651 -0.0058227 0.99994488 -1.11221358] [ 0. 0. 0. 1. ]] SLAMing on 108.446502481 meters 0.10767560008667994 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99993279 -0.00725473 -0.00904368 3.50951296] [ 0.00730772 0.99995625 0.0058399 0.26012117] [ 0.00900092 -0.00590559 0.99994205 -1.11227875] [ 0. 0. 0. 1. ]] SLAMing on 108.476502481 meters 0.10794126846984514 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99993337 -0.00704414 -0.00914471 3.50984895] [ 0.00710045 0.99995594 0.00613973 0.25945798] [ 0.00910105 -0.00620425 0.99993934 -1.11254915] [ 0. 0. 0. 1. ]] SLAMing on 108.50650248099998 meters 0.10796122064330038 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99993126 -0.00700225 -0.00940429 3.51026624] [ 0.00705984 0.99995645 0.00610451 0.2597645 ] [ 0.00936113 -0.00617048 0.99993715 -1.11250047] [ 0. 0. 0. 1. ]] SLAMing on 108.53650248099999 meters 0.1082853627268974 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99993164 -0.00679176 -0.0095182 3.51054504] [ 0.00685321 0.99995578 0.00643907 0.25890856] [ 0.00947404 -0.00650386 0.99993397 -1.11264433] [ 0. 0. 0. 1. ]] SLAMing on 108.56650248099999 meters 0.10837187988832474 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99993143 -0.00655796 -0.00970163 3.51112104] [ 0.00662359 0.99995529 0.00674827 0.25844286] [ 0.00965694 -0.00681207 0.99993017 -1.1130462 ] [ 0. 0. 0. 1. ]] SLAMing on 108.59650248099999 meters 0.10833919150718227 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99993148 -0.00639641 -0.00980395 3.51153314] [ 0.00646461 0.99995502 0.00694039 0.25828921] [ 0.00975912 -0.0070033 0.99992785 -1.1134059 ] [ 0. 0. 0. 1. ]] SLAMing on 108.62650248099999 meters 0.1083224764991949 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99993302 -0.0063305 -0.00968906 3.51162172] [ 0.00639899 0.99995464 0.00705445 0.25806629] [ 0.00964396 -0.00711598 0.99992818 -1.11386796] [ 0. 0. 0. 1. ]] SLAMing on 108.65650248099999 meters 0.10834931162072763 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99993233 -0.00620614 -0.00983922 3.51212929] [ 0.00627688 0.99995456 0.00717441 0.2580895 ] [ 0.00979425 -0.00723568 0.99992586 -1.11424841] [ 0. 0. 0. 1. ]] SLAMing on 108.68650248099999 meters 0.10841648011468376 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99992993 -0.00615808 -0.01011019 3.51267637] [ 0.00623039 0.99995513 0.00713577 0.25862005] [ 0.01006579 -0.00719826 0.99992343 -1.11433341] [ 0. 0. 0. 1. ]] SLAMing on 108.71650248099999 meters 0.10856764486518253 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.11 [[ 0.99993115 -0.00588865 -0.01014937 3.51309206] [ 0.00596607 0.99995322 0.00761404 0.25768683] [ 0.01010406 -0.00767407 0.99991951 -1.11484043] [ 0. 0. 0. 1. ]] SLAMing on 108.746502481 meters 0.108708956839591 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.12 [[ 0.99993147 -0.00556465 -0.01029958 3.51372017] [ 0.00564802 0.99995138 0.00808337 0.2568536 ] [ 0.0102541 -0.00814098 0.99991429 -1.11541928] [ 0. 0. 0. 1. ]] SLAMing on 108.776502481 meters 0.1089129856370133 Centerline is valid? [False, False] Translation: X:3.51, Y:0.26, Z:-1.12 [[ 0.99993072 -0.00550214 -0.01040605 3.51385223] [ 0.00558765 0.99995072 0.00820617 0.2564046 ] [ 0.01036038 -0.00826375 0.99991218 -1.1153441 ] [ 0. 0. 0. 1. ]] SLAMing on 108.806502481 meters 0.10949208749671013 Centerline is valid? [False, False] Translation: X:3.51, Y:0.25, Z:-1.12 [[ 0.99993308 -0.00531007 -0.01027809 3.51378746] [ 0.0053997 0.99994747 0.00871217 0.25496371] [ 0.01023129 -0.00876709 0.99990923 -1.11557492] [ 0. 0. 0. 1. ]] SLAMing on 108.836502481 meters 0.10981432915480237 Centerline is valid? [False, False] Translation: X:3.51, Y:0.25, Z:-1.12 [[ 0.99993304 -0.00523317 -0.01032145 3.513912 ] [ 0.00532479 0.99994649 0.00886941 0.25455563] [ 0.01027448 -0.00892378 0.9999074 -1.11565955] [ 0. 0. 0. 1. ]] SLAMing on 108.86650248099998 meters 0.11028582458861179 Centerline is valid? [False, False] Translation: X:3.51, Y:0.25, Z:-1.12 [[ 0.99993426 -0.00513539 -0.01025186 3.51401188] [ 0.0052287 0.99994496 0.00909582 0.25404152] [ 0.01020459 -0.00914882 0.99990608 -1.11596886] [ 0. 0. 0. 1. ]] SLAMing on 108.89650248099998 meters 0.1103922357323116 Centerline is valid? [False, False] Translation: X:3.52, Y:0.25, Z:-1.12 [[ 0.99989837 -0.00933946 -0.01077163 3.51506282] [ 0.00939084 0.99994472 0.00472962 0.25494191] [ 0.01072686 -0.00483029 0.9999308 -1.11609241] [ 0. 0. 0. 1. ]] SLAMing on 108.92650248099999 meters 0.1105839721415578 Centerline is valid? [False, False] Translation: X:3.52, Y:0.25, Z:-1.12 [[ 0.99989969 -0.00907914 -0.01087066 3.51562942] [ 0.00913509 0.99994523 0.00510852 0.25441871] [ 0.01082368 -0.00520732 0.99992786 -1.11666703] [ 0. 0. 0. 1. ]] SLAMing on 108.95650248099999 meters 0.11099400281509811 Centerline is valid? [False, False] Translation: X:3.52, Y:0.25, Z:-1.12 [[ 0.99989957 -0.00912298 -0.01084557 3.51555336] [ 0.00917857 0.99994494 0.00508725 0.25440412] [ 0.01079856 -0.00518629 0.99992824 -1.11659651] [ 0. 0. 0. 1. ]] SLAMing on 108.98650248099999 meters 0.11155736910413382 Centerline is valid? [False, False] Translation: X:3.52, Y:0.25, Z:-1.12 [[ 0.99989792 -0.00913689 -0.01098483 3.51559848] [ 0.00919316 0.99994482 0.00508309 0.25434387] [ 0.01093778 -0.00518356 0.99992675 -1.11626626] [ 0. 0. 0. 1. ]] SLAMing on 109.01650248099999 meters 0.11185602948009622 Centerline is valid? [False, False] Translation: X:3.52, Y:0.25, Z:-1.12 [[ 0.99989654 -0.00903893 -0.01118919 3.51604348] [ 0.00909732 0.99994521 0.00517882 0.25432865] [ 0.01114177 -0.00528008 0.99992399 -1.11637028] [ 0. 0. 0. 1. ]] SLAMing on 109.04650248099999 meters 0.11230618320731786 Centerline is valid? [False, False] Translation: X:3.52, Y:0.26, Z:-1.12 [[ 0.9998945 -0.00931421 -0.01114619 3.51567631] [ 0.00936824 0.99994458 0.00480438 0.25503714] [ 0.01110083 -0.00490829 0.99992634 -1.11586281] [ 0. 0. 0. 1. ]] SLAMing on 109.07650248099999 meters 0.11245465334052877 Centerline is valid? [False, False] Translation: X:3.52, Y:0.25, Z:-1.12 [[ 0.99989532 -0.00908135 -0.01126418 3.51609365] [ 0.0091397 0.99994502 0.00513992 0.25437846] [ 0.01121688 -0.00524233 0.99992335 -1.11617623] [ 0. 0. 0. 1. ]] SLAMing on 109.10650248099999 meters 0.1126937416229421 Centerline is valid? [False, False] Translation: X:3.52, Y:0.25, Z:-1.12 [[ 0.99989661 -0.00856295 -0.01155221 3.51738347] [ 0.00863039 0.99994594 0.00580026 0.25358472] [ 0.01150192 -0.00589936 0.99991645 -1.11735983] [ 0. 0. 0. 1. ]] SLAMing on 109.136502481 meters 0.11246801050750482 Centerline is valid? [False, False] Translation: X:3.52, Y:0.25, Z:-1.12 [[ 0.99989284 -0.00839936 -0.01198979 3.51852508] [ 0.00846896 0.99994751 0.00576592 0.25445688] [ 0.01194073 -0.00586685 0.9999115 -1.11787766] [ 0. 0. 0. 1. ]] SLAMing on 109.166502481 meters 0.11151727279447458 Centerline is valid? [False, False] Translation: X:3.52, Y:0.26, Z:-1.12 [[ 0.99988444 -0.00860949 -0.01252961 3.51935602] [ 0.008672 0.99995018 0.00494324 0.25703268] [ 0.01248642 -0.00505132 0.99990928 -1.11771148] [ 0. 0. 0. 1. ]] SLAMing on 109.196502481 meters 0.11035707373893751 Centerline is valid? [False, False] Translation: X:3.52, Y:0.26, Z:-1.12 [[ 0.99987392 -0.00860516 -0.01334492 3.52058191] [ 0.00866257 0.99995344 0.00425068 0.25958048] [ 0.01330772 -0.00436574 0.99990192 -1.11742113] [ 0. 0. 0. 1. ]] SLAMing on 109.226502481 meters 0.10980151456501407 Centerline is valid? [False, False] Translation: X:3.52, Y:0.26, Z:-1.12 [[ 9.99867714e-01 -8.93488054e-03 -1.35912543e-02 3.52056467e+00] [ 8.98342739e-03 9.99953470e-01 3.51506993e-03 2.61309711e-01] [ 1.35592152e-02 -3.63670098e-03 9.99901456e-01 -1.11670502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25650248099998 meters 0.1094023284740109 Centerline is valid? [False, False] Translation: X:3.52, Y:0.26, Z:-1.12 [[ 9.99862036e-01 -8.92317209e-03 -1.40101882e-02 3.52126517e+00] [ 8.96951630e-03 9.99954496e-01 3.24854813e-03 2.62330240e-01] [ 1.39805634e-02 -3.37376456e-03 9.99896575e-01 -1.11662804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28650248099999 meters 0.10903670321239751 Centerline is valid? [False, False] Translation: X:3.52, Y:0.26, Z:-1.12 [[ 9.99854191e-01 -8.83003096e-03 -1.46160277e-02 3.52234896e+00] [ 8.87298113e-03 9.99956498e-01 2.87633108e-03 2.63873267e-01] [ 1.45899938e-02 -3.00559942e-03 9.99889043e-01 -1.11666581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31650248099999 meters 0.10877028782214802 Centerline is valid? [False, False] Translation: X:3.52, Y:0.26, Z:-1.12 [[ 9.99851016e-01 -8.69434289e-03 -1.49115645e-02 3.52309545e+00] [ 8.73812419e-03 9.99957693e-01 2.87342656e-03 2.64393250e-01] [ 1.48859511e-02 -3.00329757e-03 9.99884688e-01 -1.11696514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34650248099999 meters 0.10861537182381036 Centerline is valid? [False, False] Translation: X:3.52, Y:0.27, Z:-1.12 [[ 9.99846097e-01 -8.68292870e-03 -1.52443267e-02 3.52364694e+00] [ 8.72455987e-03 9.99958385e-01 2.66655085e-03 2.65271935e-01] [ 1.52205388e-02 -2.79914050e-03 9.99880243e-01 -1.11687272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37650248099999 meters 0.1087422375445292 Centerline is valid? [False, False] Translation: X:3.52, Y:0.27, Z:-1.12 [[ 9.99844003e-01 -8.91121007e-03 -1.52499206e-02 3.52329101e+00] [ 8.94748397e-03 9.99957298e-01 2.31205465e-03 2.65829330e-01] [ 1.52286661e-02 -2.44814239e-03 9.99881040e-01 -1.11630645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40650248099999 meters 0.10881476486025067 Centerline is valid? [False, False] Translation: X:3.52, Y:0.27, Z:-1.12 [[ 9.99832241e-01 -9.17227724e-03 -1.58543243e-02 3.52356105e+00] [ 9.19904659e-03 9.99956382e-01 1.61635399e-03 2.67495182e-01] [ 1.58388071e-02 -1.76192750e-03 9.99873006e-01 -1.11506926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43650248099999 meters 0.10883092949585663 Centerline is valid? [False, False] Translation: X:3.52, Y:0.27, Z:-1.11 [[ 9.99827863e-01 -9.16210289e-03 -1.61338240e-02 3.52402345e+00] [ 9.18763993e-03 9.99956654e-01 1.50941610e-03 2.68000829e-01] [ 1.61192953e-02 -1.65738804e-03 9.99868702e-01 -1.11497482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46650248099999 meters 0.10860295948982837 Centerline is valid? [False, False] Translation: X:3.52, Y:0.27, Z:-1.12 [[ 9.99830090e-01 -8.75167800e-03 -1.62234356e-02 3.52490974e+00] [ 8.78606969e-03 9.99959301e-01 2.04981448e-03 2.67241595e-01] [ 1.62048360e-02 -2.19200643e-03 9.99866290e-01 -1.11604198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.496502481 meters 0.10881345970954846 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99832497e-01 -8.68827355e-03 -1.61087318e-02 3.52502764e+00] [ 8.72469356e-03 9.99959537e-01 2.19198875e-03 2.67022325e-01] [ 1.60890354e-02 -2.33216533e-03 9.99867843e-01 -1.11653233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.526502481 meters 0.10883221976507414 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99830089e-01 -8.42119042e-03 -1.63974461e-02 3.52594493e+00] [ 8.46269371e-03 9.99961157e-01 2.46334066e-03 2.66878425e-01] [ 1.63760649e-02 -2.60168868e-03 9.99862518e-01 -1.11713091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.556502481 meters 0.10907603390354641 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99825293e-01 -8.49150339e-03 -1.66516529e-02 3.52616101e+00] [ 8.53002343e-03 9.99961102e-01 2.24362669e-03 2.67569002e-01] [ 1.66319534e-02 -2.38527370e-03 9.99858834e-01 -1.11672356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.586502481 meters 0.10932604272591433 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99819683e-01 -8.57570044e-03 -1.69428078e-02 3.52629191e+00] [ 8.61142040e-03 9.99960847e-01 2.03643542e-03 2.67982549e-01] [ 1.69246806e-02 -2.18196986e-03 9.99854386e-01 -1.11613287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61650248099998 meters 0.10900054594444065 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99812876e-01 -8.74662039e-03 -1.72542827e-02 3.52653477e+00] [ 8.77622160e-03 9.99960142e-01 1.64061196e-03 2.69028438e-01] [ 1.72392451e-02 -1.79173237e-03 9.99849788e-01 -1.11563074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64650248099998 meters 0.1092034911421577 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99761597e-01 -1.28828470e-02 -1.76289731e-02 3.52759205e+00] [ 1.28393268e-02 9.99914245e-01 -2.57963367e-03 2.69571229e-01] [ 1.76606943e-02 2.35267453e-03 9.99841270e-01 -1.11609094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67650248099999 meters 0.10914534705760459 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99763741e-01 -1.25304861e-02 -1.77609009e-02 3.52829732e+00] [ 1.24955202e-02 9.99919768e-01 -2.07831622e-03 2.68708418e-01] [ 1.77855183e-02 1.85589351e-03 9.99840103e-01 -1.11678687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70650248099999 meters 0.10941554920260896 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99819382e-01 -8.12168585e-03 -1.71826109e-02 3.52775283e+00] [ 8.17052149e-03 9.99962773e-01 2.77386484e-03 2.67033422e-01] [ 1.71594428e-02 -2.91375472e-03 9.99848520e-01 -1.11754503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.73650248099999 meters 0.10922923649948751 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99817633e-01 -8.20065791e-03 -1.72467490e-02 3.52769743e+00] [ 8.24735793e-03 9.99962509e-01 2.63837634e-03 2.67250773e-01] [ 1.72244659e-02 -2.78013529e-03 9.99847783e-01 -1.11726877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76650248099999 meters 0.10949830460628468 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99816095e-01 -8.08394890e-03 -1.73904208e-02 3.52787068e+00] [ 8.13376705e-03 9.99963012e-01 2.79586805e-03 2.66835577e-01] [ 1.73671759e-02 -2.93680350e-03 9.99844866e-01 -1.11713821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79650248099999 meters 0.1095044548646176 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99814216e-01 -8.28536431e-03 -1.74036350e-02 3.52757684e+00] [ 8.32996236e-03 9.99962201e-01 2.49164363e-03 2.67335231e-01] [ 1.73823329e-02 -2.63615235e-03 9.99845441e-01 -1.11665504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82650248099999 meters 0.1095044548646176 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99814216e-01 -8.28536431e-03 -1.74036350e-02 3.52757684e+00] [ 8.32996236e-03 9.99962201e-01 2.49164363e-03 2.67335231e-01] [ 1.73823329e-02 -2.63615235e-03 9.99845441e-01 -1.11665504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85650248099999 meters 0.10969327751250649 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99814991e-01 -7.94997796e-03 -1.75151836e-02 3.52805530e+00] [ 8.00315854e-03 9.99963569e-01 2.96825639e-03 2.66259467e-01] [ 1.74909479e-02 -3.10788403e-03 9.99842191e-01 -1.11709877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.886502481 meters 0.10979829719756454 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99817293e-01 -7.94441029e-03 -1.73858005e-02 3.52784793e+00] [ 7.99886581e-03 9.99963312e-01 3.06488887e-03 2.65831826e-01] [ 1.73608139e-02 -3.20339558e-03 9.99844158e-01 -1.11715426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.916502481 meters 0.10959731586658394 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99814680e-01 -8.15305451e-03 -1.74394295e-02 3.52769524e+00] [ 8.20165418e-03 9.99962675e-01 2.71706480e-03 2.66616958e-01] [ 1.74166261e-02 -2.85959345e-03 9.99844230e-01 -1.11678624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.946502481 meters 0.10993342618245062 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99810057e-01 -7.96833306e-03 -1.77863801e-02 3.52842392e+00] [ 8.02001183e-03 9.99963817e-01 2.83608792e-03 2.66658108e-01] [ 1.77631376e-02 -2.97819620e-03 9.99837787e-01 -1.11692245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.976502481 meters 0.10944539551582506 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99807046e-01 -7.66360175e-03 -1.80870296e-02 3.52920383e+00] [ 7.72089411e-03 9.99965389e-01 3.09989145e-03 2.66367027e-01] [ 1.80626472e-02 -3.23894135e-03 9.99831611e-01 -1.11730823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00650248099998 meters 0.109253244822931 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99805935e-01 -7.76308581e-03 -1.81059809e-02 3.52915898e+00] [ 7.81719034e-03 9.99965184e-01 2.91935405e-03 2.66749659e-01] [ 1.80826873e-02 -3.06032541e-03 9.99831811e-01 -1.11721026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03650248099999 meters 0.10894068495406818 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99802491e-01 -7.43970295e-03 -1.84290411e-02 3.53021006e+00] [ 7.49865680e-03 9.99966980e-01 3.13192964e-03 2.66951001e-01] [ 1.84051320e-02 -3.26950412e-03 9.99825265e-01 -1.11795518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06650248099999 meters 0.10863222587395684 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99800478e-01 -7.19477610e-03 -1.86343652e-02 3.53095043e+00] [ 7.25899400e-03 9.99967938e-01 3.38086404e-03 2.66831801e-01] [ 1.86094431e-02 -3.51545622e-03 9.99820649e-01 -1.11853652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.09650248099999 meters 0.10842819595341621 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 9.99799966e-01 -7.22528535e-03 -1.86500001e-02 3.53089751e+00] [ 7.28802712e-03 9.99968002e-01 3.29839715e-03 2.66940153e-01] [ 1.86255714e-02 -3.43365907e-03 9.99820633e-01 -1.11844323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12650248099999 meters 0.10832835908483666 Centerline is valid? [False, False] Translation: X:3.53, Y:0.27, Z:-1.12 [[ 0.99980035 -0.00698084 -0.01872221 3.53137398] [ 0.00705008 0.99996854 0.00363497 0.26641619] [ 0.01869625 -0.00376624 0.99981812 -1.11897593] [ 0. 0. 0. 1. ]] SLAMing on 110.15650248099999 meters 0.10814255878025998 Centerline is valid? [False, False] Translation: X:3.53, Y:0.26, Z:-1.12 [[ 0.9998027 -0.00656832 -0.01874615 3.53174128] [ 0.00665042 0.99996855 0.00432042 0.2647212 ] [ 0.01871718 -0.00444424 0.99981494 -1.11952504] [ 0. 0. 0. 1. ]] SLAMing on 110.18650248099999 meters 0.10810184677332445 Centerline is valid? [False, False] Translation: X:3.53, Y:0.26, Z:-1.12 [[ 0.99979963 -0.00648113 -0.01893932 3.53192996] [ 0.00656622 0.99996861 0.0044339 0.26434807] [ 0.01890999 -0.00455737 0.9998108 -1.11931388] [ 0. 0. 0. 1. ]] SLAMing on 110.21650248099999 meters 0.10805420700272916 Centerline is valid? [False, False] Translation: X:3.53, Y:0.26, Z:-1.12 [[ 0.99979902 -0.00650125 -0.01896458 3.53183999] [ 0.00658712 0.99996832 0.00446862 0.26405732] [ 0.01893493 -0.00459265 0.99981017 -1.11913376] [ 0. 0. 0. 1. ]] SLAMing on 110.246502481 meters 0.10810242382934317 Centerline is valid? [False, False] Translation: X:3.53, Y:0.26, Z:-1.12 [[ 0.99979818 -0.00606475 -0.01915245 3.53272771] [ 0.00616327 0.99996806 0.00508947 0.26299812] [ 0.01912098 -0.00520648 0.99980362 -1.12000919] [ 0. 0. 0. 1. ]] SLAMing on 110.276502481 meters 0.10786995719134149 Centerline is valid? [False, False] Translation: X:3.53, Y:0.26, Z:-1.12 [[ 0.99979939 -0.00566096 -0.01921273 3.53336411] [ 0.00577214 0.99996689 0.00573633 0.26174072] [ 0.01917962 -0.00584608 0.99979896 -1.12085103] [ 0. 0. 0. 1. ]] SLAMing on 110.306502481 meters 0.10789748637920536 Centerline is valid? [False, False] Translation: X:3.53, Y:0.26, Z:-1.12 [[ 0.99980327 -0.00529996 -0.0191138 3.53331929] [ 0.00542599 0.99996384 0.00654777 0.2594432 ] [ 0.01907841 -0.00665019 0.99979587 -1.12109249] [ 0. 0. 0. 1. ]] SLAMing on 110.336502481 meters 0.10797264266348319 Centerline is valid? [False, False] Translation: X:3.53, Y:0.26, Z:-1.12 [[ 0.99980079 -0.0053107 -0.01924021 3.53329452] [ 0.00543797 0.99996364 0.00656885 0.25911013] [ 0.01920463 -0.00667216 0.99979331 -1.12072355] [ 0. 0. 0. 1. ]] SLAMing on 110.36650248099998 meters 0.10818545771094895 Centerline is valid? [False, False] Translation: X:3.53, Y:0.26, Z:-1.12 [[ 0.99980155 -0.00486676 -0.01931773 3.53405335] [ 0.005009 0.99996065 0.00732146 0.25771138] [ 0.01928134 -0.00741677 0.99978659 -1.12166327] [ 0. 0. 0. 1. ]] SLAMing on 110.39650248099998 meters 0.10856492548801004 Centerline is valid? [False, False] Translation: X:3.53, Y:0.26, Z:-1.12 [[ 9.99771347e-01 -9.23713256e-03 -1.92854579e-02 3.53398704e+00] [ 9.29966651e-03 9.99951779e-01 3.15538163e-03 2.57200175e-01] [ 1.92553813e-02 -3.33400847e-03 9.99809039e-01 -1.12157518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42650248099999 meters 0.10875172672960992 Centerline is valid? [False, False] Translation: X:3.53, Y:0.26, Z:-1.12 [[ 0.99977406 -0.00897205 -0.01926991 3.53420396] [ 0.00904481 0.99995228 0.0036918 0.25596672] [ 0.01923587 -0.00386526 0.9998075 -1.12196523] [ 0. 0. 0. 1. ]] SLAMing on 110.45650248099999 meters 0.1092385164000273 Centerline is valid? [False, False] Translation: X:3.53, Y:0.25, Z:-1.12 [[ 0.99977688 -0.00884428 -0.01918236 3.5340639 ] [ 0.00892524 0.9999516 0.0041391 0.25463975] [ 0.01914483 -0.00430939 0.99980743 -1.12196279] [ 0. 0. 0. 1. ]] SLAMing on 110.48650248099999 meters 0.10937602316772659 Centerline is valid? [False, False] Translation: X:3.53, Y:0.25, Z:-1.12 [[ 0.9997789 -0.00855714 -0.0192076 3.53432835] [ 0.00864838 0.99995169 0.00467235 0.25337441] [ 0.01916669 -0.00483743 0.9998046 -1.12230088] [ 0. 0. 0. 1. ]] SLAMing on 110.51650248099999 meters 0.10973687154673617 Centerline is valid? [False, False] Translation: X:3.53, Y:0.25, Z:-1.12 [[ 0.99978118 -0.00855146 -0.01909096 3.53407917] [ 0.00864539 0.9999509 0.00484301 0.25267998] [ 0.01904861 -0.005007 0.99980602 -1.12225358] [ 0. 0. 0. 1. ]] SLAMing on 110.54650248099999 meters 0.11015270045944293 Centerline is valid? [False, False] Translation: X:3.53, Y:0.25, Z:-1.12 [[ 0.99978466 -0.00814398 -0.01908697 3.53469315] [ 0.00825215 0.9999503 0.00559502 0.25124431] [ 0.01904045 -0.00575132 0.99980217 -1.12319393] [ 0. 0. 0. 1. ]] SLAMing on 110.57650248099999 meters 0.11088784408328811 Centerline is valid? [False, False] Translation: X:3.53, Y:0.25, Z:-1.12 [[ 0.99978408 -0.00823057 -0.01908013 3.53436876] [ 0.00833855 0.99994963 0.00558655 0.25093612] [ 0.01903319 -0.00574444 0.99980235 -1.12270763] [ 0. 0. 0. 1. ]] SLAMing on 110.60650248099999 meters 0.1116045493793215 Centerline is valid? [False, False] Translation: X:3.53, Y:0.25, Z:-1.12 [[ 0.99978413 -0.0082775 -0.01905696 3.53417033] [ 0.00838587 0.99994908 0.00561383 0.25055325] [ 0.01900952 -0.00577243 0.99980264 -1.12247194] [ 0. 0. 0. 1. ]] SLAMing on 110.636502481 meters 0.11137266669901578 Centerline is valid? [False, False] Translation: X:3.53, Y:0.25, Z:-1.12 [[ 0.99978778 -0.00786941 -0.01903865 3.53485811] [ 0.00799124 0.99994802 0.00633154 0.24926352] [ 0.01898784 -0.00648234 0.9997987 -1.12361326] [ 0. 0. 0. 1. ]] SLAMing on 110.666502481 meters 0.11147024748590756 Centerline is valid? [False, False] Translation: X:3.54, Y:0.25, Z:-1.12 [[ 0.99978655 -0.00770253 -0.01917117 3.53525244] [ 0.00782968 0.99994779 0.00656609 0.24883372] [ 0.01911959 -0.00671479 0.99979466 -1.12385342] [ 0. 0. 0. 1. ]] SLAMing on 110.696502481 meters 0.11133337988180425 Centerline is valid? [False, False] Translation: X:3.54, Y:0.25, Z:-1.12 [[ 9.99899738e-01 -4.28991461e-03 -1.34948391e-02 3.54366972e+00] [ 4.31726617e-03 9.99988684e-01 1.99833769e-03 2.50478874e-01] [ 1.34861137e-02 -2.05639815e-03 9.99906944e-01 -1.12458059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.726502481 meters 0.11134885823354805 Centerline is valid? [False, False] Translation: X:3.54, Y:0.25, Z:-1.12 [[ 9.99897809e-01 -4.37333173e-03 -1.36104753e-02 3.54390249e+00] [ 4.39803266e-03 9.99988735e-01 1.78544520e-03 2.51163258e-01] [ 1.36025136e-02 -1.84512206e-03 9.99905779e-01 -1.12460385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75650248099998 meters 0.11060229297817499 Centerline is valid? [False, False] Translation: X:3.54, Y:0.25, Z:-1.13 [[ 9.99896487e-01 -4.16098081e-03 -1.37732138e-02 3.54474183e+00] [ 4.18776250e-03 9.99989395e-01 1.91620739e-03 2.51552342e-01] [ 1.37650945e-02 -1.97368799e-03 9.99903309e-01 -1.12542747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78650248099999 meters 0.11026271582259599 Centerline is valid? [False, False] Translation: X:3.54, Y:0.25, Z:-1.13 [[ 9.99897728e-01 -4.13326119e-03 -1.36912571e-02 3.54479290e+00] [ 4.16039100e-03 9.99989437e-01 1.95365409e-03 2.51502425e-01] [ 1.36830375e-02 -2.01041527e-03 9.99904362e-01 -1.12574264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81650248099999 meters 0.10937348323539188 Centerline is valid? [False, False] Translation: X:3.55, Y:0.25, Z:-1.13 [[ 9.99896134e-01 -4.07071498e-03 -1.38257282e-02 3.54522050e+00] [ 4.09729677e-03 9.99989811e-01 1.89485151e-03 2.51893439e-01] [ 1.38178740e-02 -1.95130281e-03 9.99902625e-01 -1.12609273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84650248099999 meters 0.10868826889439542 Centerline is valid? [False, False] Translation: X:3.55, Y:0.25, Z:-1.13 [[ 9.99891639e-01 -4.01053876e-03 -1.41642607e-02 3.54586960e+00] [ 4.03604617e-03 9.99990284e-01 1.77270296e-03 2.52541452e-01] [ 1.41570136e-02 -1.82967847e-03 9.99898110e-01 -1.12619741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87650248099999 meters 0.10765835956034607 Centerline is valid? [False, False] Translation: X:3.55, Y:0.26, Z:-1.13 [[ 9.99882730e-01 -4.11321562e-03 -1.47515420e-02 3.54668895e+00] [ 4.12810868e-03 9.99991000e-01 9.79285660e-04 2.55185776e-01] [ 1.47473812e-02 -1.04006679e-03 9.99890711e-01 -1.12600154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90650248099999 meters 0.10705517269775468 Centerline is valid? [False, False] Translation: X:3.55, Y:0.26, Z:-1.13 [[ 9.99875811e-01 -4.14536897e-03 -1.52045636e-02 3.54732748e+00] [ 4.15427025e-03 9.99991218e-01 5.53897647e-04 2.56682164e-01] [ 1.52021340e-02 -6.16992725e-04 9.99884251e-01 -1.12576825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93650248099999 meters 0.10672339689017678 Centerline is valid? [False, False] Translation: X:3.55, Y:0.26, Z:-1.12 [[ 9.99874683e-01 -4.61266979e-03 -1.51440451e-02 3.54664140e+00] [ 4.60673120e-03 9.99989298e-01 -4.27001336e-04 2.58632038e-01] [ 1.51458527e-02 3.57183280e-04 9.99885231e-01 -1.12484581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96650248099999 meters 0.1066730178360529 Centerline is valid? [False, False] Translation: X:3.55, Y:0.26, Z:-1.13 [[ 9.99872999e-01 -4.48736920e-03 -1.52921455e-02 3.54705235e+00] [ 4.48273502e-03 9.99989896e-01 -3.37307358e-04 2.58623129e-01] [ 1.52935046e-02 2.68713883e-04 9.99883011e-01 -1.12510888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.996502481 meters 0.10674195356233294 Centerline is valid? [False, False] Translation: X:3.55, Y:0.26, Z:-1.13 [[ 9.99961848e-01 4.27632779e-04 -8.72461067e-03 3.55496862e+00] [-4.56029170e-04 9.99994605e-01 -3.25301618e-03 2.60569964e-01] [ 8.72317250e-03 3.25687075e-03 9.99956649e-01 -1.12623301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.026502481 meters 0.10671799370692106 Centerline is valid? [False, False] Translation: X:3.55, Y:0.26, Z:-1.13 [[ 9.99961911e-01 3.67466511e-04 -8.72020400e-03 3.55481964e+00] [-3.96430931e-04 9.99994410e-01 -3.32003405e-03 2.60573377e-01] [ 8.71893526e-03 3.32336455e-03 9.99956467e-01 -1.12599330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.056502481 meters 0.10656831856009065 Centerline is valid? [False, False] Translation: X:3.56, Y:0.26, Z:-1.13 [[ 9.99963091e-01 8.26946677e-04 -8.55174099e-03 3.55536324e+00] [-8.48509949e-04 9.99996469e-01 -2.51818598e-03 2.58980264e-01] [ 8.54962839e-03 2.52534927e-03 9.99960262e-01 -1.12727215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.086502481 meters 0.10645463828023655 Centerline is valid? [False, False] Translation: X:3.56, Y:0.26, Z:-1.13 [[ 9.99962280e-01 1.19119328e-03 -8.60345136e-03 3.55596430e+00] [-1.20768892e-03 9.99997442e-01 -1.91238724e-03 2.57872264e-01] [ 8.60115133e-03 1.92270540e-03 9.99961161e-01 -1.12808706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11650248099998 meters 0.10683261667073546 Centerline is valid? [False, False] Translation: X:3.56, Y:0.26, Z:-1.13 [[ 9.99964647e-01 1.13074441e-03 -8.33221152e-03 3.55536895e+00] [-1.14504958e-03 9.99997878e-01 -1.71228129e-03 2.56786166e-01] [ 8.33025769e-03 1.72176155e-03 9.99963821e-01 -1.12791749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14650248099998 meters 0.10701885386796228 Centerline is valid? [False, False] Translation: X:3.56, Y:0.26, Z:-1.13 [[ 9.99990091e-01 4.09408877e-03 -1.74821939e-03 3.56304332e+00] [-4.10518081e-03 9.99971163e-01 -6.38902877e-03 2.56905906e-01] [ 1.72201173e-03 6.39614221e-03 9.99978062e-01 -1.12906510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17650248099999 meters 0.10727093898016728 Centerline is valid? [False, False] Translation: X:3.56, Y:0.26, Z:-1.13 [[ 9.99989684e-01 4.24396623e-03 -1.61870329e-03 3.56297125e+00] [-4.25356465e-03 9.99973114e-01 -5.97308102e-03 2.55735013e-01] [ 1.59331022e-03 5.97990466e-03 9.99980851e-01 -1.12930632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20650248099999 meters 0.10721707333971192 Centerline is valid? [False, False] Translation: X:3.56, Y:0.26, Z:-1.13 [[ 9.99988855e-01 4.36271189e-03 -1.80459408e-03 3.56349182e+00] [-4.37319750e-03 9.99973338e-01 -5.84795741e-03 2.55796831e-01] [ 1.77903302e-03 5.85578408e-03 9.99981272e-01 -1.12957191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.23650248099999 meters 0.10709082185370308 Centerline is valid? [False, False] Translation: X:3.56, Y:0.26, Z:-1.13 [[ 9.99988151e-01 4.43329321e-03 -2.01078616e-03 3.56383852e+00] [-4.44488502e-03 9.99973316e-01 -5.79745325e-03 2.55903473e-01] [ 1.98503069e-03 5.80632227e-03 9.99981173e-01 -1.12951488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26650248099999 meters 0.10706901351321402 Centerline is valid? [False, False] Translation: X:3.56, Y:0.26, Z:-1.13 [[ 9.99996711e-01 1.15019682e-04 -2.56236400e-03 3.56457434e+00] [-1.41916531e-04 9.99944872e-01 -1.04991808e-02 2.57339505e-01] [ 2.56101513e-03 1.04995099e-02 9.99941599e-01 -1.12919671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29650248099999 meters 0.10702848769859313 Centerline is valid? [False, False] Translation: X:3.57, Y:0.26, Z:-1.13 [[ 9.99996792e-01 6.20960074e-04 -2.45584673e-03 3.56518645e+00] [-6.44508733e-04 9.99953714e-01 -9.59967594e-03 2.55466258e-01] [ 2.44977204e-03 9.60122796e-03 9.99950906e-01 -1.13050959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32650248099999 meters 0.10704877045177276 Centerline is valid? [False, False] Translation: X:3.57, Y:0.26, Z:-1.13 [[ 9.99996262e-01 8.46832031e-04 -2.59970667e-03 3.56594880e+00] [-8.71065432e-04 9.99956052e-01 -9.33465363e-03 2.55451629e-01] [ 2.59168754e-03 9.33688325e-03 9.99953052e-01 -1.13128792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35650248099999 meters 0.1073494873546145 Centerline is valid? [False, False] Translation: X:3.57, Y:0.26, Z:-1.13 [[ 9.99971557e-01 -4.80914035e-03 -5.81007299e-03 3.57402440e+00] [ 4.79546780e-03 9.99985705e-01 -2.36489409e-03 2.56535423e-01] [ 5.82136304e-03 2.33696481e-03 9.99980325e-01 -1.12865599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.386502481 meters 0.10742186482833747 Centerline is valid? [False, False] Translation: X:3.57, Y:0.26, Z:-1.13 [[ 9.99971928e-01 -4.64012886e-03 -5.88329544e-03 3.57447658e+00] [ 4.62746474e-03 9.99986951e-01 -2.16434344e-03 2.56431939e-01] [ 5.89326150e-03 2.13705794e-03 9.99980351e-01 -1.12910163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.416502481 meters 0.10744802320231239 Centerline is valid? [False, False] Translation: X:3.57, Y:0.26, Z:-1.13 [[ 9.99973420e-01 -4.45944564e-03 -5.76816011e-03 3.57459424e+00] [ 4.44884593e-03 9.99988394e-01 -1.84915209e-03 2.55672722e-01] [ 5.77633936e-03 1.82344129e-03 9.99981654e-01 -1.12956290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.446502481 meters 0.10751950695796303 Centerline is valid? [False, False] Translation: X:3.57, Y:0.26, Z:-1.13 [[ 9.99973391e-01 -4.28643325e-03 -5.90290018e-03 3.57496550e+00] [ 4.27701408e-03 9.99989562e-01 -1.60738515e-03 2.55199194e-01] [ 5.90972851e-03 1.58209560e-03 9.99981286e-01 -1.12978874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.476502481 meters 0.1076017215285237 Centerline is valid? [False, False] Translation: X:3.58, Y:0.26, Z:-1.13 [[ 9.99971876e-01 -4.30493661e-03 -6.14116136e-03 3.57511463e+00] [ 4.29471258e-03 9.99989371e-01 -1.67705357e-03 2.55329146e-01] [ 6.14831570e-03 1.65063188e-03 9.99979737e-01 -1.12935483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50650248099998 meters 0.1077131465244686 Centerline is valid? [False, False] Translation: X:3.58, Y:0.26, Z:-1.13 [[ 9.99971045e-01 -4.17990090e-03 -6.35898638e-03 3.57565772e+00] [ 4.16998687e-03 9.99990071e-01 -1.57151879e-03 2.55461589e-01] [ 6.36549203e-03 1.54495640e-03 9.99978547e-01 -1.12955727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53650248099999 meters 0.10775843786851079 Centerline is valid? [False, False] Translation: X:3.58, Y:0.25, Z:-1.13 [[ 9.99971597e-01 -3.83636872e-03 -6.48754295e-03 3.57633831e+00] [ 3.82968407e-03 9.99992123e-01 -1.04249088e-03 2.54668142e-01] [ 6.49149123e-03 1.01761603e-03 9.99978412e-01 -1.13021845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56650248099999 meters 0.10792077980887327 Centerline is valid? [False, False] Translation: X:3.58, Y:0.25, Z:-1.13 [[ 9.99972367e-01 -3.44160931e-03 -6.58938497e-03 3.57705319e+00] [ 3.43897177e-03 9.99994002e-01 -4.11559849e-04 2.53565760e-01] [ 6.59076187e-03 3.88887768e-04 9.99978205e-01 -1.13103183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.59650248099999 meters 0.10806624461385664 Centerline is valid? [False, False] Translation: X:3.58, Y:0.25, Z:-1.13 [[ 9.99975076e-01 -2.65789732e-03 -6.54081128e-03 3.57808779e+00] [ 2.66463632e-03 9.99995928e-01 1.02180053e-03 2.50731107e-01] [ 6.53806880e-03 -1.03920394e-03 9.99978087e-01 -1.13281713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62650248099999 meters 0.1082065109393131 Centerline is valid? [False, False] Translation: X:3.58, Y:0.25, Z:-1.13 [[ 9.99976195e-01 -2.13229091e-03 -6.56225322e-03 3.57893575e+00] [ 2.14473746e-03 9.99995914e-01 1.89023654e-03 2.49224642e-01] [ 6.55819587e-03 -1.90426585e-03 9.99976682e-01 -1.13407738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65650248099999 meters 0.10833033857144266 Centerline is valid? [False, False] Translation: X:3.58, Y:0.25, Z:-1.13 [[ 9.99976998e-01 -2.01300019e-03 -6.47696295e-03 3.57882549e+00] [ 2.02748678e-03 9.99995456e-01 2.23084406e-03 2.48200039e-01] [ 6.47244283e-03 -2.24392470e-03 9.99976536e-01 -1.13415683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68650248099999 meters 0.10891461345893963 Centerline is valid? [False, False] Translation: X:3.58, Y:0.25, Z:-1.13 [[ 9.99980097e-01 -1.99095586e-03 -5.98671842e-03 3.57786846e+00] [ 2.00721150e-03 9.99994312e-01 2.71050316e-03 2.46198222e-01] [ 5.98128787e-03 -2.72246583e-03 9.99978406e-01 -1.13400119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71650248099999 meters 0.10912586639158044 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:-1.13 [[ 9.99991645e-01 1.90221158e-03 -3.61816448e-03 3.58663600e+00] [-1.91005475e-03 9.99995831e-01 -2.16550328e-03 2.44728710e-01] [ 3.61403015e-03 2.17239608e-03 9.99991110e-01 -1.13203285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.746502481 meters 0.10912586639158044 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:-1.13 [[ 9.99991645e-01 1.90221158e-03 -3.61816448e-03 3.58663600e+00] [-1.91005475e-03 9.99995831e-01 -2.16550328e-03 2.44728710e-01] [ 3.61403015e-03 2.17239608e-03 9.99991110e-01 -1.13203285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.776502481 meters 0.10910212694955994 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:-1.13 [[ 9.99990975e-01 2.05366529e-03 -3.71928974e-03 3.58681920e+00] [-2.06074947e-03 9.99996068e-01 -1.90188506e-03 2.44043972e-01] [ 3.71536928e-03 1.90953242e-03 9.99991275e-01 -1.13203517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.806502481 meters 0.10916719471514823 Centerline is valid? [False, False] Translation: X:3.59, Y:0.25, Z:-1.13 [[ 9.99988087e-01 -2.14413500e-03 -4.38500405e-03 3.58784314e+00] [ 2.11616813e-03 9.99977456e-01 -6.37256930e-03 2.45137351e-01] [ 4.39856885e-03 6.36321398e-03 9.99970081e-01 -1.13182904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.836502481 meters 0.10847987017668631 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:-1.13 [[ 9.99990065e-01 -1.19048179e-03 -4.29563269e-03 3.58903111e+00] [ 1.17003137e-03 9.99987986e-01 -4.76012338e-03 2.41960857e-01] [ 4.30124792e-03 4.75505006e-03 9.99979444e-01 -1.13398777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86650248099998 meters 0.10860657031803303 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:-1.13 [[ 9.99990472e-01 -6.67498053e-04 -4.31392467e-03 3.58966158e+00] [ 6.50970134e-04 9.99992448e-01 -3.83156445e-03 2.40101295e-01] [ 4.31644965e-03 3.82871971e-03 9.99983354e-01 -1.13494222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89650248099998 meters 0.10823720138358853 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:-1.14 [[ 9.99990161e-01 -3.41557082e-04 -4.42282478e-03 3.59018015e+00] [ 3.26905402e-04 9.99994458e-01 -3.31304194e-03 2.39157814e-01] [ 4.42393187e-03 3.31156350e-03 9.99984731e-01 -1.13545551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92650248099999 meters 0.10794531531099551 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:-1.14 [[ 9.99990433e-01 2.60457957e-05 -4.37410114e-03 3.59046479e+00] [-3.76795192e-05 9.99996462e-01 -2.65962191e-03 2.37666651e-01] [ 4.37401640e-03 2.65976128e-03 9.99986897e-01 -1.13606758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.95650248099999 meters 0.10842514113622642 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:-1.14 [[ 9.99990466e-01 2.71100723e-04 -4.35824048e-03 3.59073924e+00] [-2.80949685e-04 9.99997408e-01 -2.25939482e-03 2.36825766e-01] [ 4.35761666e-03 2.26059772e-03 9.99987950e-01 -1.13652225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98650248099999 meters 0.10818529237929013 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:-1.14 [[ 9.99989868e-01 4.13271551e-04 -4.48245221e-03 3.59083577e+00] [-4.22646626e-04 9.99997725e-01 -2.09076028e-03 2.36371074e-01] [ 4.48157796e-03 2.09263359e-03 9.99987768e-01 -1.13637281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01650248099999 meters 0.10799453393324586 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:-1.14 [[ 9.99989558e-01 5.27681137e-04 -4.53933914e-03 3.59102437e+00] [-5.36591192e-04 9.99997932e-01 -1.96185912e-03 2.36096248e-01] [ 4.53829451e-03 1.96427440e-03 9.99987773e-01 -1.13652278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04650248099999 meters 0.10778670155288916 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:-1.14 [[ 9.99988663e-01 7.23078673e-04 -4.70649024e-03 3.59145546e+00] [-7.31378279e-04 9.99998180e-01 -1.76195635e-03 2.35870257e-01] [ 4.70520764e-03 1.76537860e-03 9.99987372e-01 -1.13674455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07650248099999 meters 0.10761903201231672 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:-1.14 [[ 9.99988138e-01 7.38517075e-04 -4.81444682e-03 3.59147591e+00] [-7.46928277e-04 9.99998198e-01 -1.74551172e-03 2.35663742e-01] [ 4.81314905e-03 1.74908706e-03 9.99986887e-01 -1.13652000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10650248099999 meters 0.10717374520656227 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:-1.14 [[ 9.99979809e-01 -3.27124259e-03 -5.44794935e-03 3.59258626e+00] [ 3.23800035e-03 9.99976156e-01 -6.09947289e-03 2.36585879e-01] [ 5.46777231e-03 6.08170927e-03 9.99966558e-01 -1.13664594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.136502481 meters 0.10734280544359259 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:-1.14 [[ 9.99980325e-01 -2.96175809e-03 -5.52965426e-03 3.59308778e+00] [ 2.93062656e-03 9.99979860e-01 -5.62956174e-03 2.35759659e-01] [ 5.54621629e-03 5.61324563e-03 9.99968865e-01 -1.13720361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.166502481 meters 0.10718475238461668 Centerline is valid? [False, False] Translation: X:3.59, Y:0.24, Z:-1.14 [[ 9.99980212e-01 -2.79554545e-03 -5.63559099e-03 3.59326382e+00] [ 2.76541729e-03 9.99981882e-01 -5.34677288e-03 2.35081686e-01] [ 5.65043603e-03 5.33108231e-03 9.99969826e-01 -1.13718575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.196502481 meters 0.10729430278333316 Centerline is valid? [False, False] Translation: X:3.59, Y:0.23, Z:-1.14 [[ 9.99981055e-01 -2.36984789e-03 -5.68096430e-03 3.59386668e+00] [ 2.34338031e-03 9.99986391e-01 -4.66113280e-03 2.33802962e-01] [ 5.69193316e-03 4.64773184e-03 9.99973000e-01 -1.13798517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.226502481 meters 0.10734009636457438 Centerline is valid? [False, False] Translation: X:3.59, Y:0.23, Z:-1.14 [[ 9.99982364e-01 -1.73621214e-03 -5.67957534e-03 3.59471680e+00] [ 1.71572272e-03 9.99992010e-01 -3.61044691e-03 2.31807279e-01] [ 5.68579846e-03 3.60063866e-03 9.99977353e-01 -1.13930454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25650248099998 meters 0.10748927135541163 Centerline is valid? [False, False] Translation: X:3.60, Y:0.23, Z:-1.14 [[ 9.99985185e-01 -8.01854701e-04 -5.38385605e-03 3.59548758e+00] [ 7.92391231e-04 9.99998138e-01 -1.75965259e-03 2.27538247e-01] [ 5.38525701e-03 1.75536041e-03 9.99983959e-01 -1.14132050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28650248099999 meters 0.10752488362779254 Centerline is valid? [False, False] Translation: X:3.60, Y:0.23, Z:-1.14 [[ 9.99986052e-01 -2.53011233e-04 -5.27561137e-03 3.59606962e+00] [ 2.49364406e-04 9.99999730e-01 -6.91907886e-04 2.25293800e-01] [ 5.27578501e-03 6.90582685e-04 9.99985844e-01 -1.14254727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31650248099999 meters 0.10815500437469602 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.14 [[ 9.99985925e-01 -1.42297500e-04 -5.30374569e-03 3.59616710e+00] [ 1.40024127e-04 9.99999898e-01 -4.29004182e-04 2.24579764e-01] [ 5.30380619e-03 4.28255492e-04 9.99985843e-01 -1.14260225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34650248099999 meters 0.10814007893407546 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.14 [[ 9.99987238e-01 -1.72224108e-04 -5.04923954e-03 3.59541909e+00] [ 1.71571550e-04 9.99999977e-01 -1.29671691e-04 2.23015663e-01] [ 5.04926175e-03 1.28803731e-04 9.99987244e-01 -1.14213224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37650248099999 meters 0.10875508783955846 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.14 [[ 0.99997529 -0.00437596 -0.00550221 3.59625693] [ 0.0043514 0.99998055 -0.00446904 0.22364187] [ 0.00552166 0.00444499 0.99997488 -1.14215779] [ 0. 0. 0. 1. ]] SLAMing on 112.40650248099999 meters 0.10961851212720865 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.14 [[ 9.99978454e-01 -3.93364840e-03 -5.25520139e-03 3.59630005e+00] [ 3.91566371e-03 9.99986457e-01 -3.42818108e-03 2.20868895e-01] [ 5.26861548e-03 3.40752961e-03 9.99980315e-01 -1.14290687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43650248099999 meters 0.10942490267641136 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.14 [[ 9.99979242e-01 -3.65563217e-03 -5.30587460e-03 3.59665686e+00] [ 3.63989572e-03 9.99988958e-01 -2.97248646e-03 2.19891737e-01] [ 5.31668233e-03 2.95311193e-03 9.99981506e-01 -1.14330268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46650248099999 meters 0.10990528830761864 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.14 [[ 9.99978932e-01 -3.43530956e-03 -5.50758744e-03 3.59722664e+00] [ 3.42079311e-03 9.99990656e-01 -2.64297464e-03 2.19397225e-01] [ 5.51661541e-03 2.62407865e-03 9.99981340e-01 -1.14363364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.496502481 meters 0.11010267697727083 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.14 [[ 9.99978686e-01 -3.20282940e-03 -5.68940564e-03 3.59792436e+00] [ 3.18960308e-03 9.99992193e-01 -2.33228135e-03 2.19122238e-01] [ 5.69683113e-03 2.31408469e-03 9.99981095e-01 -1.14418091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.526502481 meters 0.11059870103389094 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.14 [[ 9.99978586e-01 -3.02938343e-03 -5.80081785e-03 3.59825504e+00] [ 3.01724006e-03 9.99993241e-01 -2.10099659e-03 2.18695146e-01] [ 5.80714337e-03 2.08344914e-03 9.99980968e-01 -1.14436268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.556502481 meters 0.110534838985908 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.14 [[ 9.99978756e-01 -2.81589839e-03 -5.87855040e-03 3.59869356e+00] [ 2.80532528e-03 9.99994434e-01 -1.80606245e-03 2.18226528e-01] [ 5.88360337e-03 1.78953284e-03 9.99981090e-01 -1.14481382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.586502481 meters 0.11066540887430076 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.15 [[ 9.99978315e-01 -2.61353227e-03 -6.04469232e-03 3.59930462e+00] [ 2.60417040e-03 9.99995398e-01 -1.55612804e-03 2.18029560e-01] [ 6.04873149e-03 1.54035289e-03 9.99980520e-01 -1.14528434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61650248099998 meters 0.11015923205392236 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.15 [[ 9.99977712e-01 -2.48365324e-03 -6.19739629e-03 3.59972980e+00] [ 2.47485377e-03 9.99995919e-01 -1.42713164e-03 2.17966191e-01] [ 6.20091550e-03 1.41176218e-03 9.99979778e-01 -1.14549264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64650248099998 meters 0.10965200379566888 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.15 [[ 9.99976571e-01 -2.44340327e-03 -6.39426872e-03 3.60010312e+00] [ 2.43408561e-03 9.99995965e-01 -1.46456504e-03 2.18306103e-01] [ 6.39782145e-03 1.44896653e-03 9.99978484e-01 -1.14549830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67650248099999 meters 0.11097582250344012 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.15 [[ 9.99975931e-01 -2.31705757e-03 -6.53971497e-03 3.60059344e+00] [ 2.30838076e-03 9.99996446e-01 -1.33402336e-03 2.18367051e-01] [ 6.54278273e-03 1.31889510e-03 9.99977726e-01 -1.14584229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70650248099999 meters 0.11092416438391478 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.15 [[ 9.99975797e-01 -1.99213280e-03 -6.66608635e-03 3.60135330e+00] [ 1.98625076e-03 9.99997632e-01 -8.88886297e-04 2.17855437e-01] [ 6.66784135e-03 8.75624264e-04 9.99977386e-01 -1.14665423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.73650248099999 meters 0.10919139373166417 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.15 [[ 9.99975404e-01 -1.73287475e-03 -6.79618254e-03 3.60203891e+00] [ 1.72888179e-03 9.99998329e-01 -5.93360132e-04 2.17617351e-01] [ 6.79719941e-03 5.81595742e-04 9.99976730e-01 -1.14735579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76650248099999 meters 0.1091601947629464 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.15 [[ 9.99974152e-01 -1.59797211e-03 -7.01009322e-03 3.60264913e+00] [ 1.59462683e-03 9.99998612e-01 -4.82773053e-04 2.17733236e-01] [ 7.01085495e-03 4.71582092e-04 9.99975312e-01 -1.14768439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79650248099999 meters 0.10961366116195177 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.15 [[ 9.99972754e-01 -1.76640592e-03 -7.16732866e-03 3.60284891e+00] [ 1.76017154e-03 9.99998067e-01 -8.76047798e-04 2.18903968e-01] [ 7.16886226e-03 8.63408202e-04 9.99973931e-01 -1.14752938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82650248099999 meters 0.10895079688825722 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.15 [[ 9.99971603e-01 -1.68869173e-03 -7.34450998e-03 3.60330622e+00] [ 1.68251223e-03 9.99998225e-01 -8.47474430e-04 2.19199580e-01] [ 7.34592807e-03 8.35093136e-04 9.99972670e-01 -1.14771489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85650248099999 meters 0.1082182656309663 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.15 [[ 9.99970787e-01 -1.46700728e-03 -7.50150140e-03 3.60409347e+00] [ 1.46227044e-03 9.99998728e-01 -6.36898670e-04 2.19346330e-01] [ 7.50242619e-03 6.25910840e-04 9.99971661e-01 -1.14849005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.886502481 meters 0.10824486521193571 Centerline is valid? [False, False] Translation: X:3.60, Y:0.22, Z:-1.15 [[ 9.99970514e-01 -1.17368924e-03 -7.58899774e-03 3.60477355e+00] [ 1.17198297e-03 9.99999287e-01 -2.29278000e-04 2.18829014e-01] [ 7.58926143e-03 2.20377064e-04 9.99971177e-01 -1.14927572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.916502481 meters 0.10967447323148909 Centerline is valid? [False, False] Translation: X:3.61, Y:0.22, Z:-1.15 [[ 9.99969609e-01 -1.18634432e-03 -7.70536789e-03 3.60509658e+00] [ 1.18387858e-03 9.99999247e-01 -3.24555931e-04 2.19437960e-01] [ 7.70574712e-03 3.15423847e-04 9.99970261e-01 -1.14942694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.946502481 meters 0.10871625881905143 Centerline is valid? [False, False] Translation: X:3.61, Y:0.22, Z:-1.15 [[ 9.99967472e-01 -1.08281416e-03 -7.99260496e-03 3.60578449e+00] [ 1.08073731e-03 9.99999381e-01 -2.64160678e-04 2.19771715e-01] [ 7.99288605e-03 2.55514179e-04 9.99968024e-01 -1.14964456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.976502481 meters 0.10911434890506096 Centerline is valid? [False, False] Translation: X:3.61, Y:0.22, Z:-1.15 [[ 9.99965564e-01 -1.10423736e-03 -8.22499818e-03 3.60646903e+00] [ 1.10046207e-03 9.99999287e-01 -4.63513680e-04 2.20974451e-01] [ 8.22550414e-03 4.54446421e-04 9.99966067e-01 -1.14995340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00650248099998 meters 0.10936622693867445 Centerline is valid? [False, False] Translation: X:3.61, Y:0.22, Z:-1.15 [[ 9.99964946e-01 -1.12346742e-03 -8.29725562e-03 3.60660443e+00] [ 1.11904297e-03 9.99999229e-01 -5.37865801e-04 2.21245255e-01] [ 8.29785350e-03 5.28561961e-04 9.99965433e-01 -1.14991863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03650248099999 meters 0.10954721758250996 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-1.15 [[ 9.99987176e-01 3.27777775e-03 -3.86051564e-03 3.61557769e+00] [-3.29524289e-03 9.99984326e-01 -4.52640335e-03 2.21465343e-01] [ 3.84561859e-03 4.53906664e-03 9.99982304e-01 -1.15046690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06650248099999 meters 0.11061625102844937 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-1.15 [[ 9.99990379e-01 -4.27308752e-03 9.90816358e-04 3.62363763e+00] [ 4.27215991e-03 9.99990436e-01 9.36443415e-04 2.21910336e-01] [-9.94808386e-04 -9.32201480e-04 9.99999071e-01 -1.15352153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.09650248099999 meters 0.11078600342980134 Centerline is valid? [False, False] Translation: X:3.62, Y:0.22, Z:-1.15 [[ 9.99990772e-01 -4.24700907e-03 6.47726208e-04 3.62466219e+00] [ 4.24657100e-03 9.99990755e-01 6.76209367e-04 2.23537368e-01] [-6.50592087e-04 -6.73452511e-04 9.99999562e-01 -1.15412243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12650248099999 meters 0.11062304102382196 Centerline is valid? [False, False] Translation: X:3.63, Y:0.22, Z:-1.15 [[ 9.99990975e-01 -4.22833685e-03 4.14232620e-04 3.62524651e+00] [ 4.22810764e-03 9.99990909e-01 5.52650436e-04 2.24396575e-01] [-4.16565646e-04 -5.50894028e-04 9.99999761e-01 -1.15433541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15650248099999 meters 0.11008251192443236 Centerline is valid? [False, False] Translation: X:3.63, Y:0.23, Z:-1.15 [[ 9.99990245e-01 -4.40796131e-03 2.82914571e-04 3.62514976e+00] [ 4.40790511e-03 9.99990265e-01 1.98966210e-04 2.25088530e-01] [-2.83788852e-04 -1.97717208e-04 9.99999940e-01 -1.15379159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18650248099999 meters 0.11093902193062319 Centerline is valid? [False, False] Translation: X:3.63, Y:0.23, Z:-1.15 [[ 9.99990132e-01 -4.44255883e-03 1.85287457e-05 3.62579921e+00] [ 4.44256111e-03 9.99990124e-01 -1.25353937e-04 2.26574725e-01] [-1.79716705e-05 1.25435015e-04 9.99999992e-01 -1.15405583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21650248099999 meters 0.10970705809830181 Centerline is valid? [False, False] Translation: X:3.63, Y:0.23, Z:-1.15 [[ 9.99990794e-01 -4.28725184e-03 -1.78252408e-04 3.62656984e+00] [ 4.28724038e-03 9.99990808e-01 -6.46373210e-05 2.27035808e-01] [ 1.78527886e-04 6.38725150e-05 9.99999982e-01 -1.15468082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.246502481 meters 0.10979520175802711 Centerline is valid? [False, False] Translation: X:3.63, Y:0.23, Z:-1.15 [[ 9.99990574e-01 -4.32895728e-03 -3.34079468e-04 3.62682775e+00] [ 4.32886671e-03 9.99990594e-01 -2.71350516e-04 2.27839586e-01] [ 3.35250990e-04 2.69901773e-04 9.99999907e-01 -1.15463497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.276502481 meters 0.11023210879076845 Centerline is valid? [False, False] Translation: X:3.63, Y:0.23, Z:-1.15 [[ 9.99990198e-01 -4.39134982e-03 -5.66253887e-04 3.62716519e+00] [ 4.39106053e-03 9.99990229e-01 -5.11114137e-04 2.28740541e-01] [ 5.68492835e-04 5.08622672e-04 9.99999709e-01 -1.15450030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.306502481 meters 0.10963325580586931 Centerline is valid? [False, False] Translation: X:3.63, Y:0.23, Z:-1.15 [[ 9.99989642e-01 -4.42942738e-03 -1.04705287e-03 3.62811111e+00] [ 4.42837101e-03 9.99989686e-01 -1.00907418e-03 2.30851908e-01] [ 1.05151169e-03 1.00442699e-03 9.99998943e-01 -1.15467552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.336502481 meters 0.10971247763553851 Centerline is valid? [False, False] Translation: X:3.63, Y:0.23, Z:-1.16 [[ 9.99990118e-01 -4.27112355e-03 -1.23338993e-03 3.62868903e+00] [ 4.26999912e-03 9.99990467e-01 -9.12858667e-04 2.31023131e-01] [ 1.23727711e-03 9.07583072e-04 9.99998823e-01 -1.15504169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36650248099998 meters 0.10963189161010768 Centerline is valid? [False, False] Translation: X:3.63, Y:0.23, Z:-1.15 [[ 9.99989360e-01 -4.35025652e-03 -1.53483395e-03 3.62902335e+00] [ 4.34836957e-03 9.99989789e-01 -1.23061631e-03 2.32022680e-01] [ 1.54017177e-03 1.22392919e-03 9.99998065e-01 -1.15477006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39650248099998 meters 0.10945334279992266 Centerline is valid? [False, False] Translation: X:3.63, Y:0.23, Z:-1.16 [[ 9.99989150e-01 -4.30434022e-03 -1.78111706e-03 3.62970963e+00] [ 4.30195491e-03 9.99989848e-01 -1.34089463e-03 2.32886507e-01] [ 1.78687065e-03 1.33321779e-03 9.99997515e-01 -1.15511461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42650248099999 meters 0.1091188280501572 Centerline is valid? [False, False] Translation: X:3.63, Y:0.23, Z:-1.16 [[ 9.99989092e-01 -4.18084043e-03 -2.08256660e-03 3.63065092e+00] [ 4.17793289e-03 9.99990294e-01 -1.39853113e-03 2.33807279e-01] [ 2.08839342e-03 1.38981505e-03 9.99996854e-01 -1.15569432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.45650248099999 meters 0.10884216733434927 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-1.16 [[ 9.99997932e-01 9.61758787e-04 -1.79206376e-03 3.64430505e+00] [-9.69137898e-04 9.99991038e-01 -4.12135245e-03 2.35395416e-01] [ 1.78808395e-03 4.12308068e-03 9.99989901e-01 -1.15721799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48650248099999 meters 0.10888416150895233 Centerline is valid? [False, False] Translation: X:3.64, Y:0.24, Z:-1.16 [[ 9.99998276e-01 5.52413515e-04 -1.77305011e-03 3.64388798e+00] [-5.61010490e-04 9.99988072e-01 -4.85186344e-03 2.36966794e-01] [ 1.77034873e-03 4.85284977e-03 9.99986658e-01 -1.15652276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51650248099999 meters 0.10896838260208731 Centerline is valid? [False, False] Translation: X:3.66, Y:0.23, Z:-1.16 [[ 9.99992203e-01 -2.94669129e-03 2.62875745e-03 3.65838399e+00] [ 2.94728939e-03 9.99995632e-01 -2.23679166e-04 2.34944652e-01] [-2.62808685e-03 2.31425131e-04 9.99996520e-01 -1.15835414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54650248099999 meters 0.1093763808786589 Centerline is valid? [False, False] Translation: X:3.66, Y:0.23, Z:-1.16 [[ 9.99992795e-01 -2.75134388e-03 2.61531728e-03 3.65876268e+00] [ 2.75117697e-03 9.99996213e-01 6.74142287e-05 2.34385918e-01] [-2.61549285e-03 -6.02185423e-05 9.99996578e-01 -1.15890712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57650248099999 meters 0.1099810671088715 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-1.16 [[ 9.99992995e-01 -2.89181838e-03 2.37639674e-03 3.65930406e+00] [ 2.89264868e-03 9.99995756e-01 -3.46030800e-04 2.36031562e-01] [-2.37538600e-03 3.52902457e-04 9.99997116e-01 -1.15901195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60650248099999 meters 0.11043817755684658 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-1.16 [[ 9.99993396e-01 -2.93571633e-03 2.14244005e-03 3.65980042e+00] [ 2.93695734e-03 9.99995521e-01 -5.76331830e-04 2.37138590e-01] [-2.14073851e-03 5.82620279e-04 9.99997539e-01 -1.15904934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.636502481 meters 0.11043817755684658 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-1.16 [[ 9.99993396e-01 -2.93571633e-03 2.14244005e-03 3.65980042e+00] [ 2.93695734e-03 9.99995521e-01 -5.76331830e-04 2.37138590e-01] [-2.14073851e-03 5.82620279e-04 9.99997539e-01 -1.15904934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.666502481 meters 0.11154515902187426 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-1.16 [[ 9.99992953e-01 -3.22895369e-03 1.91537180e-03 3.65994251e+00] [ 3.23127427e-03 9.99994048e-01 -1.20969942e-03 2.39011868e-01] [-1.91145434e-03 1.21587999e-03 9.99997434e-01 -1.15853552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.696502481 meters 0.1120868833830211 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-1.16 [[ 9.99993019e-01 -3.27809755e-03 1.79307690e-03 3.66035476e+00] [ 3.28066949e-03 9.99993591e-01 -1.43331915e-03 2.40031143e-01] [-1.78836685e-03 1.43919163e-03 9.99997365e-01 -1.15876394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.726502481 meters 0.11252201834969495 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-1.16 [[ 9.99993572e-01 -3.13742715e-03 1.73564284e-03 3.66076415e+00] [ 3.13962218e-03 9.99994273e-01 -1.26340172e-03 2.39924562e-01] [-1.73166907e-03 1.26884286e-03 9.99997696e-01 -1.15920823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75650248099998 meters 0.11305353941793904 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-1.16 [[ 9.99994150e-01 -2.95532196e-03 1.72241027e-03 3.66121960e+00] [ 2.95704807e-03 9.99995127e-01 -1.00046204e-03 2.39675579e-01] [-1.71944519e-03 1.00554943e-03 9.99998016e-01 -1.15985977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78650248099999 meters 0.1121902758911739 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-1.16 [[ 9.99994195e-01 -3.05523308e-03 1.50851046e-03 3.66168257e+00] [ 3.05721170e-03 9.99994467e-01 -1.31107776e-03 2.40941859e-01] [-1.50449647e-03 1.31568198e-03 9.99998003e-01 -1.15990576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.81650248099999 meters 0.11483629437004303 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-1.16 [[ 9.99994367e-01 -3.10506130e-03 1.27437522e-03 3.66208774e+00] [ 3.10700690e-03 9.99994006e-01 -1.52758579e-03 2.41826455e-01] [-1.26962433e-03 1.53153668e-03 9.99998021e-01 -1.15983877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84650248099999 meters 0.1128584736443644 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-1.16 [[ 9.99993841e-01 -3.38317853e-03 9.34305825e-04 3.66243671e+00] [ 3.38527207e-03 9.99991742e-01 -2.24832970e-03 2.43899529e-01] [-9.26691609e-04 2.25147873e-03 9.99997036e-01 -1.15934889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87650248099999 meters 0.11276123363514554 Centerline is valid? [False, False] Translation: X:3.66, Y:0.24, Z:-1.16 [[ 9.99994577e-01 -3.24018083e-03 5.88435890e-04 3.66345981e+00] [ 3.24151597e-03 9.99992142e-01 -2.28235099e-03 2.44791996e-01] [-5.81036036e-04 2.28424604e-03 9.99997222e-01 -1.15992734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90650248099999 meters 0.11251689949723793 Centerline is valid? [False, False] Translation: X:3.66, Y:0.25, Z:-1.16 [[ 9.99995313e-01 -3.06134538e-03 4.45680217e-05 3.66488151e+00] [ 3.06144844e-03 9.99992107e-01 -2.53254673e-03 2.46627877e-01] [-3.68146697e-05 2.53267130e-03 9.99996792e-01 -1.16058067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93650248099999 meters 0.11228027481143167 Centerline is valid? [False, False] Translation: X:3.67, Y:0.25, Z:-1.16 [[ 9.99995037e-01 -3.14106743e-03 -2.42842901e-04 3.66528289e+00] [ 3.14035778e-03 9.99990952e-01 -2.86940914e-03 2.47729830e-01] [ 2.51853711e-04 2.86863228e-03 9.99995854e-01 -1.16038815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96650248099999 meters 0.11195433028186899 Centerline is valid? [False, False] Translation: X:3.67, Y:0.25, Z:-1.16 [[ 9.99994644e-01 -3.23637314e-03 -4.87600464e-04 3.66563733e+00] [ 3.23476728e-03 9.99989458e-01 -3.25894861e-03 2.48934837e-01] [ 4.98142497e-04 3.25735388e-03 9.99994571e-01 -1.16021786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.996502481 meters 0.11118648153350781 Centerline is valid? [False, False] Translation: X:3.67, Y:0.25, Z:-1.16 [[ 9.99994069e-01 -3.28768174e-03 -1.02624961e-03 3.66655895e+00] [ 3.28368586e-03 9.99987115e-01 -3.87137160e-03 2.51191734e-01] [ 1.03896423e-03 3.86797876e-03 9.99991980e-01 -1.16017198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.026502481 meters 0.11014569755993153 Centerline is valid? [False, False] Translation: X:3.67, Y:0.25, Z:-1.16 [[ 9.99993695e-01 -3.13909042e-03 -1.65993146e-03 3.66788985e+00] [ 3.13203578e-03 9.99986125e-01 -4.23561624e-03 2.53242672e-01] [ 1.67320442e-03 4.23039058e-03 9.99989652e-01 -1.16051254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.056502481 meters 0.11006754964031339 Centerline is valid? [False, False] Translation: X:3.67, Y:0.25, Z:-1.16 [[ 9.99993469e-01 -2.98859444e-03 -2.03251725e-03 3.66880870e+00] [ 2.97985999e-03 9.99986371e-01 -4.28689087e-03 2.54088875e-01] [ 2.04530133e-03 4.28080625e-03 9.99988746e-01 -1.16089265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.086502481 meters 0.10925814234398822 Centerline is valid? [False, False] Translation: X:3.67, Y:0.26, Z:-1.16 [[ 9.99992788e-01 -2.83302885e-03 -2.52946820e-03 3.66999091e+00] [ 2.82145203e-03 9.99985583e-01 -4.56867883e-03 2.55755074e-01] [ 2.54237494e-03 4.56150910e-03 9.99986364e-01 -1.16135244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11650248099998 meters 0.1088932895336976 Centerline is valid? [False, False] Translation: X:3.67, Y:0.26, Z:-1.16 [[ 9.99992198e-01 -2.68535828e-03 -2.89716965e-03 3.67083536e+00] [ 2.67202459e-03 9.99985867e-01 -4.59641175e-03 2.56365745e-01] [ 2.90947172e-03 4.58863458e-03 9.99985240e-01 -1.16164519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14650248099998 meters 0.10854570197899333 Centerline is valid? [False, False] Translation: X:3.67, Y:0.26, Z:-1.16 [[ 9.99991610e-01 -2.58737581e-03 -3.17571799e-03 3.67150079e+00] [ 2.57257858e-03 9.99985857e-01 -4.65476728e-03 2.56979419e-01] [ 3.18771671e-03 4.64655844e-03 9.99984124e-01 -1.16188934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17650248099999 meters 0.10796608114856562 Centerline is valid? [False, False] Translation: X:3.67, Y:0.26, Z:-1.16 [[ 9.99990906e-01 -2.48087501e-03 -3.46881860e-03 3.67215818e+00] [ 2.46426669e-03 9.99985520e-01 -4.78399212e-03 2.57745936e-01] [ 3.48063686e-03 4.77540052e-03 9.99982540e-01 -1.16211923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20650248099999 meters 0.10792291553138061 Centerline is valid? [False, False] Translation: X:3.67, Y:0.26, Z:-1.16 [[ 9.99990099e-01 -2.37493621e-03 -3.76324287e-03 3.67287347e+00] [ 2.35672692e-03 9.99985530e-01 -4.83579223e-03 2.58381142e-01] [ 3.77467312e-03 4.82687541e-03 9.99981226e-01 -1.16239502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.23650248099999 meters 0.10750832654837578 Centerline is valid? [False, False] Translation: X:3.67, Y:0.26, Z:-1.16 [[ 9.99987382e-01 -2.43926541e-03 -4.39150517e-03 3.67367082e+00] [ 2.41553469e-03 9.99982497e-01 -5.40099776e-03 2.60205306e-01] [ 4.40460278e-03 5.39032178e-03 9.99975772e-01 -1.16188993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26650248099999 meters 0.10744480492291086 Centerline is valid? [False, False] Translation: X:3.67, Y:0.26, Z:-1.16 [[ 9.99986594e-01 -2.30667654e-03 -4.63583919e-03 3.67437802e+00] [ 2.28178747e-03 9.99982994e-01 -5.36697333e-03 2.60661083e-01] [ 4.64814023e-03 5.35632339e-03 9.99974852e-01 -1.16228008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29650248099999 meters 0.10712488292291174 Centerline is valid? [False, False] Translation: X:3.67, Y:0.26, Z:-1.16 [[ 9.99986215e-01 -2.14933267e-03 -4.79054085e-03 3.67485081e+00] [ 2.12411642e-03 9.99983896e-01 -5.26264695e-03 2.60679408e-01] [ 4.80177489e-03 5.25239874e-03 9.99974677e-01 -1.16258712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32650248099999 meters 0.10717484107263056 Centerline is valid? [False, False] Translation: X:3.68, Y:0.26, Z:-1.16 [[ 9.99985532e-01 -2.06837106e-03 -4.96560594e-03 3.67511681e+00] [ 2.04261433e-03 9.99984464e-01 -5.18650579e-03 2.60508870e-01] [ 4.97625641e-03 5.17628793e-03 9.99974221e-01 -1.16251620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35650248099999 meters 0.10716446898234541 Centerline is valid? [False, False] Translation: X:3.68, Y:0.26, Z:-1.16 [[ 9.99984772e-01 -1.99952066e-03 -5.14371137e-03 3.67543896e+00] [ 1.97320438e-03 9.99984965e-01 -5.11620059e-03 2.60527731e-01] [ 5.15386398e-03 5.10597309e-03 9.99973683e-01 -1.16250523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.386502481 meters 0.10718201449995801 Centerline is valid? [False, False] Translation: X:3.68, Y:0.26, Z:-1.16 [[ 9.99984526e-01 -1.79017615e-03 -5.26711358e-03 3.67596408e+00] [ 1.76481413e-03 9.99986846e-01 -4.81587964e-03 2.60132608e-01] [ 5.27566557e-03 4.80650965e-03 9.99974532e-01 -1.16296214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.416502481 meters 0.10739411859244563 Centerline is valid? [False, False] Translation: X:3.68, Y:0.26, Z:-1.16 [[ 9.99985868e-01 -1.33251677e-03 -5.14657792e-03 3.67632998e+00] [ 1.31238176e-03 9.99991480e-01 -3.91370911e-03 2.58050357e-01] [ 5.15174916e-03 3.90689953e-03 9.99979098e-01 -1.16387308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.446502481 meters 0.10722317018948889 Centerline is valid? [False, False] Translation: X:3.68, Y:0.26, Z:-1.16 [[ 9.99986995e-01 -9.14969969e-04 -5.01728468e-03 3.67664231e+00] [ 8.99274251e-04 9.99994698e-01 -3.12969312e-03 2.56281132e-01] [ 5.02012165e-03 3.12514051e-03 9.99982516e-01 -1.16474724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.476502481 meters 0.10734613443231529 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-1.17 [[ 9.99988951e-01 -5.71445780e-04 -4.66596731e-03 3.67660152e+00] [ 5.60762500e-04 9.99997219e-01 -2.29060474e-03 2.54141854e-01] [ 4.66726330e-03 2.28796293e-03 9.99986491e-01 -1.16567757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50650248099998 meters 0.10767738611523334 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-1.17 [[ 9.99988712e-01 -2.39471278e-04 -4.74528337e-03 3.67719777e+00] [ 2.31215952e-04 9.99998459e-01 -1.74016308e-03 2.53199992e-01] [ 4.74569278e-03 1.73904625e-03 9.99987227e-01 -1.16637989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53650248099999 meters 0.10793453437662108 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-1.17 [[ 9.99988322e-01 -2.64267236e-05 -4.83268317e-03 3.67753365e+00] [ 1.97998318e-05 9.99999060e-01 -1.37130823e-03 2.52407665e-01] [ 4.83271487e-03 1.37119653e-03 9.99987382e-01 -1.16665993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56650248099999 meters 0.10808345125906862 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-1.17 [[ 9.99989232e-01 9.56759782e-05 -4.63959395e-03 3.67731059e+00] [-1.00169733e-04 9.99999526e-01 -9.68343614e-04 2.51130556e-01] [ 4.63949910e-03 9.68797934e-04 9.99988768e-01 -1.16682458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.59650248099999 meters 0.10849264127053974 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-1.17 [[ 0.99997796 -0.00409318 -0.00522799 3.6782146 ] [ 0.00406511 0.99997732 -0.00536987 0.25187088] [ 0.00524985 0.0053485 0.99997192 -1.16662991] [ 0. 0. 0. 1. ]] SLAMing on 114.62650248099999 meters 0.10850299818268966 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-1.17 [[ 0.99997985 -0.00386032 -0.00503917 3.67793242] [ 0.00383657 0.99998153 -0.00471385 0.2497131 ] [ 0.00505727 0.00469443 0.99997619 -1.16675826] [ 0. 0. 0. 1. ]] SLAMing on 114.65650248099999 meters 0.1086223126964318 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-1.17 [[ 9.99979910e-01 -3.60627972e-03 -5.21292736e-03 3.67843739e+00] [ 3.58363225e-03 9.99984129e-01 -4.34731420e-03 2.49030133e-01] [ 5.22852225e-03 4.32854565e-03 9.99976963e-01 -1.16706388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68650248099999 meters 0.10815377170327498 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-1.17 [[ 9.99979746e-01 -3.26358563e-03 -5.46407029e-03 3.67933209e+00] [ 3.24212975e-03 9.99987018e-01 -3.93098470e-03 2.48617795e-01] [ 5.47682846e-03 3.91318985e-03 9.99977345e-01 -1.16777002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71650248099999 meters 0.10801143477218234 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-1.17 [[ 9.99978691e-01 -3.13098932e-03 -5.72844614e-03 3.67996451e+00] [ 3.10882561e-03 9.99987664e-01 -3.87388358e-03 2.48845310e-01] [ 5.74050456e-03 3.85599229e-03 9.99976089e-01 -1.16801404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.746502481 meters 0.10747581354919385 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-1.17 [[ 9.99975964e-01 -2.63977641e-03 -6.41123976e-03 3.68185270e+00] [ 2.61643176e-03 9.99989927e-01 -3.64686835e-03 2.49812096e-01] [ 6.42080209e-03 3.63000612e-03 9.99972798e-01 -1.16909486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.776502481 meters 0.1072090192246375 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-1.17 [[ 9.99976149e-01 -2.28697330e-03 -6.51694402e-03 3.68265989e+00] [ 2.26611806e-03 9.99992294e-01 -3.20574504e-03 2.49357590e-01] [ 6.52422525e-03 3.19090041e-03 9.99973626e-01 -1.17006599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.806502481 meters 0.10722248818660478 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-1.17 [[ 9.99976618e-01 -2.04015270e-03 -6.52692998e-03 3.68292398e+00] [ 2.02193564e-03 9.99994046e-01 -2.79644287e-03 2.48300463e-01] [ 6.53259629e-03 2.78318046e-03 9.99974789e-01 -1.17048715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.836502481 meters 0.10692878135377586 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-1.17 [[ 9.99976622e-01 -1.75220288e-03 -6.60953874e-03 3.68333118e+00] [ 1.73664641e-03 9.99995710e-01 -2.35864471e-03 2.47266128e-01] [ 6.61364321e-03 2.34711113e-03 9.99975375e-01 -1.17092935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86650248099998 meters 0.10693212640756863 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-1.17 [[ 9.99973138e-01 -1.68746453e-03 -7.13265355e-03 3.68407864e+00] [ 1.66989714e-03 9.99995560e-01 -2.46819110e-03 2.48071424e-01] [ 7.13678686e-03 2.45621400e-03 9.99971516e-01 -1.17066351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89650248099998 meters 0.10703317337304759 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-1.17 [[ 9.99973675e-01 -1.58984433e-03 -7.07968374e-03 3.68415049e+00] [ 1.57381586e-03 9.99996187e-01 -2.26900470e-03 2.47610305e-01] [ 7.08326411e-03 2.25780285e-03 9.99972364e-01 -1.17091873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92650248099999 meters 0.10686812517987081 Centerline is valid? [False, False] Translation: X:3.68, Y:0.25, Z:-1.17 [[ 9.99974564e-01 -1.06398214e-03 -7.05267153e-03 3.68490516e+00] [ 1.05425543e-03 9.99998488e-01 -1.38272585e-03 2.46063786e-01] [ 7.05413206e-03 1.37525536e-03 9.99974174e-01 -1.17218399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.95650248099999 meters 0.10672954083986169 Centerline is valid? [False, False] Translation: X:3.68, Y:0.24, Z:-1.17 [[ 9.99978862e-01 -7.54590143e-04 -6.45803751e-03 3.68432015e+00] [ 7.52136204e-04 9.99999644e-01 -3.82402311e-04 2.42596846e-01] [ 6.45832377e-03 3.77536904e-04 9.99979074e-01 -1.17290357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98650248099999 meters 0.10706032087880073 Centerline is valid? [False, False] Translation: X:3.68, Y:0.24, Z:-1.17 [[ 9.99980479e-01 -6.29407409e-04 -6.21654113e-03 3.68390133e+00] [ 6.30030533e-04 9.99999797e-01 9.82786462e-05 2.40860317e-01] [ 6.21647801e-03 -1.02193338e-04 9.99980672e-01 -1.17297619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01650248099999 meters 0.10745658146329325 Centerline is valid? [False, False] Translation: X:3.69, Y:0.24, Z:-1.17 [[ 9.99995333e-01 2.74073273e-03 -1.35025474e-03 3.69213329e+00] [-2.74694620e-03 9.99985548e-01 -4.62154523e-03 2.39681000e-01] [ 1.33756881e-03 4.62523274e-03 9.99988409e-01 -1.17247520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04650248099999 meters 0.10775776041254703 Centerline is valid? [False, False] Translation: X:3.69, Y:0.24, Z:-1.17 [[ 9.99994433e-01 2.96488379e-03 -1.53085486e-03 3.69249277e+00] [-2.97134188e-03 9.99986623e-01 -4.23371791e-03 2.38741576e-01] [ 1.51828190e-03 4.23824304e-03 9.99989866e-01 -1.17254743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07650248099999 meters 0.10790456116653846 Centerline is valid? [False, False] Translation: X:3.69, Y:0.24, Z:-1.17 [[ 9.99995451e-01 2.87940478e-03 -8.98751630e-04 3.69100729e+00] [-2.88273377e-03 9.99988907e-01 -3.72496443e-03 2.35886056e-01] [ 8.88015980e-04 3.72753834e-03 9.99992658e-01 -1.17205537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10650248099999 meters 0.10814032779251186 Centerline is valid? [False, False] Translation: X:3.69, Y:0.24, Z:-1.17 [[ 9.99998300e-01 -1.23176204e-03 -1.37210858e-03 3.69185292e+00] [ 1.22085124e-03 9.99967855e-01 -7.92449899e-03 2.36053819e-01] [ 1.38182557e-03 7.92281038e-03 9.99967659e-01 -1.17210930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.136502481 meters 0.10841412854787802 Centerline is valid? [False, False] Translation: X:3.69, Y:0.23, Z:-1.17 [[ 9.99998976e-01 -5.89148304e-04 -1.30420302e-03 3.69254426e+00] [ 5.80314193e-04 9.99976958e-01 -6.76361738e-03 2.33635894e-01] [ 1.30815774e-03 6.76285361e-03 9.99976276e-01 -1.17343548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.166502481 meters 0.10870952972775537 Centerline is valid? [False, False] Translation: X:3.69, Y:0.23, Z:-1.17 [[ 9.99999109e-01 1.54486382e-04 -1.32621432e-03 3.69344274e+00] [-1.61592106e-04 9.99985625e-01 -5.35946600e-03 2.30676815e-01] [ 1.32536729e-03 5.35967553e-03 9.99984759e-01 -1.17490854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.196502481 meters 0.10935453151904415 Centerline is valid? [False, False] Translation: X:3.69, Y:0.23, Z:-1.17 [[ 9.99999017e-01 3.66863179e-04 -1.35298877e-03 3.69352864e+00] [-3.73453508e-04 9.99988053e-01 -4.87391003e-03 2.29415522e-01] [ 1.35118454e-03 4.87441052e-03 9.99987207e-01 -1.17497214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22650248099998 meters 0.10962796317973386 Centerline is valid? [False, False] Translation: X:3.69, Y:0.23, Z:-1.17 [[ 9.99998752e-01 5.83872111e-04 -1.46814463e-03 3.69371058e+00] [-5.90411770e-04 9.99989889e-01 -4.45788901e-03 2.28211012e-01] [ 1.46552695e-03 4.45875026e-03 9.99988986e-01 -1.17497061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25650248099998 meters 0.10988244211323515 Centerline is valid? [False, False] Translation: X:3.69, Y:0.23, Z:-1.18 [[ 9.99998407e-01 9.88745552e-04 -1.48617918e-03 3.69406038e+00] [-9.94252917e-04 9.99992625e-01 -3.70956095e-03 2.26445835e-01] [ 1.48250041e-03 3.71103268e-03 9.99992015e-01 -1.17551501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28650248099999 meters 0.10977123530169816 Centerline is valid? [False, False] Translation: X:3.69, Y:0.22, Z:-1.18 [[ 9.99998213e-01 1.33726777e-03 -1.33648005e-03 3.69397885e+00] [-1.34106517e-03 9.99995055e-01 -2.84449949e-03 2.23738206e-01] [ 1.33266958e-03 2.84628672e-03 9.99995061e-01 -1.17586467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.31650248099999 meters 0.10976002696855273 Centerline is valid? [False, False] Translation: X:3.69, Y:0.22, Z:-1.18 [[ 9.99997667e-01 1.67187361e-03 -1.36755464e-03 3.69435838e+00] [-1.67497179e-03 9.99996026e-01 -2.26748709e-03 2.22384193e-01] [ 1.36375825e-03 2.26977242e-03 9.99996494e-01 -1.17638359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34650248099999 meters 0.10972463890474031 Centerline is valid? [False, False] Translation: X:3.69, Y:0.22, Z:-1.18 [[ 9.99997206e-01 1.80629391e-03 -1.52485194e-03 3.69462690e+00] [-1.80946938e-03 9.99996192e-01 -2.08367274e-03 2.21817018e-01] [ 1.52108241e-03 2.08642609e-03 9.99996667e-01 -1.17638697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.37650248099999 meters 0.10966588447370529 Centerline is valid? [False, False] Translation: X:3.70, Y:0.22, Z:-1.18 [[ 9.99994586e-01 -2.23956090e-03 -2.41068160e-03 3.69616539e+00] [ 2.22355551e-03 9.99975604e-01 -6.62168949e-03 2.23549511e-01] [ 2.42545247e-03 6.61629335e-03 9.99975171e-01 -1.17648189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40650248099999 meters 0.10946087184081002 Centerline is valid? [False, False] Translation: X:3.70, Y:0.22, Z:-1.18 [[ 9.99994885e-01 -1.79282413e-03 -2.64885897e-03 3.69703919e+00] [ 1.77673511e-03 9.99980036e-01 -6.06386380e-03 2.22604195e-01] [ 2.65967753e-03 6.05912646e-03 9.99978106e-01 -1.17725966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43650248099999 meters 0.10937542009993312 Centerline is valid? [False, False] Translation: X:3.70, Y:0.22, Z:-1.18 [[ 9.99994674e-01 -1.49927751e-03 -2.89883936e-03 3.69774932e+00] [ 1.48264681e-03 9.99982480e-01 -5.73068278e-03 2.22165025e-01] [ 2.90738046e-03 5.72635431e-03 9.99979378e-01 -1.17769109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46650248099999 meters 0.10905826175535499 Centerline is valid? [False, False] Translation: X:3.70, Y:0.22, Z:-1.18 [[ 9.99993938e-01 -1.41435306e-03 -3.18170033e-03 3.69806705e+00] [ 1.39600520e-03 9.99982428e-01 -5.76153093e-03 2.22286465e-01] [ 3.18979326e-03 5.75705433e-03 9.99978341e-01 -1.17746827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.496502481 meters 0.10923207170756052 Centerline is valid? [False, False] Translation: X:3.70, Y:0.22, Z:-1.18 [[ 9.99993585e-01 -1.26722660e-03 -3.35015630e-03 3.69853091e+00] [ 1.24831014e-03 9.99983302e-01 -5.64251536e-03 2.22303273e-01] [ 3.35725070e-03 5.63829714e-03 9.99978469e-01 -1.17774138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.526502481 meters 0.10927175578736652 Centerline is valid? [False, False] Translation: X:3.70, Y:0.22, Z:-1.18 [[ 9.99993387e-01 -9.42283859e-04 -3.51258495e-03 3.69915705e+00] [ 9.24035629e-04 9.99986089e-01 -5.19310787e-03 2.21600711e-01] [ 3.51742947e-03 5.18982778e-03 9.99980346e-01 -1.17827428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.556502481 meters 0.10927175578736652 Centerline is valid? [False, False] Translation: X:3.70, Y:0.22, Z:-1.18 [[ 9.99993387e-01 -9.42283859e-04 -3.51258495e-03 3.69915705e+00] [ 9.24035629e-04 9.99986089e-01 -5.19310787e-03 2.21600711e-01] [ 3.51742947e-03 5.18982778e-03 9.99980346e-01 -1.17827428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.586502481 meters 0.10919607974073463 Centerline is valid? [False, False] Translation: X:3.70, Y:0.22, Z:-1.18 [[ 9.99993012e-01 -6.37548482e-04 -3.68361146e-03 3.69964063e+00] [ 6.20065299e-04 9.99988548e-01 -4.74540133e-03 2.20644017e-01] [ 3.68659470e-03 4.74308409e-03 9.99981956e-01 -1.17855786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61650248099998 meters 0.10904930512305942 Centerline is valid? [False, False] Translation: X:3.70, Y:0.22, Z:-1.18 [[ 9.99993048e-01 -4.02561256e-04 -3.70690751e-03 3.69997646e+00] [ 3.86292291e-04 9.99990296e-01 -4.38849452e-03 2.20012500e-01] [ 3.70863817e-03 4.38703206e-03 9.99983500e-01 -1.17899550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64650248099998 meters 0.10903012359162217 Centerline is valid? [False, False] Translation: X:3.70, Y:0.22, Z:-1.18 [[ 0.99998346 -0.00396524 -0.00416586 3.70177468] [ 0.00393275 0.999962 -0.00777998 0.21903341] [ 0.00419655 0.00776347 0.99996106 -1.18054767] [ 0. 0. 0. 1. ]] SLAMing on 115.67650248099999 meters 0.10903415751500072 Centerline is valid? [False, False] Translation: X:3.70, Y:0.22, Z:-1.18 [[ 9.99985529e-01 -3.39114648e-03 -4.17637313e-03 3.70258594e+00] [ 3.36277448e-03 9.99971349e-01 -6.78184197e-03 2.17137676e-01] [ 4.19925169e-03 6.76769963e-03 9.99968282e-01 -1.18181450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70650248099999 meters 0.10963726114503768 Centerline is valid? [False, False] Translation: X:3.70, Y:0.22, Z:-1.18 [[ 9.99986171e-01 -3.36909765e-03 -4.03825025e-03 3.70229853e+00] [ 3.34279038e-03 9.99973264e-01 -6.50366389e-03 2.16370577e-01] [ 4.06005376e-03 6.49007492e-03 9.99970697e-01 -1.18167156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.73650248099999 meters 0.1100788440701765 Centerline is valid? [False, False] Translation: X:3.70, Y:0.22, Z:-1.18 [[ 9.99986262e-01 -3.17595858e-03 -4.16992902e-03 3.70261251e+00] [ 3.15022834e-03 9.99976049e-01 -6.16256451e-03 2.15604395e-01] [ 4.18940120e-03 6.14934362e-03 9.99972317e-01 -1.18177710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76650248099999 meters 0.11013815839659442 Centerline is valid? [False, False] Translation: X:3.70, Y:0.21, Z:-1.18 [[ 9.99988093e-01 -2.69811618e-03 -4.06631462e-03 3.70302461e+00] [ 2.67658437e-03 9.99982419e-01 -5.29133915e-03 2.13675654e-01] [ 4.08051978e-03 5.28039231e-03 9.99977733e-01 -1.18270148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79650248099999 meters 0.11046950754516009 Centerline is valid? [False, False] Translation: X:3.70, Y:0.21, Z:-1.18 [[ 9.99990386e-01 -2.20688019e-03 -3.78904970e-03 3.70329999e+00] [ 2.19091849e-03 9.99988731e-01 -4.21158289e-03 2.11219041e-01] [ 3.79830147e-03 4.20324090e-03 9.99983953e-01 -1.18390487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82650248099999 meters 0.11077109702086035 Centerline is valid? [False, False] Translation: X:3.70, Y:0.21, Z:-1.18 [[ 9.99990458e-01 -2.04953258e-03 -3.85787384e-03 3.70370989e+00] [ 2.03414691e-03 9.99989980e-01 -3.98782890e-03 2.11031032e-01] [ 3.86600837e-03 3.97994337e-03 9.99984607e-01 -1.18432647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85650248099999 meters 0.11127696265975268 Centerline is valid? [False, False] Translation: X:3.70, Y:0.21, Z:-1.18 [[ 9.99989937e-01 -2.19306510e-03 -3.91355254e-03 3.70362429e+00] [ 2.17651742e-03 9.99988695e-01 -4.22756303e-03 2.11737461e-01] [ 3.92277962e-03 4.21900257e-03 9.99983406e-01 -1.18398247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.886502481 meters 0.111432276255608 Centerline is valid? [False, False] Translation: X:3.70, Y:0.21, Z:-1.18 [[ 9.99989439e-01 -2.05451844e-03 -4.11106808e-03 3.70411256e+00] [ 2.03772210e-03 9.99989577e-01 -4.08566565e-03 2.11752567e-01] [ 4.11941930e-03 4.07724528e-03 9.99983203e-01 -1.18416791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.916502481 meters 0.11135198949048289 Centerline is valid? [False, False] Translation: X:3.70, Y:0.21, Z:-1.19 [[ 9.99990656e-01 -1.66229379e-03 -3.99069894e-03 3.70457777e+00] [ 1.64851342e-03 9.99992676e-01 -3.45393080e-03 2.10623407e-01] [ 3.99641117e-03 3.44731981e-03 9.99986072e-01 -1.18518922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.946502481 meters 0.11162631987778081 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-1.19 [[ 9.99991413e-01 -1.27142836e-03 -3.94432319e-03 3.70509438e+00] [ 1.26027618e-03 9.99995205e-01 -2.82859912e-03 2.09391163e-01] [ 3.94790064e-03 2.82360389e-03 9.99988221e-01 -1.18612024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97650248099998 meters 0.1112926918045765 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-1.19 [[ 9.99991721e-01 -9.53828177e-04 -3.95578028e-03 3.70569010e+00] [ 9.44440374e-04 9.99996735e-01 -2.37437543e-03 2.08812224e-01] [ 3.95803212e-03 2.37061978e-03 9.99989357e-01 -1.18702163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00650248099998 meters 0.1109967471511192 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-1.19 [[ 9.99991297e-01 -8.35309663e-04 -4.08758857e-03 3.70621044e+00] [ 8.25926252e-04 9.99997021e-01 -2.29673586e-03 2.09107153e-01] [ 4.08949488e-03 2.29333982e-03 9.99989008e-01 -1.18741589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03650248099999 meters 0.11090699162275565 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-1.19 [[ 9.99990660e-01 -5.65874012e-04 -4.28482870e-03 3.70700510e+00] [ 5.57228991e-04 9.99997808e-01 -2.01851372e-03 2.09133124e-01] [ 4.28596153e-03 2.01610724e-03 9.99988783e-01 -1.18806666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06650248099999 meters 0.11077677641189647 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-1.19 [[ 9.99990044e-01 -2.35923273e-04 -4.45607713e-03 3.70773209e+00] [ 2.28971402e-04 9.99998756e-01 -1.56053347e-03 2.08489740e-01] [ 4.45643976e-03 1.55949762e-03 9.99988854e-01 -1.18872732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.09650248099999 meters 0.110583427787905 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-1.19 [[ 9.99989372e-01 3.56103019e-05 -4.61031788e-03 3.70845887e+00] [-4.13049024e-05 9.99999236e-01 -1.23509676e-03 2.08226844e-01] [ 4.61027038e-03 1.23527406e-03 9.99988610e-01 -1.18940872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12650248099999 meters 0.11009805901214581 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-1.19 [[ 9.99988820e-01 2.18072589e-04 -4.72365465e-03 3.70900568e+00] [-2.23106095e-04 9.99999408e-01 -1.06509489e-03 2.08111314e-01] [ 4.72341959e-03 1.06613686e-03 9.99988276e-01 -1.18994430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15650248099999 meters 0.10980514262914584 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-1.19 [[ 9.99987566e-01 4.04826597e-04 -4.97030680e-03 3.70975519e+00] [-4.09743732e-04 9.99999428e-01 -9.88323616e-04 2.08586569e-01] [ 4.96990386e-03 9.90347879e-04 9.99987160e-01 -1.19038461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18650248099999 meters 0.10988092834068076 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-1.19 [[ 9.99986390e-01 6.01113117e-04 -5.18252262e-03 3.71043944e+00] [-6.05150714e-04 9.99999515e-01 -7.77546606e-04 2.08551077e-01] [ 5.18205271e-03 7.80672231e-04 9.99986268e-01 -1.19081918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21650248099999 meters 0.10972975335699148 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-1.19 [[ 9.99986349e-01 7.31170280e-04 -5.17366839e-03 3.71060936e+00] [-7.34206679e-04 9.99999559e-01 -5.85019825e-04 2.08123039e-01] [ 5.17323836e-03 5.88810381e-04 9.99986445e-01 -1.19109315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.246502481 meters 0.10937362677336282 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-1.19 [[ 9.99985864e-01 8.11947520e-04 -5.25472245e-03 3.71087714e+00] [-8.14714375e-04 9.99999531e-01 -5.24427158e-04 2.08034497e-01] [ 5.25429418e-03 5.28700842e-04 9.99986056e-01 -1.19127520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.276502481 meters 0.10920711746472607 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-1.19 [[ 9.99985156e-01 8.28400789e-04 -5.38523331e-03 3.71111944e+00] [-8.31510024e-04 9.99999489e-01 -5.75149758e-04 2.08262075e-01] [ 5.38475410e-03 5.79619097e-04 9.99985334e-01 -1.19124655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.306502481 meters 0.10926532379434196 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-1.19 [[ 9.99983281e-01 9.73686379e-04 -5.69994841e-03 3.71198526e+00] [-9.76880101e-04 9.99999367e-01 -5.57549858e-04 2.08987540e-01] [ 5.69940193e-03 5.63108702e-04 9.99983600e-01 -1.19168290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.336502481 meters 0.10918204557777095 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-1.19 [[ 9.99982711e-01 1.14954256e-03 -5.76680630e-03 3.71252845e+00] [-1.15173663e-03 9.99999266e-01 -3.77158428e-04 2.08953668e-01] [ 5.76636851e-03 3.83793750e-04 9.99983301e-01 -1.19226783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36650248099998 meters 0.1087881059633945 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-1.19 [[ 9.99973405e-01 -2.95277825e-03 -6.66866498e-03 3.71416879e+00] [ 2.91954455e-03 9.99983299e-01 -4.98781022e-03 2.11081194e-01] [ 6.68328150e-03 4.96820810e-03 9.99965325e-01 -1.19243225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39650248099998 meters 0.108764923322562 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-1.19 [[ 9.99976180e-01 -2.46508181e-03 -6.44689083e-03 3.71447427e+00] [ 2.43839780e-03 9.99988442e-01 -4.14364227e-03 2.09121081e-01] [ 6.45703074e-03 4.12782349e-03 9.99970633e-01 -1.19346866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42650248099999 meters 0.10889627209549796 Centerline is valid? [False, False] Translation: X:3.71, Y:0.21, Z:-1.19 [[ 9.99976595e-01 -2.18765931e-03 -6.48252122e-03 3.71497745e+00] [ 2.16365737e-03 9.99990787e-01 -3.70726631e-03 2.08429826e-01] [ 6.49057174e-03 3.69315358e-03 9.99972116e-01 -1.19413961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.45650248099999 meters 0.10887512651304308 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-1.19 [[ 9.99976091e-01 -1.94773297e-03 -6.63502462e-03 3.71581459e+00] [ 1.92500925e-03 9.99992266e-01 -3.42948106e-03 2.08544758e-01] [ 6.64165302e-03 3.41662659e-03 9.99972107e-01 -1.19493369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48650248099999 meters 0.10892056808491087 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-1.20 [[ 9.99976170e-01 -1.68688441e-03 -6.69430459e-03 3.71629774e+00] [ 1.66649878e-03 9.99993961e-01 -3.04963020e-03 2.07999879e-01] [ 6.69940854e-03 3.03840148e-03 9.99972943e-01 -1.19546106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51650248099999 meters 0.10918323735715098 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-1.20 [[ 9.99977183e-01 -1.56290069e-03 -6.57193644e-03 3.71627305e+00] [ 1.54444137e-03 9.99994851e-01 -2.81294855e-03 2.07309618e-01] [ 6.57629896e-03 2.80273440e-03 9.99974448e-01 -1.19568910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54650248099999 meters 0.10896668982242264 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-1.20 [[ 9.99977199e-01 -1.36657110e-03 -6.61322169e-03 3.71665854e+00] [ 1.34982842e-03 9.99995875e-01 -2.53549927e-03 2.06838208e-01] [ 6.61665935e-03 2.52651475e-03 9.99974918e-01 -1.19613012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57650248099999 meters 0.10887794896473972 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-1.20 [[ 9.99976084e-01 -1.05562972e-03 -6.83497083e-03 3.71746789e+00] [ 1.04069870e-03 9.99997065e-01 -2.18769120e-03 2.06552805e-01] [ 6.83726017e-03 2.18052574e-03 9.99974248e-01 -1.19673347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60650248099999 meters 0.10886284615059065 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-1.20 [[ 9.99975341e-01 -8.44202973e-04 -6.97171070e-03 3.71812651e+00] [ 8.30643243e-04 9.99997758e-01 -1.94763113e-03 2.06488432e-01] [ 6.97333927e-03 1.94179210e-03 9.99973801e-01 -1.19732478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.636502481 meters 0.10868046450049794 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-1.20 [[ 9.99974952e-01 -7.03236040e-04 -7.04282079e-03 3.71861199e+00] [ 6.90353700e-04 9.99998085e-01 -1.83140905e-03 2.06678852e-01] [ 7.04409521e-03 1.82650113e-03 9.99973522e-01 -1.19781177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.666502481 meters 0.10893541337559602 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-1.20 [[ 9.99973711e-01 -5.32646862e-04 -7.23144477e-03 3.71926343e+00] [ 5.20464664e-04 9.99998443e-01 -1.68639194e-03 2.06900303e-01] [ 7.23233176e-03 1.68258390e-03 9.99972431e-01 -1.19824937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.696502481 meters 0.10890225051013529 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-1.20 [[ 9.99973189e-01 -5.40690894e-04 -7.30268853e-03 3.71938119e+00] [ 5.27999579e-04 9.99998347e-01 -1.73971238e-03 2.07190178e-01] [ 7.30361711e-03 1.73580992e-03 9.99971822e-01 -1.19818738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72650248099998 meters 0.10907246193717207 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-1.20 [[ 9.99973338e-01 -3.79791501e-04 -7.29245614e-03 3.71956301e+00] [ 3.68810285e-04 9.99998796e-01 -1.50711816e-03 2.06802956e-01] [ 7.29301975e-03 1.50438844e-03 9.99972274e-01 -1.19843660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75650248099998 meters 0.1091085901003421 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-1.20 [[ 9.99973099e-01 -8.13365465e-05 -7.33451807e-03 3.72010352e+00] [ 7.35207425e-05 9.99999429e-01 -1.06588264e-03 2.06084869e-01] [ 7.33460058e-03 1.06531472e-03 9.99972534e-01 -1.19908903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78650248099999 meters 0.10927767050382552 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-1.20 [[ 9.99973683e-01 1.90655896e-04 -7.25236664e-03 3.72062797e+00] [-1.95434086e-04 9.99999764e-01 -6.58142609e-04 2.05563628e-01] [ 7.25223945e-03 6.59542648e-04 9.99973485e-01 -1.20004432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81650248099999 meters 0.10939376235086527 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-1.20 [[ 9.99973288e-01 4.96126569e-04 -7.29227257e-03 3.72131059e+00] [-4.97830781e-04 9.99999849e-01 -2.31887833e-04 2.05127413e-01] [ 7.29215642e-03 2.35511957e-04 9.99973384e-01 -1.20091550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84650248099999 meters 0.1095914700948117 Centerline is valid? [False, False] Translation: X:3.72, Y:0.20, Z:-1.20 [[ 9.99974636e-01 6.27951248e-04 -7.09462947e-03 3.72144181e+00] [-6.27906174e-04 9.99999803e-01 8.58059966e-06 2.04809865e-01] [ 7.09463345e-03 -4.12562037e-06 9.99974833e-01 -1.20157904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.87650248099999 meters 0.1098754520800277 Centerline is valid? [False, False] Translation: X:3.72, Y:0.20, Z:-1.20 [[ 9.99973744e-01 7.83540988e-04 -7.20403291e-03 3.72203012e+00] [-7.82226705e-04 9.99999677e-01 1.85253051e-04 2.04937669e-01] [ 7.20417574e-03 -1.79613000e-04 9.99974033e-01 -1.20211705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90650248099999 meters 0.10991473334085973 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-1.20 [[ 9.99972005e-01 3.73451837e-04 -7.47329113e-03 3.72226948e+00] [-3.78311814e-04 9.99999718e-01 -6.48909743e-04 2.07390110e-01] [ 7.47304669e-03 6.51718811e-04 9.99971864e-01 -1.20165525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93650248099999 meters 0.10955043719967474 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-1.20 [[ 9.99971637e-01 5.58138054e-04 -7.51096376e-03 3.72277457e+00] [-5.61456637e-04 9.99999746e-01 -4.39730506e-04 2.07397815e-01] [ 7.51071642e-03 4.43935114e-04 9.99971696e-01 -1.20225023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96650248099999 meters 0.11049711524431077 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-1.20 [[ 9.99971462e-01 5.94623546e-04 -7.53140584e-03 3.72299110e+00] [-5.98250022e-04 9.99999706e-01 -4.79270122e-04 2.07716697e-01] [ 7.53111864e-03 4.83762108e-04 9.99971524e-01 -1.20245927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.996502481 meters 0.1104130480777973 Centerline is valid? [False, False] Translation: X:3.72, Y:0.21, Z:-1.20 [[ 9.99970838e-01 5.87633128e-04 -7.61426002e-03 3.72316804e+00] [-5.91885462e-04 9.99999670e-01 -5.56228331e-04 2.08026447e-01] [ 7.61393065e-03 5.60718880e-04 9.99970856e-01 -1.20244795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.026502481 meters 0.11074477161003937 Centerline is valid? [False, False] Translation: X:3.73, Y:0.21, Z:-1.20 [[ 9.99994135e-01 3.26439078e-03 -1.03607215e-03 3.73216829e+00] [-3.27001772e-03 9.99979657e-01 -5.47662167e-03 2.09878430e-01] [ 1.01817324e-03 5.47997753e-03 9.99984466e-01 -1.20497695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.056502481 meters 0.11085225271908004 Centerline is valid? [False, False] Translation: X:3.73, Y:0.21, Z:-1.21 [[ 9.99993749e-01 3.32514789e-03 -1.20208604e-03 3.73283984e+00] [-3.33175140e-03 9.99979138e-01 -5.53375228e-03 2.10694922e-01] [ 1.18366042e-03 5.53772275e-03 9.99983966e-01 -1.20546730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.086502481 meters 0.11022623108500676 Centerline is valid? [False, False] Translation: X:3.73, Y:0.21, Z:-1.21 [[ 9.99993442e-01 3.33215260e-03 -1.41904712e-03 3.73322715e+00] [-3.34010977e-03 9.99978503e-01 -5.64244622e-03 2.11259294e-01] [ 1.40021512e-03 5.64714899e-03 9.99983074e-01 -1.20540410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11650248099998 meters 0.11030163526624685 Centerline is valid? [False, False] Translation: X:3.74, Y:0.21, Z:-1.21 [[ 9.99989522e-01 -4.57026479e-03 -2.60542221e-04 3.74158830e+00] [ 4.57030007e-03 9.99989547e-01 1.34996018e-04 2.14216335e-01] [ 2.59922530e-04 -1.36185359e-04 9.99999957e-01 -1.20602353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14650248099998 meters 0.11014676144592979 Centerline is valid? [False, False] Translation: X:3.74, Y:0.21, Z:-1.21 [[ 9.99990272e-01 -4.38392528e-03 -4.86452715e-04 3.74236667e+00] [ 4.38407100e-03 9.99990345e-01 2.98885734e-04 2.14482116e-01] [ 4.85137726e-04 -3.01015470e-04 9.99999837e-01 -1.20655330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17650248099999 meters 0.11022594504408409 Centerline is valid? [False, False] Translation: X:3.74, Y:0.21, Z:-1.21 [[ 9.99991414e-01 -4.09908425e-03 -6.08556655e-04 3.74313559e+00] [ 4.09948719e-03 9.99991378e-01 6.62350950e-04 2.14169945e-01] [ 6.05836375e-04 -6.64840033e-04 9.99999595e-01 -1.20734961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20650248099999 meters 0.11043252521266794 Centerline is valid? [False, False] Translation: X:3.74, Y:0.21, Z:-1.21 [[ 9.99992045e-01 -3.93220488e-03 -6.69288075e-04 3.74350445e+00] [ 3.93280894e-03 9.99991858e-01 9.03621787e-04 2.13907598e-01] [ 6.65729400e-04 -9.06246781e-04 9.99999368e-01 -1.20773579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.23650248099999 meters 0.11066910983155125 Centerline is valid? [False, False] Translation: X:3.74, Y:0.21, Z:-1.21 [[ 9.99992137e-01 -3.88379533e-03 -8.01245703e-04 3.74370346e+00] [ 3.88454004e-03 9.99992023e-01 9.29984511e-04 2.13983682e-01] [ 7.97627442e-04 -9.33089669e-04 9.99999247e-01 -1.20766472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26650248099999 meters 0.11059013661386086 Centerline is valid? [False, False] Translation: X:3.74, Y:0.22, Z:-1.21 [[ 9.99991763e-01 -3.87463957e-03 -1.20896061e-03 3.74446288e+00] [ 3.87550609e-03 9.99992234e-01 7.15232507e-04 2.15251397e-01] [ 1.20617995e-03 -7.19911949e-04 9.99999013e-01 -1.20768226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29650248099999 meters 0.11012645661231373 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-1.21 [[ 9.99990581e-01 -3.98137368e-03 -1.72825571e-03 3.74522149e+00] [ 3.98168220e-03 9.99992058e-01 1.75112801e-04 2.17157155e-01] [ 1.72754479e-03 -1.81992516e-04 9.99998491e-01 -1.20740341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32650248099999 meters 0.10962855578255566 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-1.21 [[ 9.99990792e-01 -3.75727505e-03 -2.07329683e-03 3.74611983e+00] [ 3.75797173e-03 9.99992884e-01 3.32231377e-04 2.17376640e-01] [ 2.07203379e-03 -3.40019709e-04 9.99997796e-01 -1.20783877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35650248099999 meters 0.10971799373939675 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-1.21 [[ 9.99991282e-01 -3.51386524e-03 -2.25602144e-03 3.74692686e+00] [ 3.51521237e-03 9.99993646e-01 5.93436052e-04 2.17405838e-01] [ 2.25392185e-03 -6.01361273e-04 9.99997279e-01 -1.20855076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.386502481 meters 0.10907717110916819 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-1.21 [[ 9.99990920e-01 -3.21329962e-03 -2.79904508e-03 3.74830857e+00] [ 3.21545287e-03 9.99994538e-01 7.65118439e-04 2.18031455e-01] [ 2.79657123e-03 -7.74111689e-04 9.99995790e-01 -1.20919920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.416502481 meters 0.10882176923558619 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-1.21 [[ 9.99989647e-01 -3.44276818e-03 -2.97527883e-03 3.74820722e+00] [ 3.44370195e-03 9.99994023e-01 3.08777079e-04 2.18914416e-01] [ 2.97419800e-03 -3.19019856e-04 9.99995526e-01 -1.20854873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.446502481 meters 0.10882176923558619 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-1.21 [[ 9.99989647e-01 -3.44276818e-03 -2.97527883e-03 3.74820722e+00] [ 3.44370195e-03 9.99994023e-01 3.08777079e-04 2.18914416e-01] [ 2.97419800e-03 -3.19019856e-04 9.99995526e-01 -1.20854873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47650248099998 meters 0.10874051055870268 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-1.21 [[ 9.99987091e-01 -3.56256789e-03 -3.62293793e-03 3.74898133e+00] [ 3.56191775e-03 9.99993639e-01 -1.85887475e-04 2.20748455e-01] [ 3.62357712e-03 1.72980468e-04 9.99993420e-01 -1.20798483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50650248099998 meters 0.10852811382845155 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-1.21 [[ 9.99986469e-01 -3.27394601e-03 -4.04272681e-03 3.75003600e+00] [ 3.27436483e-03 9.99994635e-01 9.69824989e-05 2.20782431e-01] [ 4.04238760e-03 -1.10218549e-04 9.99991823e-01 -1.20844879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53650248099999 meters 0.10849418967641905 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-1.21 [[ 9.99986473e-01 -3.02523997e-03 -4.23099317e-03 3.75056619e+00] [ 3.02708131e-03 9.99995326e-01 4.28866454e-04 2.20193152e-01] [ 4.22967597e-03 -4.41668213e-04 9.99990957e-01 -1.20875390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56650248099999 meters 0.10864727722455611 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-1.21 [[ 9.99986179e-01 -2.79852963e-03 -4.45079000e-03 3.75100187e+00] [ 2.80202458e-03 9.99995771e-01 7.79199384e-04 2.19443698e-01] [ 4.44859056e-03 -7.91659838e-04 9.99989792e-01 -1.20884500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59650248099999 meters 0.1088084515412834 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-1.21 [[ 9.99985370e-01 -2.56882433e-03 -4.76028788e-03 3.75151943e+00] [ 2.57421136e-03 9.99996053e-01 1.12587828e-03 2.18636653e-01] [ 4.75737691e-03 -1.13811580e-03 9.99988036e-01 -1.20878611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62650248099999 meters 0.10866973387084065 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-1.21 [[ 9.99985006e-01 -2.36084341e-03 -4.94106039e-03 3.75203987e+00] [ 2.36795366e-03 9.99996169e-01 1.43365657e-03 2.18194497e-01] [ 4.93765682e-03 -1.44533527e-03 9.99986765e-01 -1.20907665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65650248099999 meters 0.10897819832854932 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-1.21 [[ 9.99984502e-01 -2.19288256e-03 -5.11732670e-03 3.75203791e+00] [ 2.20257300e-03 9.99995791e-01 1.88878634e-03 2.16355512e-01] [ 5.11316327e-03 -1.90002836e-03 9.99985123e-01 -1.20863193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68650248099999 meters 0.10881693116474067 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-1.21 [[ 9.99984391e-01 -1.87777626e-03 -5.26222680e-03 3.75253235e+00] [ 1.89047035e-03 9.99995313e-01 2.40836976e-03 2.15120352e-01] [ 5.25767975e-03 -2.41828026e-03 9.99983254e-01 -1.20901025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71650248099999 meters 0.10878105055177666 Centerline is valid? [False, False] Translation: X:3.75, Y:0.21, Z:-1.21 [[ 9.99984059e-01 -1.49370134e-03 -5.44520938e-03 3.75317505e+00] [ 1.51046988e-03 9.99994126e-01 3.07669251e-03 2.13565566e-01] [ 5.44058174e-03 -3.08486829e-03 9.99980442e-01 -1.20954238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.746502481 meters 0.10907632130727384 Centerline is valid? [False, False] Translation: X:3.75, Y:0.22, Z:-1.21 [[ 9.99963945e-01 -5.70974954e-03 -6.28548129e-03 3.75446446e+00] [ 5.70067215e-03 9.99982684e-01 -1.46115427e-03 2.15043047e-01] [ 6.29371528e-03 1.42527012e-03 9.99979179e-01 -1.20924600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.776502481 meters 0.10942521635240492 Centerline is valid? [False, False] Translation: X:3.75, Y:0.21, Z:-1.21 [[ 9.99960438e-01 -5.70141357e-03 -6.82762372e-03 3.75464116e+00] [ 5.69188750e-03 9.99982802e-01 -1.41384544e-03 2.14475005e-01] [ 6.83556721e-03 1.37492744e-03 9.99975692e-01 -1.20812843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.806502481 meters 0.1098184810203693 Centerline is valid? [False, False] Translation: X:3.75, Y:0.21, Z:-1.21 [[ 9.99957043e-01 -5.77050500e-03 -7.25350563e-03 3.75492053e+00] [ 5.75902910e-03 9.99982133e-01 -1.60200997e-03 2.14913207e-01] [ 7.26262044e-03 1.56016800e-03 9.99972410e-01 -1.20736983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.836502481 meters 0.11006200629403774 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-1.21 [[ 9.99950207e-01 -5.82804954e-03 -8.10041754e-03 3.75534259e+00] [ 5.81330883e-03 9.99981406e-01 -1.84210275e-03 2.15270341e-01] [ 8.11100279e-03 1.79492079e-03 9.99965494e-01 -1.20579204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86650248099998 meters 0.10995685625059379 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-1.21 [[ 9.99948128e-01 -5.79945467e-03 -8.37300760e-03 3.75563072e+00] [ 5.78407151e-03 9.99981542e-01 -1.86028050e-03 2.15348792e-01] [ 8.38364167e-03 1.81175393e-03 9.99963215e-01 -1.20549510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89650248099998 meters 0.11051463383481303 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-1.21 [[ 9.99943848e-01 -5.55561559e-03 -9.02417644e-03 3.75657481e+00] [ 5.54106342e-03 9.99983309e-01 -1.63677918e-03 2.15007936e-01] [ 9.03311913e-03 1.58668374e-03 9.99957942e-01 -1.20520648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92650248099999 meters 0.11029152485145671 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-1.21 [[ 9.99943609e-01 -5.17377333e-03 -9.27422398e-03 3.75734843e+00] [ 5.16371170e-03 9.99986054e-01 -1.10851974e-03 2.14024730e-01] [ 9.27982987e-03 1.06056781e-03 9.99956379e-01 -1.20570108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.95650248099999 meters 0.11055340090428833 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-1.21 [[ 9.99940423e-01 -4.97674704e-03 -9.71511122e-03 3.75806422e+00] [ 4.96831065e-03 9.99987260e-01 -8.92319992e-04 2.13566652e-01] [ 9.71942830e-03 8.43999139e-04 9.99952409e-01 -1.20560302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98650248099999 meters 0.11061539235729195 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-1.21 [[ 9.99936760e-01 -4.92442005e-03 -1.01106942e-02 3.75859080e+00] [ 4.91526910e-03 9.99987488e-01 -9.29726890e-04 2.13861683e-01] [ 1.01151460e-02 8.79971311e-04 9.99948453e-01 -1.20530655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01650248099999 meters 0.11087984087508869 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-1.20 [[ 9.99927950e-01 -4.99828934e-03 -1.09138506e-02 3.75920133e+00] [ 4.98432814e-03 9.99986725e-01 -1.30604400e-03 2.14669053e-01] [ 1.09202337e-02 1.25155168e-03 9.99939589e-01 -1.20410098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04650248099999 meters 0.1106081819132778 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-1.20 [[ 9.99922597e-01 -5.15247080e-03 -1.13248541e-02 3.75933676e+00] [ 5.13393690e-03 9.99985435e-01 -1.66503148e-03 2.15351716e-01] [ 1.13332682e-02 1.60676152e-03 9.99934486e-01 -1.20320951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07650248099999 meters 0.11078050085338856 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-1.20 [[ 9.99932757e-01 -1.26937223e-03 -1.15269560e-02 3.75835150e+00] [ 1.29314519e-03 9.99997052e-01 2.05516053e-03 2.15344947e-01] [ 1.15243133e-02 -2.06992836e-03 9.99931450e-01 -1.20125353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10650248099999 meters 0.1108575123645283 Centerline is valid? [False, False] Translation: X:3.77, Y:0.22, Z:-1.20 [[ 9.99968413e-01 2.62240999e-03 -7.50306961e-03 3.76784688e+00] [-2.64293859e-03 9.99992788e-01 -2.72742086e-03 2.15435387e-01] [ 7.49586309e-03 2.74716486e-03 9.99968132e-01 -1.20097527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.136502481 meters 0.11096800138568963 Centerline is valid? [False, False] Translation: X:3.77, Y:0.22, Z:-1.20 [[ 9.99963996e-01 2.58982056e-03 -8.08081256e-03 3.76819399e+00] [-2.61370364e-03 9.99992244e-01 -2.94636989e-03 2.15680666e-01] [ 8.07311931e-03 2.96738466e-03 9.99963009e-01 -1.20000537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.166502481 meters 0.11112581546883127 Centerline is valid? [False, False] Translation: X:3.77, Y:0.22, Z:-1.20 [[ 9.99960933e-01 2.43460319e-03 -8.49731629e-03 3.76837604e+00] [-2.46308164e-03 9.99991380e-01 -3.34260899e-03 2.16432617e-01] [ 8.48910512e-03 3.36340799e-03 9.99958310e-01 -1.19914217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.196502481 meters 0.1114088612135644 Centerline is valid? [False, False] Translation: X:3.77, Y:0.22, Z:-1.21 [[ 9.99968006e-01 1.33483751e-03 7.88708871e-03 3.76757330e+00] [-1.30490568e-03 9.99991932e-01 -3.79896984e-03 2.19849323e-01] [-7.89209609e-03 3.78855639e-03 9.99961680e-01 -1.20522742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22650248099998 meters 0.11167733541059291 Centerline is valid? [False, False] Translation: X:3.77, Y:0.22, Z:-1.20 [[ 9.99971497e-01 1.39691476e-03 7.41988216e-03 3.76824712e+00] [-1.36816528e-03 9.99991543e-01 -3.87831739e-03 2.20344385e-01] [-7.42523709e-03 3.86805522e-03 9.99964951e-01 -1.20496536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25650248099998 meters 0.1118159066073143 Centerline is valid? [False, False] Translation: X:3.77, Y:0.22, Z:-1.20 [[ 9.99977066e-01 1.25608796e-03 6.65501946e-03 3.76866301e+00] [-1.22709005e-03 9.99989744e-01 -4.35959149e-03 2.21328845e-01] [-6.66042724e-03 4.35132520e-03 9.99968352e-01 -1.20357458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28650248099999 meters 0.1117581902703664 Centerline is valid? [False, False] Translation: X:3.77, Y:0.22, Z:-1.20 [[ 9.99981058e-01 1.23447454e-03 6.02991661e-03 3.76919782e+00] [-1.20666162e-03 9.99988628e-01 -4.61395068e-03 2.21877067e-01] [-6.03554384e-03 4.60658721e-03 9.99971175e-01 -1.20273344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31650248099999 meters 0.11180683369461347 Centerline is valid? [False, False] Translation: X:3.77, Y:0.22, Z:-1.20 [[ 9.99985084e-01 1.08894539e-03 5.35227753e-03 3.76959284e+00] [-1.06159084e-03 9.99986375e-01 -5.11101147e-03 2.22920335e-01] [-5.35777022e-03 5.10525330e-03 9.99972615e-01 -1.20152234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34650248099999 meters 0.1121658771235573 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-1.20 [[ 9.99992976e-01 6.63729214e-04 3.68873622e-03 3.77038849e+00] [-6.39655881e-04 9.99978517e-01 -6.52352617e-03 2.26992616e-01] [-3.69298683e-03 6.52112083e-03 9.99971918e-01 -1.19843206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37650248099999 meters 0.11207539767963774 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-1.20 [[ 9.99996310e-01 5.09639543e-04 2.66825453e-03 3.77107540e+00] [-4.90278394e-04 9.99973586e-01 -7.25174287e-03 2.28677776e-01] [-2.67187982e-03 7.25040793e-03 9.99970146e-01 -1.19678331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40650248099999 meters 0.11231417947786779 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-1.20 [[ 9.99997154e-01 5.77371004e-04 2.31504021e-03 3.77140372e+00] [-5.60523730e-04 9.99973406e-01 -7.27137046e-03 2.28544085e-01] [-2.31917693e-03 7.27005213e-03 9.99970883e-01 -1.19635180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43650248099999 meters 0.11226728527030465 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-1.20 [[ 9.99998090e-01 6.66911211e-04 1.83720639e-03 3.77187617e+00] [-6.53540856e-04 9.99973370e-01 -7.26855931e-03 2.28421382e-01] [-1.84200495e-03 7.26734474e-03 9.99971896e-01 -1.19582385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46650248099999 meters 0.11282584293340298 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-1.19 [[ 9.99999572e-01 4.23123342e-04 8.22368901e-04 3.77242642e+00] [-4.16555740e-04 9.99968152e-01 -7.97002938e-03 2.30129396e-01] [-8.25715015e-04 7.96968340e-03 9.99967901e-01 -1.19402518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.496502481 meters 0.11315295281685524 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-1.19 [[ 9.99999763e-01 5.63862640e-04 3.94945414e-04 3.77295860e+00] [-5.60731889e-04 9.99968773e-01 -7.88280167e-03 2.30000627e-01] [-3.99377898e-04 7.88257834e-03 9.99968852e-01 -1.19368915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.526502481 meters 0.11371019806591551 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-1.19 [[ 9.99999863e-01 4.64586477e-04 -2.42923919e-04 3.77282053e+00] [-4.66524649e-04 9.99967568e-01 -8.04027796e-03 2.29417373e-01] [ 2.39180636e-04 8.04039019e-03 9.99967647e-01 -1.19189262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.556502481 meters 0.11454707314260386 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-1.19 [[ 9.99999719e-01 1.90901497e-04 -7.25391405e-04 3.77200744e+00] [-1.96916628e-04 9.99965525e-01 -8.30125299e-03 2.28340104e-01] [ 7.23781676e-04 8.30139349e-03 9.99965281e-01 -1.18952830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.586502481 meters 0.1152274762147314 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-1.19 [[ 9.99999202e-01 2.00037935e-04 -1.24742525e-03 3.77216976e+00] [-2.10405164e-04 9.99965397e-01 -8.31631654e-03 2.27903509e-01] [ 1.24571851e-03 8.31657237e-03 9.99964641e-01 -1.18845814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61650248099998 meters 0.11669415009313265 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-1.18 [[ 9.99996639e-01 -5.17160044e-04 -2.54065582e-03 3.77123227e+00] [ 4.92897098e-04 9.99954360e-01 -9.54123729e-03 2.29599269e-01] [ 2.54547421e-03 9.53995294e-03 9.99951254e-01 -1.18396991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64650248099998 meters 0.11710700017541124 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-1.18 [[ 9.99995456e-01 -4.74961483e-04 -2.97697730e-03 3.77129402e+00] [ 4.46737622e-04 9.99955019e-01 -9.47421653e-03 2.28867292e-01] [ 2.98134328e-03 9.47284355e-03 9.99950687e-01 -1.18293687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67650248099999 meters 0.11780688746118573 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-1.18 [[ 9.99993668e-01 -9.08201486e-04 -3.44088693e-03 3.76992489e+00] [ 8.74645109e-04 9.99952171e-01 -9.74123157e-03 2.26596701e-01] [ 3.44956935e-03 9.73816033e-03 9.99946633e-01 -1.17981958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70650248099999 meters 0.11841133087210573 Centerline is valid? [False, False] Translation: X:3.77, Y:0.23, Z:-1.18 [[ 9.99992771e-01 -9.09319042e-04 -3.69211241e-03 3.76984140e+00] [ 8.73707595e-04 9.99953196e-01 -9.63546063e-03 2.25724541e-01] [ 3.70070131e-03 9.63216514e-03 9.99946762e-01 -1.17906044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.73650248099999 meters 0.12020496410999067 Centerline is valid? [False, False] Translation: X:3.78, Y:0.22, Z:-1.18 [[ 9.99975398e-01 -6.76122063e-03 1.86781648e-03 3.77770808e+00] [ 6.76561666e-03 9.99974334e-01 -2.35736151e-03 2.23934746e-01] [-1.85182990e-03 2.36994045e-03 9.99995477e-01 -1.18243113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76650248099999 meters 0.12259556273956926 Centerline is valid? [False, False] Translation: X:3.78, Y:0.22, Z:-1.18 [[ 9.99972165e-01 -7.42721830e-03 7.11270242e-04 3.77659719e+00] [ 7.42960725e-03 9.99966562e-01 -3.41712811e-03 2.24418461e-01] [-6.85866702e-04 3.42231745e-03 9.99993909e-01 -1.17807744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79650248099999 meters 0.12276871673636977 Centerline is valid? [False, False] Translation: X:3.77, Y:0.22, Z:-1.17 [[ 9.99991536e-01 -4.11357013e-03 -8.15366253e-05 3.77479017e+00] [ 4.11353105e-03 9.99991427e-01 -4.73812101e-04 2.24212785e-01] [ 8.34849856e-05 4.73472687e-04 9.99999884e-01 -1.17348455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82650248099999 meters 0.12347709370776036 Centerline is valid? [False, False] Translation: X:3.78, Y:0.22, Z:-1.17 [[ 9.99991509e-01 -4.08752560e-03 -5.24446905e-04 3.77510748e+00] [ 4.08723893e-03 9.99991498e-01 -5.46526198e-04 2.24146657e-01] [ 5.26676386e-04 5.44378017e-04 9.99999713e-01 -1.17283082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85650248099999 meters 0.12494291749743167 Centerline is valid? [False, False] Translation: X:3.78, Y:0.22, Z:-1.17 [[ 9.99991818e-01 -3.94977873e-03 -8.73848898e-04 3.77555179e+00] [ 3.94941558e-03 9.99992114e-01 -4.16903393e-04 2.23730970e-01] [ 8.75488683e-04 4.13448790e-04 9.99999531e-01 -1.17261061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.886502481 meters 0.12511822775460804 Centerline is valid? [False, False] Translation: X:3.78, Y:0.22, Z:-1.17 [[ 9.99989262e-01 -4.25682931e-03 -1.83173280e-03 3.77565204e+00] [ 4.25472519e-03 9.99990286e-01 -1.15106828e-03 2.24634397e-01] [ 1.83661491e-03 1.14326240e-03 9.99997660e-01 -1.17040705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.916502481 meters 0.12620489486236175 Centerline is valid? [False, False] Translation: X:3.78, Y:0.23, Z:-1.17 [[ 9.99986704e-01 -4.47664415e-03 -2.55976054e-03 3.77582880e+00] [ 4.47221455e-03 9.99988497e-01 -1.73358550e-03 2.25570309e-01] [ 2.56749174e-03 1.72211465e-03 9.99995221e-01 -1.16881162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.946502481 meters 0.12692684508921928 Centerline is valid? [False, False] Translation: X:3.78, Y:0.23, Z:-1.16 [[ 0.9999754 -0.00530163 -0.00459224 3.77563799] [ 0.00528373 0.99997844 -0.00389958 0.22942262] [ 0.00461281 0.00387522 0.99998185 -1.16334677] [ 0. 0. 0. 1. ]] SLAMing on 118.97650248099998 meters 0.12904134067277895 Centerline is valid? [False, False] Translation: X:3.78, Y:0.23, Z:-1.16 [[ 9.99983742e-01 -1.53734628e-03 -5.49117345e-03 3.77501101e+00] [ 1.53388814e-03 9.99998623e-01 -6.33918130e-04 2.30259262e-01] [ 5.49214044e-03 6.25484978e-04 9.99984722e-01 -1.16026558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00650248099998 meters 0.12934114351816264 Centerline is valid? [False, False] Translation: X:3.78, Y:0.23, Z:-1.16 [[ 9.99979299e-01 -1.61392099e-03 -6.22868514e-03 3.77568958e+00] [ 1.60714431e-03 9.99998111e-01 -1.09283069e-03 2.31491792e-01] [ 6.23043711e-03 1.08279767e-03 9.99980004e-01 -1.15938242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03650248099999 meters 0.12956231116654487 Centerline is valid? [False, False] Translation: X:3.78, Y:0.23, Z:-1.16 [[ 9.99967233e-01 -1.97169954e-03 -7.85139652e-03 3.77655679e+00] [ 1.95215709e-03 9.99994980e-01 -2.49592849e-03 2.34600258e-01] [ 7.85627833e-03 2.48051954e-03 9.99966062e-01 -1.15662744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06650248099999 meters 0.1285839188853612 Centerline is valid? [False, False] Translation: X:3.78, Y:0.24, Z:-1.15 [[ 9.99958689e-01 -2.26794364e-03 -8.80211770e-03 3.77702040e+00] [ 2.23804979e-03 9.99991700e-01 -3.40457614e-03 2.36640489e-01] [ 8.80976603e-03 3.38473592e-03 9.99955465e-01 -1.15489514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.09650248099999 meters 0.13109442728471282 Centerline is valid? [False, False] Translation: X:3.78, Y:0.24, Z:-1.15 [[ 9.99938988e-01 1.14109177e-03 -1.09871587e-02 3.77698968e+00] [-1.16721260e-03 9.99996507e-01 -2.37127748e-03 2.41228779e-01] [ 1.09844144e-02 2.38395715e-03 9.99936828e-01 -1.14832458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12650248099999 meters 0.13054851512081517 Centerline is valid? [False, False] Translation: X:3.79, Y:0.24, Z:-1.15 [[ 0.99995043 0.00507738 -0.00856437 3.78763177] [-0.00513989 0.9999602 -0.00729302 0.24413954] [ 0.008527 0.00733667 0.99993673 -1.14598437] [ 0. 0. 0. 1. ]] SLAMing on 119.15650248099999 meters 0.13120622032253218 Centerline is valid? [False, False] Translation: X:3.79, Y:0.25, Z:-1.14 [[ 0.99992762 0.00414313 -0.01129564 3.7877966 ] [-0.00426984 0.99992797 -0.01121669 0.25015718] [ 0.01124835 0.0112641 0.99987329 -1.13804348] [ 0. 0. 0. 1. ]] SLAMing on 119.18650248099999 meters 0.13180978600753585 Centerline is valid? [False, False] Translation: X:3.79, Y:0.25, Z:-1.14 [[ 9.99919994e-01 3.59495753e-03 -1.21277463e-02 3.78760582e+00] [-3.74545997e-03 9.99915979e-01 -1.24099593e-02 2.52230626e-01] [ 1.20821140e-02 1.24543904e-02 9.99849444e-01 -1.13567077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21650248099999 meters 0.13265383920643167 Centerline is valid? [False, False] Translation: X:3.79, Y:0.25, Z:-1.14 [[ 9.99983405e-01 -3.03031509e-04 -5.75310589e-03 3.79310808e+00] [ 2.80288441e-04 9.99992145e-01 -3.95357564e-03 2.53805444e-01] [ 5.75425876e-03 3.95189750e-03 9.99975635e-01 -1.13678950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.246502481 meters 0.13270128113144058 Centerline is valid? [False, False] Translation: X:3.79, Y:0.26, Z:-1.13 [[ 9.99976511e-01 -7.21173075e-04 -6.81592286e-03 3.79343006e+00] [ 6.86884485e-04 9.99987105e-01 -5.03166268e-03 2.56323341e-01] [ 6.81946367e-03 5.02686275e-03 9.99964112e-01 -1.13463024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.276502481 meters 0.1344909328829911 Centerline is valid? [False, False] Translation: X:3.79, Y:0.26, Z:-1.13 [[ 9.99969693e-01 -1.02862491e-03 -7.71724698e-03 3.79373300e+00] [ 9.83373710e-04 9.99982316e-01 -5.86515070e-03 2.58225339e-01] [ 7.72314355e-03 5.85738401e-03 9.99953021e-01 -1.13284800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.306502481 meters 0.13503331156155046 Centerline is valid? [False, False] Translation: X:3.79, Y:0.26, Z:-1.13 [[ 9.99956191e-01 -1.86002936e-03 -9.17365417e-03 3.79340407e+00] [ 1.78927235e-03 9.99968636e-01 -7.71525276e-03 2.62020624e-01] [ 9.18771704e-03 7.69850060e-03 9.99928157e-01 -1.12887635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.336502481 meters 0.13836378252863687 Centerline is valid? [False, False] Translation: X:3.79, Y:0.27, Z:-1.13 [[ 9.99942728e-01 -2.48220956e-03 -1.04105260e-02 3.79355699e+00] [ 2.38655675e-03 9.99954919e-01 -9.19046671e-03 2.65451149e-01] [ 1.04328693e-02 9.16509504e-03 9.99903573e-01 -1.12608708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36650248099998 meters 0.13836378252863687 Centerline is valid? [False, False] Translation: X:3.79, Y:0.27, Z:-1.13 [[ 9.99942728e-01 -2.48220956e-03 -1.04105260e-02 3.79355699e+00] [ 2.38655675e-03 9.99954919e-01 -9.19046671e-03 2.65451149e-01] [ 1.04328693e-02 9.16509504e-03 9.99903573e-01 -1.12608708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39650248099998 meters 0.13884152834542737 Centerline is valid? [False, False] Translation: X:3.79, Y:0.26, Z:-1.13 [[ 9.99946781e-01 1.73264672e-03 -1.01701625e-02 3.79304431e+00] [-1.78220581e-03 9.99986573e-01 -4.86595045e-03 2.64538236e-01] [ 1.01615950e-02 4.88381681e-03 9.99936443e-01 -1.12577572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42650248099999 meters 0.13537992940022486 Centerline is valid? [False, False] Translation: X:3.79, Y:0.27, Z:-1.12 [[ 9.99939507e-01 1.40293753e-03 -1.09093441e-02 3.79316075e+00] [-1.46471529e-03 9.99982927e-01 -5.65690323e-03 2.66238972e-01] [ 1.09012216e-02 5.67254011e-03 9.99924490e-01 -1.12412850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.45650248099999 meters 0.1397988383010453 Centerline is valid? [False, False] Translation: X:3.80, Y:0.27, Z:-1.12 [[ 9.99990188e-01 -1.70070245e-03 -4.09044610e-03 3.79956648e+00] [ 1.69429726e-03 9.99997334e-01 -1.56884639e-03 2.70126649e-01] [ 4.09310334e-03 1.56190057e-03 9.99990403e-01 -1.11897141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48650248099999 meters 0.13884477049881913 Centerline is valid? [False, False] Translation: X:3.80, Y:0.28, Z:-1.11 [[ 9.99979064e-01 -2.75432462e-03 -5.85532914e-03 3.79929711e+00] [ 2.72986768e-03 9.99987534e-01 -4.18076533e-03 2.76020567e-01] [ 5.86677134e-03 4.16469353e-03 9.99974118e-01 -1.11412076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51650248099999 meters 0.139733045216453 Centerline is valid? [False, False] Translation: X:3.80, Y:0.28, Z:-1.11 [[ 9.99973044e-01 -3.09776909e-03 -6.65699299e-03 3.79974602e+00] [ 3.06329863e-03 9.99981881e-01 -5.18205593e-03 2.78744971e-01] [ 6.67292519e-03 5.16152388e-03 9.99964415e-01 -1.11270826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54650248099999 meters 0.1404084164695916 Centerline is valid? [False, False] Translation: X:3.80, Y:0.28, Z:-1.11 [[ 9.99975593e-01 2.65563412e-04 -6.98160463e-03 3.79870751e+00] [-2.84068484e-04 9.99996449e-01 -2.64968914e-03 2.82468251e-01] [ 6.98087618e-03 2.65160772e-03 9.99972118e-01 -1.11026045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57650248099999 meters 0.14169647460243917 Centerline is valid? [False, False] Translation: X:3.80, Y:0.29, Z:-1.11 [[ 9.99970365e-01 -1.93246420e-04 -7.69624007e-03 3.79876690e+00] [ 1.63929483e-04 9.99992730e-01 -3.80970317e-03 2.85247627e-01] [ 7.69692033e-03 3.80832863e-03 9.99963126e-01 -1.10851929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60650248099999 meters 0.14156019529909067 Centerline is valid? [False, False] Translation: X:3.80, Y:0.29, Z:-1.11 [[ 9.99963225e-01 -7.22367878e-04 -8.54561179e-03 3.79872690e+00] [ 6.78796570e-04 9.99986762e-01 -5.10047834e-03 2.88130988e-01] [ 8.54918308e-03 5.09449004e-03 9.99950478e-01 -1.10635292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.636502481 meters 0.13992802822644276 Centerline is valid? [False, False] Translation: X:3.80, Y:0.29, Z:-1.10 [[ 9.99948400e-01 2.21653863e-03 -9.91384547e-03 3.79730192e+00] [-2.26389070e-03 9.99986072e-01 -4.76768874e-03 2.94292109e-01] [ 9.90313963e-03 4.78988659e-03 9.99939491e-01 -1.09944868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.666502481 meters 0.1402277094018281 Centerline is valid? [False, False] Translation: X:3.80, Y:0.30, Z:-1.10 [[ 9.99940875e-01 1.79398927e-03 -1.07251023e-02 3.79747139e+00] [-1.85714125e-03 9.99980981e-01 -5.88118338e-03 2.97247082e-01] [ 1.07143475e-02 5.90075369e-03 9.99925189e-01 -1.09767435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.696502481 meters 0.1390893421560462 Centerline is valid? [False, False] Translation: X:3.80, Y:0.30, Z:-1.09 [[ 0.99995037 0.00746233 -0.00660058 3.80076766] [-0.00751947 0.9999341 -0.00867497 0.30057695] [ 0.00653541 0.00872417 0.99994059 -1.09248455] [ 0. 0. 0. 1. ]] SLAMing on 119.72650248099998 meters 0.13946114637586504 Centerline is valid? [False, False] Translation: X:3.80, Y:0.31, Z:-1.09 [[ 9.99999923e-01 -6.72623586e-05 3.87400285e-04 3.80329037e+00] [ 6.88150205e-05 9.99991960e-01 -4.00928296e-03 3.06516732e-01] [-3.87127497e-04 4.00930931e-03 9.99991888e-01 -1.09158045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75650248099998 meters 0.13728563035608662 Centerline is valid? [False, False] Translation: X:3.80, Y:0.31, Z:-1.09 [[ 9.99999867e-01 -5.06809474e-04 -9.90345312e-05 3.80305184e+00] [ 5.06303370e-04 9.99987144e-01 -5.04527405e-03 3.08645153e-01] [ 1.01590251e-04 5.04522323e-03 9.99987268e-01 -1.08989563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78650248099999 meters 0.1415294931047632 Centerline is valid? [False, False] Translation: X:3.80, Y:0.31, Z:-1.09 [[ 9.99999450e-01 -8.43163602e-04 -6.23195897e-04 3.80302354e+00] [ 8.39452891e-04 9.99982060e-01 -5.93079306e-03 3.10482216e-01] [ 6.28185346e-04 5.93026666e-03 9.99982219e-01 -1.08845866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.81650248099999 meters 0.13780895008679392 Centerline is valid? [False, False] Translation: X:3.80, Y:0.32, Z:-1.09 [[ 9.99997847e-01 -1.44354563e-03 -1.49099836e-03 3.80311859e+00] [ 1.43249850e-03 9.99971713e-01 -7.38390026e-03 3.15303384e-01] [ 1.50161518e-03 7.38174851e-03 9.99971627e-01 -1.08653548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84650248099999 meters 0.13583361652976092 Centerline is valid? [False, False] Translation: X:3.80, Y:0.32, Z:-1.09 [[ 9.99996801e-01 -1.59556564e-03 -1.96259296e-03 3.80350093e+00] [ 1.57985923e-03 9.99966923e-01 -7.97857094e-03 3.17043936e-01] [ 1.97525838e-03 7.97544480e-03 9.99966245e-01 -1.08584324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87650248099999 meters 0.13573809236492726 Centerline is valid? [False, False] Translation: X:3.80, Y:0.32, Z:-1.08 [[ 9.99992576e-01 -1.94940811e-03 -3.32368364e-03 3.80400858e+00] [ 1.91798591e-03 9.99953686e-01 -9.43115073e-03 3.23579775e-01] [ 3.34191487e-03 9.42470594e-03 9.99950002e-01 -1.08355920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90650248099999 meters 0.13648292482632313 Centerline is valid? [False, False] Translation: X:3.80, Y:0.32, Z:-1.08 [[ 9.99996092e-01 1.73879017e-03 -2.18914355e-03 3.80258976e+00] [-1.75163117e-03 9.99981193e-01 -5.87757330e-03 3.24936339e-01] [ 2.17888252e-03 5.88138490e-03 9.99980331e-01 -1.08376490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93650248099999 meters 0.13598212719160804 Centerline is valid? [False, False] Translation: X:3.80, Y:0.33, Z:-1.08 [[ 9.99996250e-01 1.41821050e-03 -2.34288494e-03 3.80244102e+00] [-1.43361823e-03 9.99977272e-01 -6.58785204e-03 3.26815761e-01] [ 2.33348873e-03 6.59118614e-03 9.99975555e-01 -1.08305181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96650248099999 meters 0.13492730344853832 Centerline is valid? [False, False] Translation: X:3.80, Y:0.33, Z:-1.08 [[ 9.99993371e-01 6.81400901e-04 -3.57673184e-03 3.80205351e+00] [-7.11753781e-04 9.99963691e-01 -8.49180327e-03 3.33182767e-01] [ 3.57081565e-03 8.49429273e-03 9.99957547e-01 -1.07968148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.996502481 meters 0.1334766450972172 Centerline is valid? [False, False] Translation: X:3.81, Y:0.33, Z:-1.08 [[ 9.99985933e-01 -4.61870223e-03 2.60780886e-03 3.80889344e+00] [ 4.62128563e-03 9.99988836e-01 -9.85482027e-04 3.34701681e-01] [-2.60322810e-03 9.97519595e-04 9.99996114e-01 -1.08300338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.026502481 meters 0.13233766675591457 Centerline is valid? [False, False] Translation: X:3.81, Y:0.34, Z:-1.08 [[ 9.99984709e-01 -5.04276462e-03 2.26991922e-03 3.80896430e+00] [ 5.04732985e-03 9.99985242e-01 -2.00997330e-03 3.38850187e-01] [-2.25974990e-03 2.02139959e-03 9.99995404e-01 -1.08229508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.056502481 meters 0.13152693130533455 Centerline is valid? [False, False] Translation: X:3.81, Y:0.34, Z:-1.08 [[ 9.99984188e-01 -5.25640214e-03 1.99834096e-03 3.80906781e+00] [ 5.26159172e-03 9.99982776e-01 -2.60061668e-03 3.40550239e-01] [-1.98463665e-03 2.61109001e-03 9.99994622e-01 -1.08171413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.086502481 meters 0.1345126466139846 Centerline is valid? [False, False] Translation: X:3.81, Y:0.34, Z:-1.08 [[ 9.99984011e-01 -5.42605166e-03 1.59225034e-03 3.80922397e+00] [ 5.43106618e-03 9.99980252e-01 -3.16209138e-03 3.42190386e-01] [-1.57506122e-03 3.17068844e-03 9.99993733e-01 -1.08092653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11650248099998 meters 0.12990989107067233 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.08 [[ 9.99982433e-01 -5.87783389e-03 7.65057960e-04 3.80916253e+00] [ 5.88110684e-03 9.99973251e-01 -4.34850252e-03 3.45820859e-01] [-7.39477720e-04 4.35292551e-03 9.99990253e-01 -1.07895291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14650248099998 meters 0.13098864411768038 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.08 [[ 9.99995884e-01 -2.26478447e-03 1.76136750e-03 3.80724137e+00] [ 2.26603016e-03 9.99997184e-01 -7.05554245e-04 3.45358971e-01] [-1.75976461e-03 7.09542653e-04 9.99998200e-01 -1.07808412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17650248099999 meters 0.12862601066870882 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.08 [[ 9.99996080e-01 -2.32977497e-03 1.55300258e-03 3.80712187e+00] [ 2.33124437e-03 9.99996836e-01 -9.45031041e-04 3.45339032e-01] [-1.55079596e-03 9.48647765e-04 9.99998348e-01 -1.07732768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20650248099999 meters 0.1286761045580149 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.08 [[ 9.99995541e-01 -2.54234255e-03 1.56679665e-03 3.80656823e+00] [ 2.54441749e-03 9.99995887e-01 -1.32375553e-03 3.45035849e-01] [-1.56342477e-03 1.32773622e-03 9.99997896e-01 -1.07639128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.23650248099999 meters 0.1270091352761096 Centerline is valid? [False, False] Translation: X:3.81, Y:0.34, Z:-1.08 [[ 9.99994701e-01 -2.72568210e-03 1.77979811e-03 3.80598372e+00] [ 2.72858296e-03 9.99994950e-01 -1.62949126e-03 3.44320832e-01] [-1.77534765e-03 1.63433896e-03 9.99997089e-01 -1.07576940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26650248099999 meters 0.1267343318882418 Centerline is valid? [False, False] Translation: X:3.81, Y:0.34, Z:-1.08 [[ 9.99994646e-01 -2.69394575e-03 1.85743177e-03 3.80592034e+00] [ 2.69712383e-03 9.99994900e-01 -1.71062761e-03 3.43612111e-01] [-1.85281396e-03 1.71562817e-03 9.99996812e-01 -1.07562545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29650248099999 meters 0.12610920650134738 Centerline is valid? [False, False] Translation: X:3.81, Y:0.34, Z:-1.08 [[ 9.99995425e-01 -2.62408336e-03 1.50454977e-03 3.80629838e+00] [ 2.62675465e-03 9.99994973e-01 -1.77625330e-03 3.43880157e-01] [-1.49988117e-03 1.78019726e-03 9.99997291e-01 -1.07537008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32650248099999 meters 0.12584674239969412 Centerline is valid? [False, False] Translation: X:3.81, Y:0.34, Z:-1.07 [[ 9.99996157e-01 -2.63575378e-03 8.59102126e-04 3.80665751e+00] [ 2.63761975e-03 9.99994149e-01 -2.17815449e-03 3.44463395e-01] [-8.53356020e-04 2.18041211e-03 9.99997259e-01 -1.07433570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35650248099999 meters 0.12416142781707394 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99996137e-01 -2.77770917e-03 1.00570396e-04 3.80676075e+00] [ 2.77799385e-03 9.99991788e-01 -2.95080895e-03 3.45691335e-01] [-9.23730811e-05 2.95107694e-03 9.99995641e-01 -1.07264230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.386502481 meters 0.12455382669655207 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99996391e-01 -2.68297770e-03 -1.38476661e-04 3.80711591e+00] [ 2.68255226e-03 9.99991944e-01 -2.98606847e-03 3.45724771e-01] [ 1.46487100e-04 2.98568622e-03 9.99995532e-01 -1.07256555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.416502481 meters 0.12403828479760855 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99996469e-01 -2.56618019e-03 -6.90207323e-04 3.80768224e+00] [ 2.56396674e-03 9.99991628e-01 -3.18892391e-03 3.46040370e-01] [ 6.98384898e-04 3.18714298e-03 9.99994677e-01 -1.07206042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.446502481 meters 0.1237802620337378 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99996436e-01 -2.44871390e-03 -1.06339670e-03 3.80819411e+00] [ 2.44530091e-03 9.99991893e-01 -3.19904342e-03 3.46297542e-01] [ 1.07122162e-03 3.19643170e-03 9.99994318e-01 -1.07196625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47650248099998 meters 0.12239684349642128 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99995485e-01 -2.48604036e-03 -1.68782644e-03 3.80865432e+00] [ 2.47974320e-03 9.99989996e-01 -3.72282430e-03 3.47507802e-01] [ 1.69706465e-03 3.71862211e-03 9.99991646e-01 -1.07116051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50650248099998 meters 0.12306978741919185 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99994734e-01 -2.48272497e-03 -2.09010378e-03 3.80901893e+00] [ 2.47447124e-03 9.99989167e-01 -3.94232367e-03 3.48176457e-01] [ 2.09986885e-03 3.93713100e-03 9.99990045e-01 -1.07077029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53650248099999 meters 0.12250345255235119 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99991808e-01 -2.55383023e-03 -3.14036273e-03 3.80943584e+00] [ 2.53891976e-03 9.99985529e-01 -4.74286275e-03 3.50048742e-01] [ 3.15242975e-03 4.73485076e-03 9.99983822e-01 -1.06898487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56650248099999 meters 0.12205607657199127 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99989691e-01 -2.50854509e-03 -3.78484937e-03 3.81000118e+00] [ 2.48964568e-03 9.99984451e-01 -4.98991317e-03 3.50993257e-01] [ 3.79730794e-03 4.98043880e-03 9.99980388e-01 -1.06839355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.59650248099999 meters 0.12161070212706511 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99987168e-01 -2.65375754e-03 -4.31536261e-03 3.81017145e+00] [ 2.62968680e-03 9.99981007e-01 -5.57405913e-03 3.52556567e-01] [ 4.33007285e-03 5.56263955e-03 9.99975153e-01 -1.06742712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62650248099999 meters 0.12104558066943091 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99987031e-01 -2.57437698e-03 -4.39433701e-03 3.81033237e+00] [ 2.55019067e-03 9.99981619e-01 -5.50072999e-03 3.52381907e-01] [ 4.40841719e-03 5.48945225e-03 9.99975216e-01 -1.06746007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65650248099999 meters 0.12093641856273274 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99989785e-01 -2.51466626e-03 -3.75580128e-03 3.80983171e+00] [ 2.49544525e-03 9.99983812e-01 -5.11363387e-03 3.50398041e-01] [ 3.76859956e-03 5.10420924e-03 9.99979872e-01 -1.06804256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68650248099999 meters 0.12121067704221516 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99990944e-01 -2.32241113e-03 -3.56618290e-03 3.80991579e+00] [ 2.30565706e-03 9.99986320e-01 -4.69498757e-03 3.49318147e-01] [ 3.57703781e-03 4.68672266e-03 9.99982620e-01 -1.06859759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71650248099999 meters 0.12100448656237403 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99991056e-01 -2.38234004e-03 -3.49457568e-03 3.80946990e+00] [ 2.36585335e-03 9.99986089e-01 -4.71436453e-03 3.48237599e-01] [ 3.50575829e-03 4.70605471e-03 9.99982781e-01 -1.06802359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.746502481 meters 0.12038029304478134 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99991322e-01 -2.30467872e-03 -3.47053253e-03 3.80950738e+00] [ 2.28872300e-03 9.99986826e-01 -4.59445734e-03 3.47825288e-01] [ 3.48107556e-03 4.58647439e-03 9.99983423e-01 -1.06809603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.776502481 meters 0.11989839458361957 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99990040e-01 -2.37132002e-03 -3.78119796e-03 3.80943837e+00] [ 2.35299483e-03 9.99985502e-01 -4.84350537e-03 3.47965510e-01] [ 3.79262864e-03 4.83455998e-03 9.99981121e-01 -1.06725721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.806502481 meters 0.11963177643435632 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99989372e-01 -2.45228689e-03 -3.90417091e-03 3.80936269e+00] [ 2.43246846e-03 9.99984174e-01 -5.07290167e-03 3.48162803e-01] [ 3.91654934e-03 5.06335098e-03 9.99979511e-01 -1.06679594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.836502481 meters 0.1192259115676074 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99990466e-01 -2.40449494e-03 -3.64514659e-03 3.80924074e+00] [ 2.38649367e-03 9.99984976e-01 -4.93475245e-03 3.47910232e-01] [ 3.65695741e-03 4.92600628e-03 9.99981180e-01 -1.06713446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86650248099998 meters 0.11916349210144256 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99991574e-01 -2.17740207e-03 -3.47992344e-03 3.80959363e+00] [ 2.16156755e-03 9.99987324e-01 -4.54755160e-03 3.47347758e-01] [ 3.48978118e-03 4.53999120e-03 9.99983605e-01 -1.06799946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89650248099998 meters 0.11895490013474899 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99993022e-01 -1.95606685e-03 -3.18279497e-03 3.80993632e+00] [ 1.94302644e-03 9.99989727e-01 -4.09510531e-03 3.47010789e-01] [ 3.19077258e-03 4.08889248e-03 9.99986550e-01 -1.06918840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92650248099999 meters 0.11906303737493498 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99992702e-01 -1.87932204e-03 -3.32612511e-03 3.81026066e+00] [ 1.86568414e-03 9.99989860e-01 -4.09860063e-03 3.47353450e-01] [ 3.33379397e-03 4.09236522e-03 9.99986069e-01 -1.06931702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.95650248099999 meters 0.1193880007429435 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99991603e-01 -1.64973642e-03 -3.75124640e-03 3.81121467e+00] [ 1.63423397e-03 9.99990128e-01 -4.13192793e-03 3.49056682e-01] [ 3.75802596e-03 4.12576282e-03 9.99984428e-01 -1.06982255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98650248099999 meters 0.11938254462772967 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99991204e-01 -1.48384983e-03 -3.92299660e-03 3.81178858e+00] [ 1.46805814e-03 9.99990821e-01 -4.02523426e-03 3.49527637e-01] [ 3.92893343e-03 4.01943966e-03 9.99984204e-01 -1.07027455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01650248099999 meters 0.11926439238818459 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99990458e-01 -1.49315931e-03 -4.10536750e-03 3.81193785e+00] [ 1.47562152e-03 9.99989788e-01 -4.27163246e-03 3.50137562e-01] [ 4.11170381e-03 4.26553374e-03 9.99982449e-01 -1.06998551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04650248099999 meters 0.11936469919070415 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99990555e-01 -1.23482606e-03 -4.16726267e-03 3.81245237e+00] [ 1.21853248e-03 9.99991613e-01 -3.91017623e-03 3.49651040e-01] [ 4.17205611e-03 3.90506135e-03 9.99983672e-01 -1.07058474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07650248099999 meters 0.11899337425955035 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99991361e-01 -9.75440659e-04 -4.04060938e-03 3.81278619e+00] [ 9.61303966e-04 9.99993416e-01 -3.49911967e-03 3.48998679e-01] [ 4.04399596e-03 3.49520519e-03 9.99985715e-01 -1.07131316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10650248099999 meters 0.11936089712496074 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99991365e-01 -9.02813658e-04 -4.05653895e-03 3.81293094e+00] [ 8.88868010e-04 9.99993694e-01 -3.43830811e-03 3.48791820e-01] [ 4.05961752e-03 3.43467269e-03 9.99985861e-01 -1.07143696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.136502481 meters 0.11928257663257721 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99992342e-01 -6.44364622e-04 -3.86010605e-03 3.81333313e+00] [ 6.32388786e-04 9.99994986e-01 -3.10288045e-03 3.48137737e-01] [ 3.86208608e-03 3.10041560e-03 9.99987736e-01 -1.07232925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.166502481 meters 0.11939830840316086 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99992248e-01 -4.01978766e-04 -3.91700504e-03 3.81382455e+00] [ 3.91033489e-04 9.99996018e-01 -2.79466264e-03 3.47755654e-01] [ 3.91811284e-03 2.79310930e-03 9.99988423e-01 -1.07289508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.196502481 meters 0.11980869241603562 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99990273e-01 -3.96059314e-04 -4.39290165e-03 3.81414751e+00] [ 3.82525731e-04 9.99995180e-01 -3.08119699e-03 3.48419935e-01] [ 4.39410081e-03 3.07948662e-03 9.99985604e-01 -1.07229565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22650248099998 meters 0.11957589374618027 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99989750e-01 -2.39989690e-04 -4.52123019e-03 3.81457038e+00] [ 2.26682193e-04 9.99995642e-01 -2.94361796e-03 3.48217366e-01] [ 4.52191692e-03 2.94256291e-03 9.99985447e-01 -1.07256122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25650248099998 meters 0.11957589374618027 Centerline is valid? [False, False] Translation: X:3.81, Y:0.35, Z:-1.07 [[ 9.99989750e-01 -2.39989690e-04 -4.52123019e-03 3.81457038e+00] [ 2.26682193e-04 9.99995642e-01 -2.94361796e-03 3.48217366e-01] [ 4.52191692e-03 2.94256291e-03 9.99985447e-01 -1.07256122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28650248099999 meters 0.11986387016342645 Centerline is valid? [False, False] Translation: X:3.82, Y:0.35, Z:-1.07 [[ 9.99991296e-01 3.01747269e-04 -4.16128899e-03 3.81555835e+00] [-3.10453144e-04 9.99997764e-01 -2.09162295e-03 3.47198359e-01] [ 4.16064855e-03 2.09289663e-03 9.99989154e-01 -1.07466673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.31650248099999 meters 0.11978828863190719 Centerline is valid? [False, False] Translation: X:3.82, Y:0.35, Z:-1.08 [[ 9.99992072e-01 5.54851472e-04 -3.94304247e-03 3.81594827e+00] [-5.61542431e-04 9.99998404e-01 -1.69599823e-03 3.46517258e-01] [ 3.94209515e-03 1.69819897e-03 9.99990788e-01 -1.07563932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34650248099999 meters 0.11989805431537282 Centerline is valid? [False, False] Translation: X:3.82, Y:0.35, Z:-1.08 [[ 9.99991904e-01 6.90238125e-04 -3.96436048e-03 3.81629540e+00] [-6.96585965e-04 9.99998477e-01 -1.60006939e-03 3.46370088e-01] [ 3.96325002e-03 1.60281796e-03 9.99990862e-01 -1.07600039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.37650248099999 meters 0.11988395659869992 Centerline is valid? [False, False] Translation: X:3.82, Y:0.35, Z:-1.07 [[ 9.99987812e-01 6.13179270e-04 -4.89903935e-03 3.81656010e+00] [-6.24134489e-04 9.99997308e-01 -2.23498168e-03 3.47462750e-01] [ 4.89765572e-03 2.23801210e-03 9.99985502e-01 -1.07428661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40650248099999 meters 0.11939767914281359 Centerline is valid? [False, False] Translation: X:3.82, Y:0.35, Z:-1.07 [[ 9.99986816e-01 8.00006027e-04 -5.07216214e-03 3.81705728e+00] [-8.10501925e-04 9.99997534e-01 -2.06759667e-03 3.47405817e-01] [ 5.07049554e-03 2.07168041e-03 9.99984999e-01 -1.07457113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43650248099999 meters 0.11988662387420561 Centerline is valid? [False, False] Translation: X:3.82, Y:0.35, Z:-1.08 [[ 9.99987146e-01 9.22377078e-04 -4.98564797e-03 3.81732173e+00] [-9.32088715e-04 9.99997672e-01 -1.94594624e-03 3.47148431e-01] [ 4.98384147e-03 1.95056830e-03 9.99985678e-01 -1.07504453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46650248099999 meters 0.11976202971764029 Centerline is valid? [False, False] Translation: X:3.82, Y:0.35, Z:-1.08 [[ 9.99988292e-01 1.07980917e-03 -4.71700664e-03 3.81762807e+00] [-1.08773685e-03 9.99998000e-01 -1.67841768e-03 3.46586108e-01] [ 4.71518483e-03 1.68352890e-03 9.99987466e-01 -1.07596378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.496502481 meters 0.11977824924294733 Centerline is valid? [False, False] Translation: X:3.82, Y:0.35, Z:-1.08 [[ 9.99987862e-01 1.25965432e-03 -4.76334017e-03 3.81810225e+00] [-1.26687507e-03 9.99998053e-01 -1.51318829e-03 3.46276545e-01] [ 4.76142480e-03 1.51920448e-03 9.99987510e-01 -1.07644715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.526502481 meters 0.12074870660034867 Centerline is valid? [False, False] Translation: X:3.82, Y:0.35, Z:-1.08 [[ 9.99986274e-01 1.42642570e-03 -5.04150168e-03 3.81882510e+00] [-1.43391016e-03 9.99997875e-01 -1.48126550e-03 3.46680639e-01] [ 5.03937806e-03 1.48847423e-03 9.99986194e-01 -1.07682883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.556502481 meters 0.12057900266812138 Centerline is valid? [False, False] Translation: X:3.82, Y:0.35, Z:-1.08 [[ 9.99984979e-01 1.60202178e-03 -5.24178249e-03 3.81938791e+00] [-1.60927701e-03 9.99997753e-01 -1.38019003e-03 3.46552747e-01] [ 5.23955961e-03 1.38860477e-03 9.99985309e-01 -1.07710837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.586502481 meters 0.12041564279979394 Centerline is valid? [False, False] Translation: X:3.82, Y:0.35, Z:-1.08 [[ 9.99975248e-01 -2.31936707e-03 -6.64265066e-03 3.82090926e+00] [ 2.28057092e-03 9.99980334e-01 -5.84209432e-03 3.49118137e-01] [ 6.65606999e-03 5.82680068e-03 9.99960872e-01 -1.07648764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61650248099998 meters 0.1205001156831851 Centerline is valid? [False, False] Translation: X:3.82, Y:0.35, Z:-1.08 [[ 9.99973923e-01 -2.28416283e-03 -6.85105133e-03 3.82120789e+00] [ 2.24347496e-03 9.99979837e-01 -5.94074086e-03 3.49622741e-01] [ 6.86448281e-03 5.92521578e-03 9.99958885e-01 -1.07644035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64650248099998 meters 0.12040295453349155 Centerline is valid? [False, False] Translation: X:3.82, Y:0.35, Z:-1.08 [[ 9.99972801e-01 -2.19293087e-03 -7.04185378e-03 3.82158739e+00] [ 2.15136801e-03 9.99980255e-01 -5.90442052e-03 3.49906149e-01] [ 7.05466272e-03 5.88911030e-03 9.99957774e-01 -1.07655866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67650248099999 meters 0.12027047338654345 Centerline is valid? [False, False] Translation: X:3.82, Y:0.35, Z:-1.08 [[ 9.99972538e-01 -2.02528498e-03 -7.12895403e-03 3.82197358e+00] [ 1.98459835e-03 9.99981730e-01 -5.70969238e-03 3.49545619e-01] [ 7.14038754e-03 5.69538747e-03 9.99958288e-01 -1.07686799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70650248099999 meters 0.12031890524123147 Centerline is valid? [False, False] Translation: X:3.82, Y:0.35, Z:-1.08 [[ 9.99974185e-01 -1.82304134e-03 -6.95018488e-03 3.82220250e+00] [ 1.78613083e-03 9.99984290e-01 -5.31323667e-03 3.48666943e-01] [ 6.95976194e-03 5.30068558e-03 9.99961731e-01 -1.07754205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.73650248099999 meters 0.11941883750882033 Centerline is valid? [False, False] Translation: X:3.82, Y:0.35, Z:-1.08 [[ 9.99977169e-01 -1.76858069e-03 -6.52182832e-03 3.82192094e+00] [ 1.73650387e-03 9.99986385e-01 -4.92076494e-03 3.46806288e-01] [ 6.53044230e-03 4.90932741e-03 9.99966625e-01 -1.07798512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76650248099999 meters 0.11905026233210676 Centerline is valid? [False, False] Translation: X:3.82, Y:0.35, Z:-1.08 [[ 9.99977494e-01 -1.59826627e-03 -6.51596166e-03 3.82223071e+00] [ 1.56838680e-03 9.99988245e-01 -4.58811528e-03 3.45639885e-01] [ 6.52321809e-03 4.57779247e-03 9.99968245e-01 -1.07838499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79650248099999 meters 0.11875755655833267 Centerline is valid? [False, False] Translation: X:3.82, Y:0.34, Z:-1.08 [[ 9.99976917e-01 -1.36383184e-03 -6.65629054e-03 3.82272716e+00] [ 1.33543941e-03 9.99990000e-01 -4.26808569e-03 3.44862655e-01] [ 6.66204493e-03 4.25909809e-03 9.99968738e-01 -1.07872667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82650248099999 meters 0.11891264132295785 Centerline is valid? [False, False] Translation: X:3.82, Y:0.34, Z:-1.08 [[ 9.99976681e-01 -1.12961487e-03 -6.73504802e-03 3.82322955e+00] [ 1.10325044e-03 9.99991720e-01 -3.91694452e-03 3.44293766e-01] [ 6.73941689e-03 3.90942274e-03 9.99969648e-01 -1.07924049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85650248099999 meters 0.11805661797731887 Centerline is valid? [False, False] Translation: X:3.82, Y:0.34, Z:-1.08 [[ 9.99975751e-01 -8.08567932e-04 -6.91693181e-03 3.82394607e+00] [ 7.85247666e-04 9.99994001e-01 -3.37352716e-03 3.43129210e-01] [ 6.91961804e-03 3.36801385e-03 9.99970387e-01 -1.07986280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.886502481 meters 0.11813085598290127 Centerline is valid? [False, False] Translation: X:3.82, Y:0.34, Z:-1.08 [[ 9.99976953e-01 -4.93670499e-04 -6.77125672e-03 3.82438833e+00] [ 4.74552936e-04 9.99995898e-01 -2.82465669e-03 3.41888554e-01] [ 6.77262339e-03 2.82137827e-03 9.99973085e-01 -1.08072028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.916502481 meters 0.11765969736187466 Centerline is valid? [False, False] Translation: X:3.82, Y:0.34, Z:-1.08 [[ 9.99978675e-01 -2.33508142e-04 -6.52644286e-03 3.82473678e+00] [ 2.18911464e-04 9.99997474e-01 -2.23716919e-03 3.40188001e-01] [ 6.52694877e-03 2.23569277e-03 9.99976200e-01 -1.08164653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.946502481 meters 0.11732989827130309 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99979581e-01 2.19271070e-05 -6.39042916e-03 3.82503328e+00] [-3.33201536e-05 9.99998410e-01 -1.78272864e-03 3.39067532e-01] [ 6.39037991e-03 1.78290517e-03 9.99977992e-01 -1.08230745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97650248099998 meters 0.11706936096983273 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99979835e-01 3.18232137e-04 -6.34262689e-03 3.82557171e+00] [-3.26467407e-04 9.99999105e-01 -1.29740746e-03 3.37566433e-01] [ 6.34220834e-03 1.29945196e-03 9.99979044e-01 -1.08304679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00650248099998 meters 0.11694194880053659 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99978658e-01 3.27501081e-04 -6.52510357e-03 3.82575793e+00] [-3.36508510e-04 9.99998992e-01 -1.37937693e-03 3.37612734e-01] [ 6.52464525e-03 1.38154325e-03 9.99977760e-01 -1.08285322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03650248099999 meters 0.11681996282356207 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99975263e-01 3.15787467e-04 -7.02669791e-03 3.82606284e+00] [-3.26868047e-04 9.99998705e-01 -1.57583300e-03 3.37937772e-01] [ 7.02619118e-03 1.57809082e-03 9.99974071e-01 -1.08218113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06650248099999 meters 0.11628084546213271 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99971841e-01 2.99617978e-04 -7.49847602e-03 3.82628602e+00] [-3.12789066e-04 9.99998410e-01 -1.75539095e-03 3.38284157e-01] [ 7.49793815e-03 1.75768696e-03 9.99970345e-01 -1.08146058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.09650248099999 meters 0.11599911447387366 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99970640e-01 2.24431514e-04 -7.65957665e-03 3.82622561e+00] [-2.39247251e-04 9.99998102e-01 -1.93341483e-03 3.38040623e-01] [ 7.65912820e-03 1.93519060e-03 9.99968796e-01 -1.08091856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12650248099999 meters 0.11600303603195895 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99970676e-01 4.27631270e-04 -7.64617424e-03 3.82653049e+00] [-4.40543026e-04 9.99998480e-01 -1.68705113e-03 3.37270905e-01] [ 7.64544118e-03 1.69037013e-03 9.99969344e-01 -1.08126230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15650248099999 meters 0.11563153243223574 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99972379e-01 5.89183931e-04 -7.40902045e-03 3.82664940e+00] [-5.99289416e-04 9.99998893e-01 -1.36179725e-03 3.35942311e-01] [ 7.40820990e-03 1.36619978e-03 9.99971626e-01 -1.08180654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18650248099999 meters 0.11566524475988373 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99971459e-01 8.29421408e-04 -7.50951548e-03 3.82714021e+00] [-8.37746086e-04 9.99999038e-01 -1.10547289e-03 3.35215027e-01] [ 7.50859136e-03 1.11173241e-03 9.99971192e-01 -1.08217920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21650248099999 meters 0.11567130088513915 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99970064e-01 8.76814673e-04 -7.68780821e-03 3.82741186e+00] [-8.85805045e-04 9.99998928e-01 -1.16610542e-03 3.35262202e-01] [ 7.68677751e-03 1.17288041e-03 9.99969768e-01 -1.08209652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.246502481 meters 0.1159091397558295 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99964006e-01 8.78463236e-04 -8.43894862e-03 3.82796593e+00] [-8.92003930e-04 9.99998321e-01 -1.60091767e-03 3.36523250e-01] [ 8.43752810e-03 1.60838762e-03 9.99963110e-01 -1.08126027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.276502481 meters 0.11614534140641072 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99959451e-01 1.28664876e-03 -8.91292084e-03 3.82905877e+00] [-1.29857502e-03 9.99998269e-01 -1.33242893e-03 3.36971943e-01] [ 8.91119105e-03 1.34394900e-03 9.99959391e-01 -1.08176632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.306502481 meters 0.11648162415955834 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99957242e-01 1.41220126e-03 -9.13887036e-03 3.82951051e+00] [-1.42417123e-03 9.99998136e-01 -1.30341057e-03 3.37114937e-01] [ 9.13701265e-03 1.31637016e-03 9.99957390e-01 -1.08185591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.336502481 meters 0.11655094613621399 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99954994e-01 1.55624300e-03 -9.35888738e-03 3.82999720e+00] [-1.56789317e-03 9.99998005e-01 -1.23761611e-03 3.37171080e-01] [ 9.35694268e-03 1.25223414e-03 9.99955439e-01 -1.08201708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36650248099998 meters 0.11686239895240445 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99944105e-01 -2.06012504e-03 -1.03703160e-02 3.83197507e+00] [ 2.00623714e-03 9.99984446e-01 -5.20408430e-03 3.38852041e-01] [ 1.03808758e-02 5.18298811e-03 9.99932685e-01 -1.08276448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39650248099998 meters 0.11690708165521177 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99943151e-01 -1.72203563e-03 -1.05227938e-02 3.83269788e+00] [ 1.67128750e-03 9.99986941e-01 -4.82957845e-03 3.38299343e-01] [ 1.05309731e-02 4.81171728e-03 9.99932971e-01 -1.08338809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42650248099999 meters 0.1170756957609379 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99933611e-01 -1.63004469e-03 -1.14068968e-02 3.83318778e+00] [ 1.57178086e-03 9.99985684e-01 -5.11487365e-03 3.39153813e-01] [ 1.14150710e-02 5.09660493e-03 9.99921857e-01 -1.08223530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.45650248099999 meters 0.11734573122227436 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99929142e-01 -1.72267333e-03 -1.17789260e-02 3.83298073e+00] [ 1.65918220e-03 9.99984055e-01 -5.39787965e-03 3.38779874e-01] [ 1.17880370e-02 5.37795378e-03 9.99916056e-01 -1.08110268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48650248099999 meters 0.11722927410118575 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99930981e-01 -1.50114900e-03 -1.16524407e-02 3.83314323e+00] [ 1.44287219e-03 9.99986419e-01 -5.00805002e-03 3.37628446e-01] [ 1.16598003e-02 4.99089139e-03 9.99919567e-01 -1.08156190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51650248099999 meters 0.11682930794593255 Centerline is valid? [False, False] Translation: X:3.83, Y:0.34, Z:-1.08 [[ 9.99931305e-01 -1.18059660e-03 -1.16615624e-02 3.83353370e+00] [ 1.12781694e-03 9.99989097e-01 -4.53149073e-03 3.36233867e-01] [ 1.16667852e-02 4.51802733e-03 9.99921734e-01 -1.08201612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54650248099999 meters 0.11698405466488698 Centerline is valid? [False, False] Translation: X:3.83, Y:0.33, Z:-1.08 [[ 9.99932211e-01 -9.36941186e-04 -1.16058478e-02 3.83359913e+00] [ 8.89894235e-04 9.99991369e-01 -4.05822912e-03 3.34077987e-01] [ 1.16095499e-02 4.04762604e-03 9.99924415e-01 -1.08214150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57650248099999 meters 0.11686917234236589 Centerline is valid? [False, False] Translation: X:3.83, Y:0.33, Z:-1.08 [[ 9.99929661e-01 -8.90728160e-04 -1.18270929e-02 3.83361128e+00] [ 8.42814887e-04 9.99991421e-01 -4.05551182e-03 3.33353949e-01] [ 1.18306038e-02 4.04525851e-03 9.99921833e-01 -1.08164833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60650248099999 meters 0.11702842174758993 Centerline is valid? [False, False] Translation: X:3.83, Y:0.33, Z:-1.08 [[ 9.99930034e-01 -6.03080803e-04 -1.18136861e-02 3.83378950e+00] [ 5.61110621e-04 9.99993521e-01 -3.55566692e-03 3.31522228e-01] [ 1.18157539e-02 3.54878936e-03 9.99923894e-01 -1.08189012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.636502481 meters 0.11703499186760996 Centerline is valid? [False, False] Translation: X:3.83, Y:0.33, Z:-1.08 [[ 9.99931622e-01 -2.56877032e-04 -1.16912170e-02 3.83422507e+00] [ 2.22000864e-04 9.99995522e-01 -2.98430839e-03 3.30197062e-01] [ 1.16919313e-02 2.98150887e-03 9.99927202e-01 -1.08271256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.666502481 meters 0.11727826240640543 Centerline is valid? [False, False] Translation: X:3.83, Y:0.33, Z:-1.08 [[ 9.99933629e-01 6.87967848e-05 -1.15209635e-02 3.83450641e+00] [-9.58849470e-05 9.99997233e-01 -2.35067048e-03 3.28409012e-01] [ 1.15207698e-02 2.35161915e-03 9.99930868e-01 -1.08345806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.696502481 meters 0.11765937343574287 Centerline is valid? [False, False] Translation: X:3.83, Y:0.33, Z:-1.08 [[ 9.99933366e-01 3.30019351e-04 -1.15392501e-02 3.83493899e+00] [-3.52666940e-04 9.99998016e-01 -1.96067715e-03 3.27743698e-01] [ 1.15385801e-02 1.96461601e-03 9.99931498e-01 -1.08402625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72650248099998 meters 0.1180862131601233 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99934908e-01 7.00609853e-04 -1.13881012e-02 3.83553049e+00] [-7.15744426e-04 9.99998866e-01 -1.32495994e-03 3.26384794e-01] [ 1.13871600e-02 1.33302466e-03 9.99934276e-01 -1.08514616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75650248099998 meters 0.11790483686580999 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99936417e-01 1.12183001e-03 -1.12206966e-02 3.83627394e+00] [-1.12897563e-03 9.99999164e-01 -6.30511884e-04 3.25396066e-01] [ 1.12199798e-02 6.43139687e-04 9.99936847e-01 -1.08651778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78650248099999 meters 0.11850009000633101 Centerline is valid? [False, False] Translation: X:3.84, Y:0.32, Z:-1.09 [[ 9.99937849e-01 1.28254499e-03 -1.10749050e-02 3.83654099e+00] [-1.28641902e-03 9.99999114e-01 -3.42685514e-04 3.24892098e-01] [ 1.10744557e-02 3.56911184e-04 9.99938613e-01 -1.08719375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81650248099999 meters 0.11841104828578103 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99933397e-01 1.36066609e-03 -1.14607760e-02 3.83696871e+00] [-1.36569998e-03 9.99998974e-01 -4.31412520e-04 3.25285338e-01] [ 1.14601773e-02 4.47035768e-04 9.99934230e-01 -1.08694642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84650248099999 meters 0.11885577890169055 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99929993e-01 1.12488110e-03 -1.17789214e-02 3.83677052e+00] [-1.13687960e-03 9.99998842e-01 -1.01199531e-03 3.26461209e-01] [ 1.17777694e-02 1.02531568e-03 9.99930114e-01 -1.08596289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87650248099999 meters 0.11873655526531289 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99931526e-01 1.10501412e-03 -1.16499576e-02 3.83682521e+00] [-1.11783456e-03 9.99998777e-01 -1.09401732e-03 3.26747835e-01] [ 1.16487345e-02 1.10696513e-03 9.99931538e-01 -1.08622869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90650248099999 meters 0.11913687337912475 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99934155e-01 1.27969093e-03 -1.14038901e-02 3.83740387e+00] [-1.28967527e-03 9.99998791e-01 -8.68209996e-04 3.27347554e-01] [ 1.14027653e-02 8.82860144e-04 9.99934597e-01 -1.08754213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93650248099999 meters 0.11919897232893388 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99930754e-01 1.35217671e-03 -1.16900827e-02 3.83798095e+00] [-1.36340794e-03 9.99998617e-01 -9.52832108e-04 3.28148958e-01] [ 1.16887781e-02 9.68704480e-04 9.99931215e-01 -1.08770951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96650248099999 meters 0.11963942765547982 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99924077e-01 1.27075008e-03 -1.22566444e-02 3.83850821e+00] [-1.28966777e-03 9.99997989e-01 -1.53568341e-03 3.30654479e-01] [ 1.22546683e-02 1.55137382e-03 9.99923705e-01 -1.08727251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.996502481 meters 0.12013382624357212 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99922640e-01 1.20644553e-03 -1.23797515e-02 3.83872598e+00] [-1.22880552e-03 9.99997627e-01 -1.79872730e-03 3.31560818e-01] [ 1.23775520e-02 1.81380046e-03 9.99921750e-01 -1.08725002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.026502481 meters 0.1206775528117014 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99917532e-01 1.50545947e-03 -1.27539698e-02 3.83989566e+00] [-1.52763799e-03 9.99997338e-01 -1.72938666e-03 3.33215167e-01] [ 1.27513323e-02 1.74872748e-03 9.99917169e-01 -1.08809220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.056502481 meters 0.12065313485043042 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99915919e-01 1.41000681e-03 -1.28905546e-02 3.83998981e+00] [-1.43639254e-03 9.99996892e-01 -2.03787565e-03 3.34056259e-01] [ 1.28876411e-02 2.05622020e-03 9.99914837e-01 -1.08787103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.086502481 meters 0.12080896144904357 Centerline is valid? [False, False] Translation: X:3.84, Y:0.34, Z:-1.09 [[ 9.99911638e-01 1.28142670e-03 -1.32315908e-02 3.84016559e+00] [-1.31408578e-03 9.99996111e-01 -2.45986700e-03 3.35039791e-01] [ 1.32283872e-02 2.47703709e-03 9.99909433e-01 -1.08732718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11650248099998 meters 0.12067972098309197 Centerline is valid? [False, False] Translation: X:3.84, Y:0.34, Z:-1.09 [[ 9.99912158e-01 1.30507362e-03 -1.31899118e-02 3.84044013e+00] [-1.33815700e-03 9.99995980e-01 -2.49971939e-03 3.35902639e-01] [ 1.31865965e-02 2.51714998e-03 9.99909885e-01 -1.08778002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14650248099998 meters 0.12035362070514259 Centerline is valid? [False, False] Translation: X:3.84, Y:0.34, Z:-1.09 [[ 9.99912050e-01 1.39296774e-03 -1.31890926e-02 3.84081878e+00] [-1.42507729e-03 9.99996043e-01 -2.42546900e-03 3.36059293e-01] [ 1.31856618e-02 2.44405115e-03 9.99910078e-01 -1.08824327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17650248099999 meters 0.12035362070514259 Centerline is valid? [False, False] Translation: X:3.84, Y:0.34, Z:-1.09 [[ 9.99912050e-01 1.39296774e-03 -1.31890926e-02 3.84081878e+00] [-1.42507729e-03 9.99996043e-01 -2.42546900e-03 3.36059293e-01] [ 1.31856618e-02 2.44405115e-03 9.99910078e-01 -1.08824327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20650248099999 meters 0.11996279603336574 Centerline is valid? [False, False] Translation: X:3.84, Y:0.34, Z:-1.09 [[ 9.99912135e-01 1.61133073e-03 -1.31577284e-02 3.84128444e+00] [-1.63890647e-03 9.99996483e-01 -2.08526852e-03 3.35777017e-01] [ 1.31543221e-02 2.10664959e-03 9.99911259e-01 -1.08895554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.23650248099999 meters 0.12045156607817901 Centerline is valid? [False, False] Translation: X:3.84, Y:0.34, Z:-1.09 [[ 9.99912401e-01 1.64666413e-03 -1.31331547e-02 3.84135263e+00] [-1.67334714e-03 9.99996558e-01 -2.02099886e-03 3.35336026e-01] [ 1.31297816e-02 2.04279815e-03 9.99911714e-01 -1.08905280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26650248099999 meters 0.12044088293151399 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99910124e-01 1.94440008e-03 -1.32650786e-02 3.84194719e+00] [-1.96482097e-03 9.99996904e-01 -1.52658885e-03 3.34381947e-01] [ 1.32620693e-02 1.55251515e-03 9.99910850e-01 -1.08960851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29650248099999 meters 0.1202341886255918 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99908230e-01 2.06856189e-03 -1.33885601e-02 3.84224980e+00] [-2.08679692e-03 9.99996914e-01 -1.34815886e-03 3.33875028e-01] [ 1.33857300e-02 1.37597434e-03 9.99909460e-01 -1.08973826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32650248099999 meters 0.11910662449485823 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99908618e-01 2.06928107e-03 -1.33594430e-02 3.84216250e+00] [-2.08535793e-03 9.99997118e-01 -1.18958991e-03 3.32677881e-01] [ 1.33569429e-02 1.21734043e-03 9.99910051e-01 -1.08961098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35650248099999 meters 0.11877976423294878 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99906776e-01 2.04259019e-03 -1.35006670e-02 3.84200740e+00] [-2.05862911e-03 9.99997192e-01 -1.17421891e-03 3.31790262e-01] [ 1.34982307e-02 1.20190231e-03 9.99908172e-01 -1.08902357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.386502481 meters 0.11843376378672718 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99905448e-01 1.98639763e-03 -1.36069828e-02 3.84188526e+00] [-2.00418894e-03 9.99997154e-01 -1.29400226e-03 3.31375940e-01] [ 1.36043737e-02 1.32115087e-03 9.99906583e-01 -1.08854397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.416502481 meters 0.11844528004037394 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99904529e-01 1.89299357e-03 -1.36875667e-02 3.84174178e+00] [-1.91285444e-03 9.99997136e-01 -1.43806939e-03 3.31137867e-01] [ 1.36848052e-02 1.46411442e-03 9.99905287e-01 -1.08810550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.446502481 meters 0.11783689860328568 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99904039e-01 1.83688360e-03 -1.37309241e-02 3.84172351e+00] [-1.85781103e-03 9.99997132e-01 -1.51150928e-03 3.30702084e-01] [ 1.37281082e-02 1.53687370e-03 9.99904584e-01 -1.08788257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47650248099998 meters 0.11756645817757873 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99876152e-01 -2.38338934e-03 -1.55563445e-02 3.84306141e+00] [ 2.28355727e-03 9.99976707e-01 -6.43206152e-03 3.33179615e-01] [ 1.55713123e-02 6.39574112e-03 9.99858304e-01 -1.08616587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50650248099998 meters 0.11808591022918873 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99869048e-01 -2.33996691e-03 -1.60128700e-02 3.84360903e+00] [ 2.23489030e-03 9.99975875e-01 -6.57676158e-03 3.34048017e-01] [ 1.60278731e-02 6.54011333e-03 9.99850156e-01 -1.08593327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53650248099999 meters 0.11755525081350919 Centerline is valid? [False, False] Translation: X:3.84, Y:0.33, Z:-1.09 [[ 9.99866606e-01 -2.15517770e-03 -1.61902656e-02 3.84413156e+00] [ 2.05134369e-03 9.99977241e-01 -6.42723254e-03 3.34047753e-01] [ 1.62037489e-02 6.39316338e-03 9.99848271e-01 -1.08623916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56650248099999 meters 0.11801438999379685 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.09 [[ 9.99863698e-01 -1.85900400e-03 -1.64051413e-02 3.84508244e+00] [ 1.75800711e-03 9.99979428e-01 -6.16869190e-03 3.34160856e-01] [ 1.64162715e-02 6.13901074e-03 9.99846397e-01 -1.08703099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.59650248099999 meters 0.11797353632120736 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.09 [[ 9.99860216e-01 -1.75388037e-03 -1.66274301e-02 3.84561298e+00] [ 1.65186432e-03 9.99979742e-01 -6.14715741e-03 3.34676342e-01] [ 1.66378747e-02 6.11883188e-03 9.99842858e-01 -1.08728743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62650248099999 meters 0.11860910173057822 Centerline is valid? [False, False] Translation: X:3.85, Y:0.34, Z:-1.09 [[ 9.99835872e-01 -1.55750428e-03 -1.80500089e-02 3.84681212e+00] [ 1.43722709e-03 9.99976692e-01 -6.67461006e-03 3.37051785e-01] [ 1.80599839e-02 6.64757261e-03 9.99814806e-01 -1.08611550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65650248099999 meters 0.11863686240786785 Centerline is valid? [False, False] Translation: X:3.85, Y:0.34, Z:-1.09 [[ 9.99823753e-01 -1.47718569e-03 -1.87157955e-02 3.84752281e+00] [ 1.34716875e-03 9.99974888e-01 -6.95761391e-03 3.38205791e-01] [ 1.87256032e-02 6.93117431e-03 9.99800635e-01 -1.08568010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68650248099999 meters 0.11934776554849412 Centerline is valid? [False, False] Translation: X:3.85, Y:0.34, Z:-1.09 [[ 9.99804166e-01 -1.23290322e-03 -1.97512031e-02 3.84867381e+00] [ 1.08833415e-03 9.99972553e-01 -7.32858468e-03 3.40164501e-01] [ 1.97596964e-02 7.30565358e-03 9.99778066e-01 -1.08514311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71650248099999 meters 0.11981438871528863 Centerline is valid? [False, False] Translation: X:3.85, Y:0.34, Z:-1.09 [[ 9.99797718e-01 -1.01880622e-03 -2.00869386e-02 3.84935729e+00] [ 8.74111090e-04 9.99973619e-01 -7.21090823e-03 3.40440081e-01] [ 2.00937552e-02 7.19189138e-03 9.99772233e-01 -1.08535545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.746502481 meters 0.11979970536334801 Centerline is valid? [False, False] Translation: X:3.85, Y:0.34, Z:-1.09 [[ 9.99790457e-01 -9.27725265e-04 -2.04494911e-02 3.84979321e+00] [ 7.76728483e-04 9.99972388e-01 -7.39059581e-03 3.41228447e-01] [ 2.04557829e-02 7.37316346e-03 9.99763571e-01 -1.08514202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.776502481 meters 0.12078523752172364 Centerline is valid? [False, False] Translation: X:3.85, Y:0.34, Z:-1.09 [[ 9.99786982e-01 -6.99579970e-04 -2.06276947e-02 3.85045505e+00] [ 5.51559575e-04 9.99974067e-01 -7.18062523e-03 3.41328237e-01] [ 2.06321832e-02 7.16771823e-03 9.99761440e-01 -1.08566013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.806502481 meters 0.12053764209053267 Centerline is valid? [False, False] Translation: X:3.85, Y:0.34, Z:-1.09 [[ 9.99790329e-01 -4.42554856e-04 -2.04719935e-02 3.85088126e+00] [ 3.04488567e-04 9.99977194e-01 -6.74678010e-03 3.40905325e-01] [ 2.04745125e-02 6.73913201e-03 9.99767662e-01 -1.08658112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.836502481 meters 0.1209097796912788 Centerline is valid? [False, False] Translation: X:3.85, Y:0.34, Z:-1.09 [[ 9.99796154e-01 -1.46318773e-04 -2.01898155e-02 3.85128114e+00] [ 2.04602195e-05 9.99980569e-01 -6.23383017e-03 3.39880337e-01] [ 2.01903353e-02 6.23214634e-03 9.99776730e-01 -1.08764474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86650248099998 meters 0.12112140808753687 Centerline is valid? [False, False] Translation: X:3.85, Y:0.34, Z:-1.09 [[ 9.99794082e-01 9.50141332e-05 -2.02924983e-02 3.85170167e+00] [-2.15036980e-04 9.99982498e-01 -5.91254109e-03 3.39270342e-01] [ 2.02915814e-02 5.91568722e-03 9.99776603e-01 -1.08799781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89650248099998 meters 0.1216455229042494 Centerline is valid? [False, False] Translation: X:3.85, Y:0.34, Z:-1.09 [[ 9.99788024e-01 4.63889638e-04 -2.05837623e-02 3.85241680e+00] [-5.77524287e-04 9.99984626e-01 -5.51499565e-03 3.38440617e-01] [ 2.05808875e-02 5.52571423e-03 9.99772921e-01 -1.08834651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92650248099999 meters 0.12207078307341862 Centerline is valid? [False, False] Translation: X:3.85, Y:0.34, Z:-1.09 [[ 9.99770703e-01 6.32664925e-04 -2.14042130e-02 3.85311059e+00] [-7.54407938e-04 9.99983583e-01 -5.68020960e-03 3.38965642e-01] [ 2.14002680e-02 5.69505466e-03 9.99754767e-01 -1.08761353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.95650248099999 meters 0.12238988020464221 Centerline is valid? [False, False] Translation: X:3.85, Y:0.34, Z:-1.09 [[ 9.99757627e-01 7.68092543e-04 -2.20022313e-02 3.85365903e+00] [-8.96296980e-04 9.99982676e-01 -5.81761472e-03 3.39099664e-01] [ 2.19973816e-02 5.83592522e-03 9.99740995e-01 -1.08703651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98650248099999 meters 0.12237122682835617 Centerline is valid? [False, False] Translation: X:3.85, Y:0.34, Z:-1.09 [[ 9.99755171e-01 8.94901489e-04 -2.21087597e-02 3.85402464e+00] [-1.02123848e-03 9.99983212e-01 -5.70371160e-03 3.39114661e-01] [ 2.21032842e-02 5.72489348e-03 9.99739301e-01 -1.08729958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01650248099999 meters 0.12174275426023945 Centerline is valid? [False, False] Translation: X:3.85, Y:0.34, Z:-1.09 [[ 9.99772165e-01 1.01095664e-03 -2.13212778e-02 3.85378424e+00] [-1.12367628e-03 9.99985454e-01 -5.27540297e-03 3.37417620e-01] [ 2.13156344e-02 5.29815926e-03 9.99758758e-01 -1.08842823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04650248099999 meters 0.12318686354321186 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.09 [[ 9.99787602e-01 1.29871650e-03 -2.05685018e-02 3.85381548e+00] [-1.39218729e-03 9.99988767e-01 -4.53069866e-03 3.34568078e-01] [ 2.05623867e-02 4.55837156e-03 9.99778180e-01 -1.08981925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07650248099999 meters 0.1236097924189071 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.09 [[ 9.99785468e-01 1.35905757e-03 -2.06681050e-02 3.85387040e+00] [-1.45139936e-03 9.99989030e-01 -4.45349603e-03 3.34095449e-01] [ 2.06618257e-02 4.48253829e-03 9.99776473e-01 -1.08965848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10650248099999 meters 0.1234489140540463 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.09 [[ 9.99776870e-01 1.36439701e-03 -2.10795751e-02 3.85397230e+00] [-1.46040303e-03 9.99988629e-01 -4.53973454e-03 3.33980628e-01] [ 2.10731414e-02 4.56950626e-03 9.99767494e-01 -1.08895125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.136502481 meters 0.12143399706328949 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.09 [[ 9.99987238e-01 -4.56397923e-04 -5.03136143e-03 3.84871805e+00] [ 4.38605162e-04 9.99993649e-01 -3.53690742e-03 3.33193256e-01] [ 5.03294371e-03 3.53465550e-03 9.99981088e-01 -1.09296892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.166502481 meters 0.1204841326859625 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.09 [[ 9.99988525e-01 -1.92049470e-04 -4.78679688e-03 3.84889408e+00] [ 1.77834474e-04 9.99995574e-01 -2.96987461e-03 3.31748718e-01] [ 4.78734606e-03 2.96898927e-03 9.99984133e-01 -1.09368694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.196502481 meters 0.11960666858611835 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.09 [[ 9.99994324e-01 -6.20852806e-04 -3.31161877e-03 3.84762671e+00] [ 6.11697544e-04 9.99995991e-01 -2.76488478e-03 3.27881413e-01] [ 3.31332208e-03 2.76284338e-03 9.99990694e-01 -1.09458644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22650248099998 meters 0.119112525990811 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.10 [[ 9.99994955e-01 -4.33138198e-04 -3.14681693e-03 3.84772461e+00] [ 4.25871948e-04 9.99997243e-01 -2.30938265e-03 3.26596815e-01] [ 3.14780853e-03 2.30803086e-03 9.99992382e-01 -1.09503862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25650248099998 meters 0.11802838441618656 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.09 [[ 9.99996631e-01 -6.53156710e-04 -2.51238837e-03 3.84687897e+00] [ 6.47966878e-04 9.99997656e-01 -2.06595603e-03 3.23427260e-01] [ 2.51373187e-03 2.06432113e-03 9.99994710e-01 -1.09495549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28650248099999 meters 0.11733493519319468 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99997663e-01 -6.73978680e-04 -2.05434019e-03 3.84641978e+00] [ 6.70321809e-04 9.99998191e-01 -1.78023975e-03 3.22101352e-01] [ 2.05553631e-03 1.77885852e-03 9.99996305e-01 -1.09520138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31650248099999 meters 0.11634897282034871 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99997940e-01 -4.57848587e-04 -1.97764777e-03 3.84654324e+00] [ 4.55262223e-04 9.99999041e-01 -1.30805024e-03 3.20600112e-01] [ 1.97824476e-03 1.30714720e-03 9.99997189e-01 -1.09547896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34650248099999 meters 0.11527974234958213 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99998745e-01 -4.98916894e-04 -1.50337869e-03 3.84609475e+00] [ 4.97632296e-04 9.99999511e-01 -8.54727005e-04 3.18746920e-01] [ 1.50380439e-03 8.53977803e-04 9.99998505e-01 -1.09580565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37650248099999 meters 0.1143605600000918 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99999414e-01 -4.01307493e-04 -1.00503673e-03 3.84595663e+00] [ 4.01031384e-04 9.99999882e-01 -2.74911285e-04 3.17137467e-01] [ 1.00514693e-03 2.74508073e-04 9.99999457e-01 -1.09663291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40650248099999 meters 0.11427042367727358 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99999725e-01 -2.46538346e-04 -6.99032852e-04 3.84601056e+00] [ 2.46626943e-04 9.99999962e-01 1.26658943e-04 3.16253007e-01] [ 6.99001599e-04 -1.26831309e-04 9.99999748e-01 -1.09734101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43650248099999 meters 0.11358046147981223 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99987604e-01 -4.67848786e-03 -1.70384455e-03 3.84653554e+00] [ 4.67028113e-03 9.99977626e-01 -4.78913614e-03 3.18069209e-01] [ 1.72621235e-03 4.78111934e-03 9.99987080e-01 -1.09599485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46650248099999 meters 0.11334197295639525 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99987751e-01 -4.66152519e-03 -1.66383587e-03 3.84669406e+00] [ 4.65351358e-03 9.99977715e-01 -4.78696665e-03 3.18306619e-01] [ 1.68611335e-03 4.77916534e-03 9.99987158e-01 -1.09626247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.496502481 meters 0.11327678989895049 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99988225e-01 -4.56917434e-03 -1.63488043e-03 3.84695078e+00] [ 4.56150488e-03 9.99978717e-01 -4.66451258e-03 3.18327983e-01] [ 1.65615860e-03 4.65700014e-03 9.99987785e-01 -1.09666124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.526502481 meters 0.11328033974005802 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99988840e-01 -4.53523751e-03 -1.32351248e-03 3.84717947e+00] [ 4.52918108e-03 9.99979420e-01 -4.54369740e-03 3.19021818e-01] [ 1.34409199e-03 4.53765227e-03 9.99988802e-01 -1.09765213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.556502481 meters 0.11292516466368155 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99987238e-01 -4.75213372e-03 -1.71510617e-03 3.84735585e+00] [ 4.74325766e-03 9.99975527e-01 -5.14270989e-03 3.21101926e-01] [ 1.73950304e-03 5.13450906e-03 9.99985305e-01 -1.09706060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.586502481 meters 0.11282089971050982 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99986766e-01 -4.77677579e-03 -1.91047717e-03 3.84758807e+00] [ 4.76656073e-03 9.99974509e-01 -5.31614411e-03 3.21925450e-01] [ 1.93582250e-03 5.30696735e-03 9.99984044e-01 -1.09695913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61650248099998 meters 0.11275841333996334 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99986386e-01 -4.79489749e-03 -2.05841232e-03 3.84782220e+00] [ 4.78360083e-03 9.99973662e-01 -5.45832767e-03 3.22592172e-01] [ 2.08453023e-03 5.44840673e-03 9.99982985e-01 -1.09693955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64650248099998 meters 0.11244580354684418 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99999531e-01 -4.93520276e-04 -8.33498292e-04 3.84725958e+00] [ 4.92924708e-04 9.99999623e-01 -7.14594833e-04 3.21227196e-01] [ 8.33850645e-04 7.14183646e-04 9.99999397e-01 -1.09859246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67650248099999 meters 0.11253853495050761 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99999600e-01 -2.22971398e-04 -8.65950606e-04 3.84790632e+00] [ 2.22653831e-04 9.99999908e-01 -3.66804807e-04 3.21014395e-01] [ 8.66032313e-04 3.66611853e-04 9.99999558e-01 -1.09940573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70650248099999 meters 0.11258137827580687 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99999294e-01 3.43597776e-05 -1.18779172e-03 3.84879255e+00] [-3.46724125e-05 9.99999965e-01 -2.63187297e-04 3.21466707e-01] [ 1.18778263e-03 2.63228295e-04 9.99999260e-01 -1.09992031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.73650248099999 meters 0.11281095213337125 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99998947e-01 2.07418809e-04 -1.43598394e-03 3.84945665e+00] [-2.07724872e-04 9.99999956e-01 -2.12992679e-04 3.21841027e-01] [ 1.43593969e-03 2.13290745e-04 9.99998946e-01 -1.10027651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76650248099999 meters 0.11341066968242042 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99998300e-01 7.92044230e-04 -1.66507516e-03 3.85116114e+00] [-7.91496616e-04 9.99999632e-01 3.29515993e-04 3.22382915e-01] [ 1.66533554e-03 -3.28197532e-04 9.99998559e-01 -1.10217498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79650248099999 meters 0.11358978344093308 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99997508e-01 9.52548096e-04 -2.01894160e-03 3.85196784e+00] [-9.51919295e-04 9.99999498e-01 3.12388948e-04 3.23065732e-01] [ 2.01923816e-03 -3.10466300e-04 9.99997913e-01 -1.10252620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82650248099999 meters 0.11413936609415594 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99996466e-01 9.79649017e-04 -2.47141981e-03 3.85257601e+00] [-9.79677124e-04 9.99999520e-01 -1.01619438e-05 3.24055372e-01] [ 2.47140867e-03 1.25831013e-05 9.99996946e-01 -1.10232594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85650248099999 meters 0.1147111325716943 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.10 [[ 9.99994640e-01 9.69725320e-04 -3.12736038e-03 3.85319933e+00] [-9.71918449e-04 9.99999283e-01 -6.99828209e-04 3.25929039e-01] [ 3.12667950e-03 7.02863996e-04 9.99994865e-01 -1.10169459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.886502481 meters 0.11517216106028744 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.10 [[ 9.99993616e-01 8.94227768e-04 -3.45956736e-03 3.85340488e+00] [-8.98022914e-04 9.99998997e-01 -1.09560234e-03 3.26713017e-01] [ 3.45858417e-03 1.09870211e-03 9.99993416e-01 -1.10118920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.916502481 meters 0.11599137525174717 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.10 [[ 9.99990699e-01 5.67151833e-04 -4.27557356e-03 3.85333927e+00] [-5.76883393e-04 9.99997245e-01 -2.27519318e-03 3.28764841e-01] [ 4.27427140e-03 2.27763853e-03 9.99988271e-01 -1.09917564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.946502481 meters 0.11494157528624054 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.10 [[ 9.99988699e-01 6.05184064e-04 -4.71544108e-03 3.85368764e+00] [-6.16869005e-04 9.99996742e-01 -2.47695632e-03 3.29094632e-01] [ 4.71392670e-03 2.47983713e-03 9.99985815e-01 -1.09865565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97650248099998 meters 0.11546959293123744 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.10 [[ 9.99987507e-01 4.88694322e-04 -4.97458751e-03 3.85345466e+00] [-5.02678093e-04 9.99995925e-01 -2.81017923e-03 3.28925196e-01] [ 4.97319392e-03 2.81264474e-03 9.99983678e-01 -1.09764558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00650248099998 meters 0.11529032169850983 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.10 [[ 9.99987437e-01 3.77353040e-04 -4.99825223e-03 3.85321579e+00] [-3.92400143e-04 9.99995393e-01 -3.00983430e-03 3.28846142e-01] [ 4.99709343e-03 3.01175780e-03 9.99982979e-01 -1.09718972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03650248099999 meters 0.11558371873539926 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.10 [[ 9.99986941e-01 4.60232473e-04 -5.08976841e-03 3.85338539e+00] [-4.75350987e-04 9.99995478e-01 -2.96956286e-03 3.28419702e-01] [ 5.08837871e-03 2.97194350e-03 9.99982638e-01 -1.09713861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06650248099999 meters 0.11558371873539926 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.10 [[ 9.99986941e-01 4.60232473e-04 -5.08976841e-03 3.85338539e+00] [-4.75350987e-04 9.99995478e-01 -2.96956286e-03 3.28419702e-01] [ 5.08837871e-03 2.97194350e-03 9.99982638e-01 -1.09713861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.09650248099999 meters 0.11587496100440488 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.10 [[ 9.99985811e-01 7.57496610e-04 -5.27296580e-03 3.85405246e+00] [-7.71469334e-04 9.99996196e-01 -2.64835004e-03 3.27691380e-01] [ 5.27093962e-03 2.65238039e-03 9.99982591e-01 -1.09759713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12650248099999 meters 0.11596584982264037 Centerline is valid? [False, False] Translation: X:3.85, Y:0.33, Z:-1.10 [[ 9.99986994e-01 1.07687475e-03 -4.98514030e-03 3.85418500e+00] [-1.08593796e-03 9.99997762e-01 -1.81569471e-03 3.25111036e-01] [ 4.98317387e-03 1.82108465e-03 9.99985926e-01 -1.09839134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15650248099999 meters 0.11594139553887303 Centerline is valid? [False, False] Translation: X:3.85, Y:0.32, Z:-1.10 [[ 9.99985674e-01 1.28983342e-03 -5.19509464e-03 3.85459123e+00] [-1.29804995e-03 9.99997912e-01 -1.57853297e-03 3.24315602e-01] [ 5.19304774e-03 1.58525385e-03 9.99985260e-01 -1.09846198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18650248099999 meters 0.11566887097442372 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 9.99979496e-01 -2.43416872e-03 -5.92311259e-03 3.85621483e+00] [ 2.40295080e-03 9.99983216e-01 -5.27194794e-03 3.24357185e-01] [ 5.93584599e-03 5.25760689e-03 9.99968561e-01 -1.09932503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21650248099999 meters 0.11614095991282308 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 9.99980215e-01 -2.02755177e-03 -5.95478470e-03 3.85698765e+00] [ 1.99979348e-03 9.99987125e-01 -4.66377186e-03 3.23299227e-01] [ 5.96416407e-03 4.65177124e-03 9.99971394e-01 -1.10032836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.246502481 meters 0.11603480836259106 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 9.99979785e-01 -1.62555415e-03 -6.14715069e-03 3.85789476e+00] [ 1.60024695e-03 9.99990234e-01 -4.11957993e-03 3.22633462e-01] [ 6.15378726e-03 4.10965969e-03 9.99972620e-01 -1.10121515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.276502481 meters 0.11613307144087 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 9.99978453e-01 -1.36302483e-03 -6.42154506e-03 3.85873940e+00] [ 1.33849290e-03 9.99991797e-01 -3.82300409e-03 3.22983910e-01] [ 6.42670323e-03 3.81432652e-03 9.99972074e-01 -1.10191850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.306502481 meters 0.11604426397394148 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 9.99977537e-01 -1.26664265e-03 -6.58190122e-03 3.85911925e+00] [ 1.24177610e-03 9.99992082e-01 -3.78073347e-03 3.23126396e-01] [ 6.58663795e-03 3.77247529e-03 9.99971192e-01 -1.10210089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.336502481 meters 0.11581350385274598 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 9.99975124e-01 -1.25715353e-03 -6.94049293e-03 3.85946248e+00] [ 1.22985031e-03 9.99991495e-01 -3.93677022e-03 3.23740461e-01] [ 6.94538302e-03 3.92813652e-03 9.99968165e-01 -1.10181105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36650248099998 meters 0.11585052235412799 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 9.99972845e-01 -1.38292502e-03 -7.23858698e-03 3.85947312e+00] [ 1.35184173e-03 9.99989853e-01 -4.29724329e-03 3.24575941e-01] [ 7.24445629e-03 4.28734117e-03 9.99964568e-01 -1.10115820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39650248099998 meters 0.1168268235010109 Centerline is valid? [False, False] Translation: X:3.86, Y:0.33, Z:-1.10 [[ 9.99970876e-01 -1.54562762e-03 -7.47381617e-03 3.85938937e+00] [ 1.51079752e-03 9.99987984e-01 -4.66368544e-03 3.25527763e-01] [ 7.48093468e-03 4.65225819e-03 9.99961195e-01 -1.10053513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42650248099999 meters 0.11641366546667431 Centerline is valid? [False, False] Translation: X:3.86, Y:0.33, Z:-1.10 [[ 9.99972475e-01 -1.39990124e-03 -7.28623825e-03 3.85953431e+00] [ 1.36808383e-03 9.99989516e-01 -4.36993578e-03 3.25086800e-01] [ 7.29227934e-03 4.35984731e-03 9.99963907e-01 -1.10114160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.45650248099999 meters 0.11564802193171012 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 9.99973295e-01 -1.55053686e-03 -7.14177368e-03 3.85895102e+00] [ 1.51939179e-03 9.99989322e-01 -4.36433467e-03 3.23903332e-01] [ 7.14846448e-03 4.35336697e-03 9.99964973e-01 -1.10061378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48650248099999 meters 0.11558702698916477 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 9.99972712e-01 -1.42973466e-03 -7.24781284e-03 3.85916931e+00] [ 1.39908382e-03 9.99990065e-01 -4.23228508e-03 3.23546568e-01] [ 7.25379188e-03 4.22202929e-03 9.99964778e-01 -1.10066233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51650248099999 meters 0.11563033188539802 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 9.99973407e-01 -1.24522030e-03 -7.18573517e-03 3.85966875e+00] [ 1.21650584e-03 9.99991264e-01 -3.99902527e-03 3.23636055e-01] [ 7.19065206e-03 3.99017743e-03 9.99966186e-01 -1.10148438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54650248099999 meters 0.11564998133235571 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 9.99973962e-01 -1.06328945e-03 -7.13757887e-03 3.86020018e+00] [ 1.03647625e-03 9.99992397e-01 -3.75927303e-03 3.23907840e-01] [ 7.14152179e-03 3.75177722e-03 9.99967461e-01 -1.10232727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57650248099999 meters 0.11567985747980207 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 9.99974152e-01 -8.08352432e-04 -7.14439133e-03 3.86056627e+00] [ 7.84739925e-04 9.99994223e-01 -3.30722666e-03 3.22925516e-01] [ 7.14702346e-03 3.30153468e-03 9.99969009e-01 -1.10285950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60650248099999 meters 0.11498328690500002 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 9.99975410e-01 -4.89365862e-04 -6.99573004e-03 3.86052504e+00] [ 4.71424179e-04 9.99996596e-01 -2.56608105e-03 3.20002146e-01] [ 6.99696198e-03 2.56271999e-03 9.99972237e-01 -1.10303878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.636502481 meters 0.11480551420616135 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 9.99978553e-01 -3.49418201e-04 -6.53995481e-03 3.86015264e+00] [ 3.35846735e-04 9.99997788e-01 -2.07614519e-03 3.16509481e-01] [ 6.54066579e-03 2.07390424e-03 9.99976459e-01 -1.10325634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.666502481 meters 0.11488620092143355 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 0.99996434 -0.00434206 -0.00724316 3.86128198] [ 0.00429715 0.99997152 -0.00620465 0.31672586] [ 0.00726989 0.0061733 0.99995452 -1.10335437] [ 0. 0. 0. 1. ]] SLAMing on 125.696502481 meters 0.11443304183819196 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 0.99996709 -0.00394975 -0.00708594 3.86183362] [ 0.00391064 0.99997709 -0.00552472 0.315347 ] [ 0.0071076 0.00549683 0.99995963 -1.10446173] [ 0. 0. 0. 1. ]] SLAMing on 125.72650248099998 meters 0.11529213614629907 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 9.99964073e-01 -3.69893842e-03 -7.62691710e-03 3.86275748e+00] [ 3.65743462e-03 9.99978468e-01 -5.44853984e-03 3.15798373e-01] [ 7.64690669e-03 5.42044914e-03 9.99956071e-01 -1.10460712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75650248099998 meters 0.11560512899354325 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 9.99956070e-01 -3.55429204e-03 -8.67328360e-03 3.86378881e+00] [ 3.50271740e-03 9.99976138e-01 -5.95434318e-03 3.17893775e-01] [ 8.69424011e-03 5.92370154e-03 9.99944658e-01 -1.10384178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78650248099999 meters 0.11642711975150963 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 9.99952744e-01 -3.45172403e-03 -9.08818007e-03 3.86447588e+00] [ 3.39644518e-03 9.99975682e-01 -6.09092362e-03 3.18799492e-01] [ 9.10898326e-03 6.05976828e-03 9.99940151e-01 -1.10387586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.81650248099999 meters 0.11653029554971672 Centerline is valid? [False, False] Translation: X:3.86, Y:0.32, Z:-1.10 [[ 9.99950726e-01 -3.41973300e-03 -9.31934636e-03 3.86488799e+00] [ 3.36149887e-03 9.99974773e-01 -6.25725146e-03 3.19671112e-01] [ 9.34050939e-03 6.22561617e-03 9.99936996e-01 -1.10392449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84650248099999 meters 0.11661391676315856 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-1.10 [[ 9.99949766e-01 -3.41604116e-03 -9.42315568e-03 3.86511115e+00] [ 3.35548946e-03 9.99973671e-01 -6.43418347e-03 3.20455877e-01] [ 9.44488701e-03 6.40224096e-03 9.99934901e-01 -1.10395135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.87650248099999 meters 0.11661197978536719 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-1.10 [[ 9.99949919e-01 -3.28167107e-03 -9.45466164e-03 3.86532292e+00] [ 3.22257967e-03 9.99975223e-01 -6.25844600e-03 3.20019866e-01] [ 9.47496555e-03 6.22766417e-03 9.99935719e-01 -1.10412942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90650248099999 meters 0.11706173740674294 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-1.10 [[ 9.99947567e-01 -3.30143986e-03 -9.69344674e-03 3.86530756e+00] [ 3.24020260e-03 9.99974739e-01 -6.32631039e-03 3.19861737e-01] [ 9.71408781e-03 6.29456995e-03 9.99933005e-01 -1.10359292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93650248099999 meters 0.11645223024116054 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-1.10 [[ 9.99946950e-01 -3.21454558e-03 -9.78590602e-03 3.86549721e+00] [ 3.15360424e-03 9.99975580e-01 -6.23653416e-03 3.19642193e-01] [ 9.80571467e-03 6.20534244e-03 9.99932669e-01 -1.10362485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96650248099999 meters 0.11583633020420396 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-1.10 [[ 9.99947142e-01 -3.11638361e-03 -9.79802717e-03 3.86569869e+00] [ 3.05690886e-03 9.99976849e-01 -6.07920229e-03 3.19290675e-01] [ 9.81674546e-03 6.04892928e-03 9.99933519e-01 -1.10383950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.996502481 meters 0.11620548863151244 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-1.10 [[ 9.99947210e-01 -2.97681730e-03 -9.83442783e-03 3.86606304e+00] [ 2.91884121e-03 9.99978309e-01 -5.90431930e-03 3.19237033e-01] [ 9.85179060e-03 5.87530247e-03 9.99934209e-01 -1.10422469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.026502481 meters 0.11602186874849667 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-1.10 [[ 9.99945862e-01 -2.92165734e-03 -9.98686783e-03 3.86634249e+00] [ 2.86294230e-03 9.99978564e-01 -5.88847407e-03 3.19421813e-01] [ 1.00038579e-02 5.85956345e-03 9.99932792e-01 -1.10425720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.056502481 meters 0.11600175478629464 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-1.10 [[ 9.99941399e-01 -2.99946228e-03 -1.04019624e-02 3.86630699e+00] [ 2.93592847e-03 9.99976976e-01 -6.11776816e-03 3.19243572e-01] [ 1.04200729e-02 6.08687024e-03 9.99927183e-01 -1.10328509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.086502481 meters 0.1151365386881854 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-1.10 [[ 9.99941231e-01 -2.92859589e-03 -1.04383114e-02 3.86641428e+00] [ 2.86666680e-03 9.99978232e-01 -5.94289775e-03 3.18473391e-01] [ 1.04554886e-02 5.91262533e-03 9.99927859e-01 -1.10328236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11650248099998 meters 0.11490389479759248 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-1.10 [[ 9.99943705e-01 -2.58699588e-03 -1.02904934e-02 3.86687755e+00] [ 2.53212139e-03 9.99982526e-01 -5.34200176e-03 3.17247294e-01] [ 1.03041333e-02 5.31564426e-03 9.99932782e-01 -1.10419121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14650248099998 meters 0.11479471220625412 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-1.11 [[ 9.99945527e-01 -2.23585041e-03 -1.01953180e-02 3.86741445e+00] [ 2.18714696e-03 9.99986157e-01 -4.78569013e-03 3.16000167e-01] [ 1.02058770e-02 4.76313078e-03 9.99936574e-01 -1.10505277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17650248099999 meters 0.1147674116483349 Centerline is valid? [False, False] Translation: X:3.87, Y:0.31, Z:-1.11 [[ 9.99943888e-01 -1.75287458e-03 -1.04473988e-02 3.86846945e+00] [ 1.70938057e-03 9.99989842e-01 -4.17061863e-03 3.14470670e-01] [ 1.04546032e-02 4.15252602e-03 9.99936727e-01 -1.10584732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20650248099999 meters 0.11496819799716711 Centerline is valid? [False, False] Translation: X:3.87, Y:0.31, Z:-1.11 [[ 9.99936895e-01 -1.40185132e-03 -1.11463347e-02 3.86958426e+00] [ 1.35759003e-03 9.99991168e-01 -3.97750311e-03 3.14316873e-01] [ 1.11518121e-02 3.96211995e-03 9.99929967e-01 -1.10584729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.23650248099999 meters 0.11524896847816088 Centerline is valid? [False, False] Translation: X:3.87, Y:0.31, Z:-1.11 [[ 9.99935051e-01 -1.21715783e-03 -1.13318764e-02 3.87017970e+00] [ 1.17381894e-03 9.99991975e-01 -3.83037724e-03 3.14484695e-01] [ 1.13364476e-02 3.81682689e-03 9.99928456e-01 -1.10625261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26650248099999 meters 0.11578419148217653 Centerline is valid? [False, False] Translation: X:3.87, Y:0.31, Z:-1.11 [[ 9.99932334e-01 -1.09045729e-03 -1.15817888e-02 3.87062060e+00] [ 1.04641035e-03 9.99992200e-01 -3.80849951e-03 3.14452236e-01] [ 1.15858515e-02 3.79612250e-03 9.99925676e-01 -1.10627907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29650248099999 meters 0.1164619083101974 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-1.10 [[ 9.99925183e-01 -1.28065039e-03 -1.21650242e-02 3.87065187e+00] [ 1.22495947e-03 9.99988742e-01 -4.58430205e-03 3.15630081e-01] [ 1.21707581e-02 4.56905741e-03 9.99915495e-01 -1.10496995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32650248099999 meters 0.11652776280089126 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-1.10 [[ 9.99918729e-01 -1.34118556e-03 -1.26781916e-02 3.87088337e+00] [ 1.27810565e-03 9.99986772e-01 -4.98225965e-03 3.16329291e-01] [ 1.26847060e-02 4.96565067e-03 9.99907216e-01 -1.10414746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35650248099999 meters 0.11773174006684134 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-1.10 [[ 9.99908447e-01 -1.20513679e-03 -1.34776026e-02 3.87179057e+00] [ 1.13293041e-03 9.99984973e-01 -5.36386143e-03 3.17830651e-01] [ 1.34838642e-02 5.34810117e-03 9.99894786e-01 -1.10369916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.386502481 meters 0.118252468114177 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-1.10 [[ 9.99907086e-01 -9.32683565e-04 -1.35995944e-02 3.87256120e+00] [ 8.64060865e-04 9.99986871e-01 -5.05094018e-03 3.17870018e-01] [ 1.36041268e-02 5.03872000e-03 9.99894764e-01 -1.10451716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.416502481 meters 0.11782420156131598 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-1.10 [[ 9.99900971e-01 -8.22216485e-04 -1.40489361e-02 3.87319090e+00] [ 7.49203216e-04 9.99986191e-01 -5.20154035e-03 3.18417058e-01] [ 1.40530189e-02 5.19049974e-03 9.99887779e-01 -1.10437115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.446502481 meters 0.11808125422447642 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-1.10 [[ 9.99895795e-01 -7.98227978e-04 -1.44139213e-02 3.87352615e+00] [ 7.20730719e-04 9.99985263e-01 -5.38095064e-03 3.18651786e-01] [ 1.44180041e-02 5.37000136e-03 9.99881635e-01 -1.10399057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47650248099998 meters 0.11857547354938158 Centerline is valid? [False, False] Translation: X:3.87, Y:0.32, Z:-1.11 [[ 9.99893709e-01 -3.33387860e-04 -1.45759744e-02 3.87461733e+00] [ 2.63867866e-04 9.99988583e-01 -4.77115502e-03 3.17915815e-01] [ 1.45773987e-02 4.76680176e-03 9.99882382e-01 -1.10513844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50650248099998 meters 0.11868104745166003 Centerline is valid? [False, False] Translation: X:3.88, Y:0.32, Z:-1.11 [[ 9.99887453e-01 4.96686373e-05 -1.50026473e-02 3.87561270e+00] [-1.14778705e-04 9.99990580e-01 -4.33907536e-03 3.17355592e-01] [ 1.50022904e-02 4.34030900e-03 9.99878039e-01 -1.10562031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53650248099999 meters 0.11853922482952163 Centerline is valid? [False, False] Translation: X:3.88, Y:0.32, Z:-1.11 [[ 9.99882298e-01 3.85481520e-04 -1.53375681e-02 3.87644937e+00] [-4.45667271e-04 9.99992214e-01 -3.92084950e-03 3.16803631e-01] [ 1.53359372e-02 3.92722346e-03 9.99874685e-01 -1.10607658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56650248099999 meters 0.11973055022914703 Centerline is valid? [False, False] Translation: X:3.88, Y:0.32, Z:-1.11 [[ 9.99881423e-01 5.46593580e-04 -1.53896262e-02 3.87679196e+00] [-6.03258976e-04 9.99993055e-01 -3.67765009e-03 3.16334957e-01] [ 1.53875091e-02 3.68649793e-03 9.99874809e-01 -1.10643158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.59650248099999 meters 0.1187862912291265 Centerline is valid? [False, False] Translation: X:3.88, Y:0.32, Z:-1.11 [[ 9.99882615e-01 7.20944334e-04 -1.53048160e-02 3.87706987e+00] [-7.73167302e-04 9.99993899e-01 -3.40654918e-03 3.15620992e-01] [ 1.53022667e-02 3.41798249e-03 9.99877071e-01 -1.10693216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62650248099999 meters 0.11964891842989972 Centerline is valid? [False, False] Translation: X:3.88, Y:0.32, Z:-1.11 [[ 9.99881376e-01 6.46467619e-04 -1.53888358e-02 3.87693028e+00] [-7.01606528e-04 9.99993353e-01 -3.57791703e-03 3.15572106e-01] [ 1.53864205e-02 3.58828951e-03 9.99875183e-01 -1.10647706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65650248099999 meters 0.11809717652097453 Centerline is valid? [False, False] Translation: X:3.88, Y:0.32, Z:-1.10 [[ 9.99874188e-01 2.21259938e-04 -1.58606003e-02 3.87625713e+00] [-2.91534055e-04 9.99990151e-01 -4.42855984e-03 3.15988263e-01] [ 1.58594642e-02 4.43262658e-03 9.99864405e-01 -1.10439696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68650248099999 meters 0.11831278566465664 Centerline is valid? [False, False] Translation: X:3.88, Y:0.32, Z:-1.10 [[ 9.99874232e-01 1.37479471e-04 -1.58588067e-02 3.87600037e+00] [-2.09768797e-04 9.99989596e-01 -4.55673464e-03 3.15819428e-01] [ 1.58580153e-02 4.55948823e-03 9.99863858e-01 -1.10398300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71650248099999 meters 0.1180803858407088 Centerline is valid? [False, False] Translation: X:3.88, Y:0.32, Z:-1.10 [[ 9.99873638e-01 2.02656234e-04 -1.58954800e-02 3.87598843e+00] [-2.73844536e-04 9.99989943e-01 -4.47647613e-03 3.15222887e-01] [ 1.58944129e-02 4.48026337e-03 9.99863638e-01 -1.10382858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.746502481 meters 0.1186895372942279 Centerline is valid? [False, False] Translation: X:3.88, Y:0.31, Z:-1.10 [[ 9.99876538e-01 1.41461090e-04 -1.57126972e-02 3.87560965e+00] [-2.11855340e-04 9.99989949e-01 -4.47851282e-03 3.14426371e-01] [ 1.57119057e-02 4.48128872e-03 9.99866518e-01 -1.10356696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.776502481 meters 0.1181684307548677 Centerline is valid? [False, False] Translation: X:3.88, Y:0.31, Z:-1.10 [[ 9.99881497e-01 1.88218952e-04 -1.53933636e-02 3.87538153e+00] [-2.52901926e-04 9.99991147e-01 -4.20016522e-03 3.13140537e-01] [ 1.53924368e-02 4.20356050e-03 9.99872693e-01 -1.10382419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.806502481 meters 0.11802225981619151 Centerline is valid? [False, False] Translation: X:3.88, Y:0.31, Z:-1.10 [[ 9.99884593e-01 4.30031013e-04 -1.51860068e-02 3.87564806e+00] [-4.86744324e-04 9.99992921e-01 -3.73107842e-03 3.12154685e-01] [ 1.51842948e-02 3.73803953e-03 9.99877725e-01 -1.10460331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.836502481 meters 0.11778774923744825 Centerline is valid? [False, False] Translation: X:3.88, Y:0.31, Z:-1.11 [[ 9.99887750e-01 6.62037599e-04 -1.49683005e-02 3.87583858e+00] [-7.10671670e-04 9.99994486e-01 -3.24405224e-03 3.10970212e-01] [ 1.49660703e-02 3.25432564e-03 9.99882706e-01 -1.10529282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86650248099998 meters 0.11722239715834522 Centerline is valid? [False, False] Translation: X:3.88, Y:0.31, Z:-1.11 [[ 9.99893312e-01 7.35508180e-04 -1.45884429e-02 3.87561913e+00] [-7.77556117e-04 9.99995560e-01 -2.87681471e-03 3.09634965e-01] [ 1.45862622e-02 2.88785112e-03 9.99889445e-01 -1.10573742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89650248099998 meters 0.11752441408353843 Centerline is valid? [False, False] Translation: X:3.88, Y:0.31, Z:-1.11 [[ 9.99896724e-01 9.44764560e-04 -1.43404638e-02 3.87579767e+00] [-9.80003747e-04 9.99996517e-01 -2.45049722e-03 3.08741346e-01] [ 1.43380987e-02 2.46429786e-03 9.99894167e-01 -1.10648779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92650248099999 meters 0.11764394287798464 Centerline is valid? [False, False] Translation: X:3.88, Y:0.31, Z:-1.11 [[ 9.99906164e-01 1.37817798e-03 -1.36294951e-02 3.87613839e+00] [-1.39841247e-03 9.99997934e-01 -1.47519184e-03 3.06603305e-01] [ 1.36274339e-02 1.49411307e-03 9.99906026e-01 -1.10836673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.95650248099999 meters 0.11713266126498074 Centerline is valid? [False, False] Translation: X:3.88, Y:0.31, Z:-1.11 [[ 9.99903430e-01 1.72032081e-03 -1.37902375e-02 3.87679086e+00] [-1.73446079e-03 9.99997982e-01 -1.01346700e-03 3.05809114e-01] [ 1.37884662e-02 1.03728776e-03 9.99904397e-01 -1.10890991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98650248099999 meters 0.11713266126498074 Centerline is valid? [False, False] Translation: X:3.88, Y:0.31, Z:-1.11 [[ 9.99903430e-01 1.72032081e-03 -1.37902375e-02 3.87679086e+00] [-1.73446079e-03 9.99997982e-01 -1.01346700e-03 3.05809114e-01] [ 1.37884662e-02 1.03728776e-03 9.99904397e-01 -1.10890991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.01650248099999 meters 0.117556244062385 Centerline is valid? [False, False] Translation: X:3.88, Y:0.31, Z:-1.11 [[ 9.99905492e-01 1.73010470e-03 -1.36386620e-02 3.87652000e+00] [-1.74192532e-03 9.99998117e-01 -8.54867866e-04 3.05076253e-01] [ 1.36371573e-02 8.78544605e-04 9.99906624e-01 -1.10885102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04650248099999 meters 0.11673677866526047 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.11 [[ 9.99906937e-01 1.70194862e-03 -1.35358917e-02 3.87628684e+00] [-1.71327246e-03 9.99998192e-01 -8.25027315e-04 3.04634080e-01] [ 1.35344631e-02 8.48141206e-04 9.99908045e-01 -1.10873045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07650248099999 meters 0.11707771237870962 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.11 [[ 9.99910493e-01 1.62519537e-03 -1.32802578e-02 3.87562833e+00] [-1.63571671e-03 9.99998357e-01 -7.81431353e-04 3.03475681e-01] [ 1.32789660e-02 8.03084149e-04 9.99911508e-01 -1.10827652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10650248099999 meters 0.11655204976696906 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.11 [[ 9.99912946e-01 1.54122749e-03 -1.31043666e-02 3.87512437e+00] [-1.55179015e-03 9.99998479e-01 -7.95911535e-04 3.02701158e-01] [ 1.31031199e-02 8.16177475e-04 9.99913817e-01 -1.10789688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.136502481 meters 0.11638990674513554 Centerline is valid? [False, False] Translation: X:3.87, Y:0.30, Z:-1.11 [[ 9.99916504e-01 1.47531158e-03 -1.28377602e-02 3.87462230e+00] [-1.48489032e-03 9.99998626e-01 -7.36638206e-04 3.01861305e-01] [ 1.28366558e-02 7.55639365e-04 9.99917321e-01 -1.10769919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.166502481 meters 0.11535505794404839 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.11 [[ 9.99907198e-01 -2.65161557e-03 -1.33627736e-02 3.87530217e+00] [ 2.58646065e-03 9.99984695e-01 -4.89077812e-03 3.02085844e-01] [ 1.33755376e-02 4.85576196e-03 9.99898753e-01 -1.10760724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.196502481 meters 0.1159222033467264 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.11 [[ 9.99911028e-01 -2.19024452e-03 -1.31582351e-02 3.87604370e+00] [ 2.13672674e-03 9.99989394e-01 -4.07992869e-03 3.00904564e-01] [ 1.31670316e-02 4.05145013e-03 9.99905103e-01 -1.10907486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22650248099998 meters 0.11563160878182825 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.11 [[ 9.99912924e-01 -1.85828447e-03 -1.30649039e-02 3.87654715e+00] [ 1.81214180e-03 9.99992082e-01 -3.54275441e-03 3.00200934e-01] [ 1.30713839e-02 3.51877046e-03 9.99908374e-01 -1.10998436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25650248099998 meters 0.11611213935910128 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.11 [[ 9.99917122e-01 -1.53574630e-03 -1.27824091e-02 3.87704508e+00] [ 1.49695115e-03 9.99994246e-01 -3.04405716e-03 2.99591557e-01] [ 1.27870105e-02 3.02467023e-03 9.99913668e-01 -1.11120480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28650248099999 meters 0.1157649184167266 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.11 [[ 9.99916065e-01 -1.45210905e-03 -1.28745909e-02 3.87735374e+00] [ 1.41379284e-03 9.99994546e-01 -2.98471361e-03 2.99724818e-01] [ 1.28788549e-02 2.96626109e-03 9.99912664e-01 -1.11142590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.31650248099999 meters 0.11667979542802068 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.11 [[ 9.99907279e-01 -1.43245824e-03 -1.35418739e-02 3.87778987e+00] [ 1.38720933e-03 9.99993426e-01 -3.35021002e-03 3.01004384e-01] [ 1.35465839e-02 3.33111397e-03 9.99902692e-01 -1.11068614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34650248099999 meters 0.11712345184404756 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.11 [[ 9.99905349e-01 -1.31333217e-03 -1.36955489e-02 3.87819394e+00] [ 1.26861873e-03 9.99993839e-01 -3.27299226e-03 3.01321230e-01] [ 1.36997631e-02 3.25530804e-03 9.99900855e-01 -1.11093375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.37650248099999 meters 0.11748775946518183 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.11 [[ 9.99906490e-01 -8.87594350e-04 -1.36463832e-02 3.87916837e+00] [ 8.48953960e-04 9.99995615e-01 -2.83708027e-03 3.01346467e-01] [ 1.36488415e-02 2.82522982e-03 9.99902859e-01 -1.11233304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40650248099999 meters 0.11838974609359164 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.11 [[ 9.99905852e-01 -5.55382885e-04 -1.37105159e-02 3.88007461e+00] [ 5.22043064e-04 9.99996899e-01 -2.43515618e-03 3.01463308e-01] [ 1.37118259e-02 2.42776943e-03 9.99903041e-01 -1.11346198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43650248099999 meters 0.11881856008094467 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.11 [[ 9.99902928e-01 -1.88692472e-04 -1.39319449e-02 3.88108858e+00] [ 1.60360861e-04 9.99997917e-01 -2.03466100e-03 3.01522558e-01] [ 1.39322998e-02 2.03222935e-03 9.99900876e-01 -1.11440982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46650248099999 meters 0.11916343186900354 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.12 [[ 9.99893978e-01 2.74000696e-04 -1.45587525e-02 3.88253169e+00] [-2.99359199e-04 9.99998442e-01 -1.73965397e-03 3.01910066e-01] [ 1.45582531e-02 1.74382782e-03 9.99892502e-01 -1.11508720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.496502481 meters 0.1192012184870387 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.12 [[ 9.99888577e-01 4.95141005e-04 -1.49193906e-02 3.88323911e+00] [-5.18844387e-04 9.99998609e-01 -1.58493471e-03 3.01994218e-01] [ 1.49185851e-02 1.59249895e-03 9.99887444e-01 -1.11531525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.526502481 meters 0.12124034065292567 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.12 [[ 9.99884615e-01 7.08515356e-04 -1.51741388e-02 3.88383094e+00] [-7.30747648e-04 9.99998668e-01 -1.45964917e-03 3.01803501e-01] [ 1.51730844e-02 1.47056921e-03 9.99883801e-01 -1.11554005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.556502481 meters 0.1212247176446102 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.12 [[ 9.99884061e-01 6.92074035e-04 -1.52113441e-02 3.88375436e+00] [-7.15493455e-04 9.99998567e-01 -1.53421407e-03 3.01256612e-01] [ 1.52102605e-02 1.54491981e-03 9.99883124e-01 -1.11527642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.586502481 meters 0.12103176433025391 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.12 [[ 9.99884584e-01 8.97960708e-04 -1.51661668e-02 3.88400281e+00] [-9.16289119e-04 9.99998858e-01 -1.20160103e-03 3.00400637e-01] [ 1.51650705e-02 1.21535894e-03 9.99884265e-01 -1.11570023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61650248099998 meters 0.12029833140723865 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.12 [[ 9.99882836e-01 9.79180598e-04 -1.52759555e-02 3.88409856e+00] [-9.96336073e-04 9.99998882e-01 -1.11546776e-03 2.99777074e-01] [ 1.52748462e-02 1.13055705e-03 9.99882694e-01 -1.11556653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64650248099998 meters 0.12176223904367739 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.11 [[ 9.99875772e-01 1.00663496e-03 -1.57298333e-02 3.88418899e+00] [-1.02587416e-03 9.99998736e-01 -1.21508170e-03 2.99118626e-01] [ 1.57285903e-02 1.23106758e-03 9.99875540e-01 -1.11468305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67650248099999 meters 0.12171116626526549 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.11 [[ 9.99871611e-01 1.10604588e-03 -1.59855493e-02 3.88437776e+00] [-1.12440410e-03 9.99998719e-01 -1.13948402e-03 2.98681219e-01] [ 1.59842685e-02 1.15731194e-03 9.99871574e-01 -1.11440225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70650248099999 meters 0.12213811456963389 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.11 [[ 9.99864728e-01 1.16395774e-03 -1.64064501e-02 3.88439220e+00] [-1.18231125e-03 9.99998686e-01 -1.10902199e-03 2.97495219e-01] [ 1.64051376e-02 1.12826951e-03 9.99864790e-01 -1.11351172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.73650248099999 meters 0.12107908165848826 Centerline is valid? [False, False] Translation: X:3.88, Y:0.30, Z:-1.11 [[ 9.99861448e-01 1.34629605e-03 -1.65913286e-02 3.88470948e+00] [-1.36073565e-03 9.99998705e-01 -8.59051972e-04 2.96699600e-01] [ 1.65901506e-02 8.81509361e-04 9.99861985e-01 -1.11355318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76650248099999 meters 0.12116666676087612 Centerline is valid? [False, False] Translation: X:3.89, Y:0.30, Z:-1.11 [[ 9.99842816e-01 -2.40546294e-03 -1.75657827e-02 3.88634405e+00] [ 2.32515404e-03 9.99986759e-01 -4.59088713e-03 2.96438383e-01] [ 1.75765933e-02 4.54932237e-03 9.99835170e-01 -1.11392089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79650248099999 meters 0.12161265968647288 Centerline is valid? [False, False] Translation: X:3.89, Y:0.29, Z:-1.11 [[ 9.99842951e-01 -1.89979347e-03 -1.76200145e-02 3.88715089e+00] [ 1.83384919e-03 9.99991257e-01 -3.75798084e-03 2.94915835e-01] [ 1.76269999e-02 3.72507820e-03 9.99837693e-01 -1.11497100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82650248099999 meters 0.12211983960227606 Centerline is valid? [False, False] Translation: X:3.89, Y:0.29, Z:-1.12 [[ 9.99841508e-01 -1.36879354e-03 -1.77506357e-02 3.88794637e+00] [ 1.31811720e-03 9.99995023e-01 -2.86628783e-03 2.92780379e-01] [ 1.77544707e-02 2.84243613e-03 9.99838337e-01 -1.11581629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85650248099999 meters 0.12143215466030452 Centerline is valid? [False, False] Translation: X:3.89, Y:0.29, Z:-1.12 [[ 9.99838645e-01 -1.20050828e-03 -1.79232651e-02 3.88821719e+00] [ 1.15321995e-03 9.99995828e-01 -2.64847954e-03 2.91941280e-01] [ 1.79263698e-02 2.62738272e-03 9.99835858e-01 -1.11579652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.886502481 meters 0.12224265256893539 Centerline is valid? [False, False] Translation: X:3.89, Y:0.29, Z:-1.12 [[ 9.99840540e-01 -8.71719148e-04 -1.78363139e-02 3.88853988e+00] [ 8.36349429e-04 9.99997669e-01 -1.99038051e-03 2.89834515e-01] [ 1.78380074e-02 1.97514573e-03 9.99838939e-01 -1.11639022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.916502481 meters 0.12162522766402949 Centerline is valid? [False, False] Translation: X:3.89, Y:0.29, Z:-1.12 [[ 9.99835930e-01 -6.74894737e-04 -1.81012924e-02 3.88886147e+00] [ 6.43411077e-04 9.99998270e-01 -1.74507191e-03 2.88896444e-01] [ 1.81024388e-02 1.73313902e-03 9.99834635e-01 -1.11625207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.946502481 meters 0.1214896769755159 Centerline is valid? [False, False] Translation: X:3.89, Y:0.29, Z:-1.12 [[ 9.99829786e-01 -7.08847140e-04 -1.84363076e-02 3.88877645e+00] [ 6.74346521e-04 9.99998010e-01 -1.87749049e-03 2.88415466e-01] [ 1.84376017e-02 1.86473845e-03 9.99828274e-01 -1.11538598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97650248099998 meters 0.12182426500960569 Centerline is valid? [False, False] Translation: X:3.89, Y:0.29, Z:-1.11 [[ 9.99820428e-01 -7.46312332e-04 -1.89355463e-02 3.88856940e+00] [ 7.08519431e-04 9.99997744e-01 -2.00250084e-03 2.87215981e-01] [ 1.89369981e-02 1.98872504e-03 9.99818701e-01 -1.11400822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00650248099998 meters 0.12082214925140217 Centerline is valid? [False, False] Translation: X:3.89, Y:0.29, Z:-1.11 [[ 9.99817411e-01 -6.50883119e-04 -1.90976944e-02 3.88843721e+00] [ 6.17724768e-04 9.99998292e-01 -1.74209659e-03 2.85115770e-01] [ 1.90987957e-02 1.72998139e-03 9.99816105e-01 -1.11342496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03650248099999 meters 0.12089515459600489 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-1.11 [[ 9.99812581e-01 -6.28442011e-04 -1.93496057e-02 3.88835997e+00] [ 5.95376918e-04 9.99998353e-01 -1.71453846e-03 2.84324473e-01] [ 1.93506514e-02 1.70269682e-03 9.99811309e-01 -1.11276635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.066502481 meters 0.12161990792832958 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-1.11 [[ 9.99807751e-01 -4.48924840e-04 -1.96025444e-02 3.88854311e+00] [ 4.22094641e-04 9.99998969e-01 -1.37282600e-03 2.82536037e-01] [ 1.96031405e-02 1.36428794e-03 9.99806909e-01 -1.11244594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.096502481 meters 0.12100896786340769 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-1.11 [[ 9.99806093e-01 -1.74118073e-04 -1.96912524e-02 3.88894197e+00] [ 1.55753405e-04 9.99999552e-01 -9.34160570e-04 2.81401939e-01] [ 1.96914063e-02 9.30912450e-04 9.99805672e-01 -1.11279441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.126502481 meters 0.12175937515777452 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-1.11 [[ 9.99801492e-01 8.83719816e-05 -1.99240686e-02 3.88946246e+00] [-1.00087027e-04 9.99999823e-01 -5.86988212e-04 2.80546315e-01] [ 1.99240132e-02 5.88865831e-04 9.99801324e-01 -1.11300596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.156502481 meters 0.1213604438055842 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-1.11 [[ 9.99792761e-01 4.53999835e-04 -2.03526030e-02 3.89022520e+00] [-4.57714331e-04 9.99999879e-01 -1.77849237e-04 2.79415348e-01] [ 2.03525198e-02 1.87128058e-04 9.99792849e-01 -1.11310309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.186502481 meters 0.12239849107661127 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-1.11 [[ 9.99792080e-01 6.88555310e-04 -2.03794634e-02 3.89053549e+00] [-6.84810510e-04 9.99999747e-01 1.90731805e-04 2.78416958e-01] [ 2.03795896e-02 -1.76736077e-04 9.99792299e-01 -1.11344218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.216502481 meters 0.12345635192631335 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-1.11 [[ 9.99786274e-01 8.53115706e-04 -2.06562070e-02 3.89064447e+00] [-8.45284205e-04 9.99999568e-01 3.87863628e-04 2.76905837e-01] [ 2.06565289e-02 -3.70320366e-04 9.99786563e-01 -1.11295832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.246502481 meters 0.12195486194380588 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-1.11 [[ 9.99777925e-01 8.39945703e-04 -2.10569594e-02 3.89068876e+00] [-8.35489712e-04 9.99999627e-01 2.20412569e-04 2.76634199e-01] [ 2.10571367e-02 -2.02770748e-04 9.99778253e-01 -1.11211552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.276502481 meters 0.12263706611723962 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-1.11 [[ 9.99763905e-01 1.10664449e-03 -2.17004356e-02 3.89136369e+00] [-1.09891493e-03 9.99999328e-01 3.68115181e-04 2.75951251e-01] [ 2.17008284e-02 -3.44181338e-04 9.99764450e-01 -1.11167198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.306502481 meters 0.12288399142569598 Centerline is valid? [False, False] Translation: X:3.89, Y:0.28, Z:-1.11 [[ 9.99760716e-01 1.23608640e-03 -2.18399251e-02 3.89164464e+00] [-1.22523031e-03 9.99999119e-01 5.10449301e-04 2.75529777e-01] [ 2.18405368e-02 -4.83568221e-04 9.99761350e-01 -1.11175309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.336502481 meters 0.12321439426742109 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-1.11 [[ 9.99756328e-01 1.41701937e-03 -2.20289816e-02 3.89181302e+00] [-1.40158900e-03 9.99998762e-01 7.15881448e-04 2.74315890e-01] [ 2.20299687e-02 -6.84831430e-04 9.99757076e-01 -1.11152576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.366502481 meters 0.12271373189279978 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-1.11 [[ 9.99749160e-01 1.31713657e-03 -2.23580675e-02 3.89164581e+00] [-1.30620278e-03 9.99999020e-01 5.03627748e-04 2.74069342e-01] [ 2.23587089e-02 -4.74297248e-04 9.99749900e-01 -1.11060389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.396502481 meters 0.12331866916998882 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-1.11 [[ 9.99739412e-01 1.32263498e-03 -2.27894403e-02 3.89158112e+00] [-1.31365105e-03 9.99999053e-01 4.09180592e-04 2.73257158e-01] [ 2.27899599e-02 -3.79136592e-04 9.99740203e-01 -1.10957280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.426502481 meters 0.12200110831930024 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-1.11 [[ 9.99733365e-01 1.28452038e-03 -2.30553301e-02 3.89141624e+00] [-1.27758141e-03 9.99999134e-01 3.15697521e-04 2.72561104e-01] [ 2.30557157e-02 -2.86158284e-04 9.99734141e-01 -1.10875468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.456502481 meters 0.12241576185849792 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-1.11 [[ 9.99724166e-01 1.05429000e-03 -2.34623032e-02 3.89080107e+00] [-1.05467508e-03 9.99999444e-01 -4.03865100e-06 2.71482557e-01] [ 2.34622859e-02 2.87826436e-05 9.99724722e-01 -1.10707973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.486502481 meters 0.12170466188376927 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-1.11 [[ 9.99718454e-01 1.17634725e-03 -2.36987088e-02 3.89096538e+00] [-1.17323047e-03 9.99999301e-01 1.45420337e-04 2.70581565e-01] [ 2.36988633e-02 -1.17575347e-04 9.99719136e-01 -1.10677380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.516502481 meters 0.1212130907933658 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-1.11 [[ 9.99700645e-01 -3.00044222e-03 -2.42820456e-02 3.89149660e+00] [ 2.90488375e-03 9.99987902e-01 -3.96967187e-03 2.69857341e-01] [ 2.42936626e-02 3.89794701e-03 9.99697266e-01 -1.10633893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54650248099998 meters 0.12120146689221353 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-1.11 [[ 9.99699459e-01 -2.62105597e-03 -2.43746315e-02 3.89197761e+00] [ 2.53965211e-03 9.99991096e-01 -3.37005300e-03 2.68416121e-01] [ 2.43832476e-02 3.30713708e-03 9.99697214e-01 -1.10678376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57650248099998 meters 0.12100586823122264 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-1.11 [[ 9.99700456e-01 -2.76821229e-03 -2.43173692e-02 3.89110037e+00] [ 2.68654448e-03 9.99990644e-01 -3.39044273e-03 2.66120346e-01] [ 2.43265271e-02 3.32409745e-03 9.99698540e-01 -1.10564753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60650248099998 meters 0.12124042699630237 Centerline is valid? [False, False] Translation: X:3.89, Y:0.27, Z:-1.11 [[ 9.99706019e-01 -2.79791754e-03 -2.40841747e-02 3.89059241e+00] [ 2.71981327e-03 9.99990938e-01 -3.27511694e-03 2.65103994e-01] [ 2.40931200e-02 3.20864966e-03 9.99704569e-01 -1.10538837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63650248099998 meters 0.1212074597255037 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:-1.10 [[ 9.99706743e-01 -2.83990031e-03 -2.40491718e-02 3.88995802e+00] [ 2.76454784e-03 9.99991167e-01 -3.16593455e-03 2.63155302e-01] [ 2.40579503e-02 3.09852103e-03 9.99705764e-01 -1.10456196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66650248099998 meters 0.12076490456792988 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:-1.10 [[ 9.99708292e-01 -2.78684778e-03 -2.39909313e-02 3.88963494e+00] [ 2.71577122e-03 9.99991828e-01 -2.99471517e-03 2.62026377e-01] [ 2.39990811e-02 2.92868771e-03 9.99707691e-01 -1.10420249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69650248099998 meters 0.12096070742584009 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:-1.10 [[ 9.99717875e-01 -2.63289976e-03 -2.36059133e-02 3.88923633e+00] [ 2.57545456e-03 9.99993649e-01 -2.46358065e-03 2.59811243e-01] [ 2.36122497e-02 2.40208965e-03 9.99718306e-01 -1.10438226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72650248099998 meters 0.12059127158289035 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:-1.11 [[ 9.99726958e-01 -2.34609667e-03 -2.32487579e-02 3.88926459e+00] [ 2.30431681e-03 9.99995682e-01 -1.82370586e-03 2.58148138e-01] [ 2.32529361e-02 1.76963541e-03 9.99728048e-01 -1.10511188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75650248099998 meters 0.12010410251155297 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.11 [[ 9.99753839e-01 -2.28712056e-03 -2.20687824e-02 3.88866193e+00] [ 2.26320547e-03 9.99996824e-01 -1.10857670e-03 2.53387060e-01] [ 2.20712477e-02 1.05835762e-03 9.99755840e-01 -1.10630030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78650248099999 meters 0.11940789196463933 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.11 [[ 9.99759929e-01 -2.15518725e-03 -2.18045539e-02 3.88848428e+00] [ 2.13986263e-03 9.99997447e-01 -7.26125406e-04 2.52017963e-01] [ 2.18060632e-02 6.79292335e-04 9.99761989e-01 -1.10656716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.816502481 meters 0.11953178736676136 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.11 [[ 9.99766419e-01 -2.00329697e-03 -2.15196345e-02 3.88835235e+00] [ 1.99733525e-03 9.99997961e-01 -2.98525908e-04 2.50746233e-01] [ 2.15201887e-02 2.55474253e-04 9.99768381e-01 -1.10694359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.846502481 meters 0.11886150264939585 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.11 [[ 9.99778543e-01 -2.19458362e-03 -2.09296243e-02 3.88720997e+00] [ 2.19171373e-03 9.99997585e-01 -1.60058304e-04 2.48012108e-01] [ 2.09299251e-02 1.14151113e-04 9.99780939e-01 -1.10648478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.876502481 meters 0.11886150264939585 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.11 [[ 9.99778543e-01 -2.19458362e-03 -2.09296243e-02 3.88720997e+00] [ 2.19171373e-03 9.99997585e-01 -1.60058304e-04 2.48012108e-01] [ 2.09299251e-02 1.14151113e-04 9.99780939e-01 -1.10648478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.906502481 meters 0.11834275274727592 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.11 [[ 9.99785071e-01 -2.18498550e-03 -2.06164539e-02 3.88671988e+00] [ 2.18672286e-03 9.99997607e-01 6.17275182e-05 2.46768328e-01] [ 2.06162697e-02 -1.06796722e-04 9.99787456e-01 -1.10641020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.936502481 meters 0.11778792052140559 Centerline is valid? [False, False] Translation: X:3.89, Y:0.24, Z:-1.11 [[ 9.99796336e-01 -2.43603596e-03 -2.00337718e-02 3.88554840e+00] [ 2.43939082e-03 9.99997014e-01 1.43024587e-04 2.43956256e-01] [ 2.00333636e-02 -1.91865657e-04 9.99799294e-01 -1.10584780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.966502481 meters 0.11779796937343093 Centerline is valid? [False, False] Translation: X:3.89, Y:0.24, Z:-1.11 [[ 9.99800814e-01 -2.37668056e-03 -1.98162363e-02 3.88531628e+00] [ 2.38497965e-03 9.99997078e-01 3.95180311e-04 2.42964007e-01] [ 1.98152392e-02 -4.42362917e-04 9.99803561e-01 -1.10594357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.996502481 meters 0.11697744985098837 Centerline is valid? [False, False] Translation: X:3.88, Y:0.24, Z:-1.11 [[ 9.99816643e-01 -2.52013979e-03 -1.89823626e-02 3.88444087e+00] [ 2.53608896e-03 9.99996451e-01 8.16184243e-04 2.40758894e-01] [ 1.89802383e-02 -8.64175550e-04 9.99819486e-01 -1.10629092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.026502481 meters 0.11626212091314045 Centerline is valid? [False, False] Translation: X:3.88, Y:0.24, Z:-1.11 [[ 9.99826408e-01 -2.52018994e-03 -1.84608255e-02 3.88394279e+00] [ 2.54202599e-03 9.99996097e-01 1.15946120e-03 2.39332518e-01] [ 1.84578314e-02 -1.20618783e-03 9.99828912e-01 -1.10658356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.056502481 meters 0.11564058497100568 Centerline is valid? [False, False] Translation: X:3.88, Y:0.24, Z:-1.11 [[ 9.99804356e-01 -6.66950804e-03 -1.86216907e-02 3.88415218e+00] [ 6.62216994e-03 9.99974686e-01 -2.60260238e-03 2.37937481e-01] [ 1.86385774e-02 2.47877719e-03 9.99823214e-01 -1.10657930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.086502481 meters 0.1152363511607801 Centerline is valid? [False, False] Translation: X:3.88, Y:0.24, Z:-1.11 [[ 9.99811730e-01 -6.47274492e-03 -1.82922725e-02 3.88405298e+00] [ 6.43660516e-03 9.99977216e-01 -2.03386985e-03 2.36476614e-01] [ 1.83050204e-02 1.91574680e-03 9.99830614e-01 -1.10709242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.116502481 meters 0.1148381837728104 Centerline is valid? [False, False] Translation: X:3.88, Y:0.23, Z:-1.11 [[ 9.99817477e-01 -6.49796967e-03 -1.79663267e-02 3.88364396e+00] [ 6.46987684e-03 9.99977756e-01 -1.62132084e-03 2.34976025e-01] [ 1.79764624e-02 1.50478499e-03 9.99837278e-01 -1.10712641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.146502481 meters 0.11462754196584643 Centerline is valid? [False, False] Translation: X:3.88, Y:0.23, Z:-1.11 [[ 9.99823735e-01 -6.30083620e-03 -1.76861353e-02 3.88361917e+00] [ 6.28175059e-03 9.99979626e-01 -1.13447578e-03 2.33774338e-01] [ 1.76929231e-02 1.02317592e-03 9.99842944e-01 -1.10762000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.176502481 meters 0.1142973193133929 Centerline is valid? [False, False] Translation: X:3.88, Y:0.23, Z:-1.11 [[ 9.99838905e-01 -6.59571321e-03 -1.66931498e-02 3.88241412e+00] [ 6.58120087e-03 9.99977917e-01 -9.24144661e-04 2.31268165e-01] [ 1.66988766e-02 8.14134814e-04 9.99860233e-01 -1.10775146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.206502481 meters 0.11413053134047857 Centerline is valid? [False, False] Translation: X:3.88, Y:0.23, Z:-1.11 [[ 9.99845311e-01 -6.41391080e-03 -1.63772765e-02 3.88234970e+00] [ 6.40732109e-03 9.99979369e-01 -4.54808746e-04 2.29970131e-01] [ 1.63798557e-02 3.49803923e-04 9.99865780e-01 -1.10824602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.236502481 meters 0.11425197212614278 Centerline is valid? [False, False] Translation: X:3.88, Y:0.23, Z:-1.11 [[ 9.99849088e-01 -6.17457070e-03 -1.62381044e-02 3.88253820e+00] [ 6.17590903e-03 9.99980928e-01 3.22741223e-05 2.28886031e-01] [ 1.62375954e-02 -1.32554307e-04 9.99868153e-01 -1.10875656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.266502481 meters 0.11438983276906901 Centerline is valid? [False, False] Translation: X:3.88, Y:0.23, Z:-1.11 [[ 9.99848742e-01 -6.15730543e-03 -1.62659328e-02 3.88259734e+00] [ 6.15846836e-03 9.99981036e-01 2.14059329e-05 2.28958486e-01] [ 1.62654925e-02 -1.21575928e-04 9.99867701e-01 -1.10875048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29650248099998 meters 0.11438326489227324 Centerline is valid? [False, False] Translation: X:3.88, Y:0.23, Z:-1.11 [[ 9.99848270e-01 -6.18614533e-03 -1.62840225e-02 3.88248796e+00] [ 6.18642476e-03 9.99980863e-01 -3.32142069e-05 2.28872986e-01] [ 1.62839164e-02 -6.75307128e-05 9.99867406e-01 -1.10853334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32650248099998 meters 0.11436046212845588 Centerline is valid? [False, False] Translation: X:3.88, Y:0.23, Z:-1.11 [[ 9.99852551e-01 -6.05323218e-03 -1.60696661e-02 3.88246234e+00] [ 6.05792713e-03 9.99981621e-01 2.43500321e-04 2.28001402e-01] [ 1.60678968e-02 -3.40813284e-04 9.99870845e-01 -1.10888962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35650248099998 meters 0.11442369020619392 Centerline is valid? [False, False] Translation: X:3.88, Y:0.23, Z:-1.11 [[ 9.99859938e-01 -5.61592612e-03 -1.57659912e-02 3.88297186e+00] [ 5.63198289e-03 9.99983666e-01 9.74228275e-04 2.26494924e-01] [ 1.57602625e-02 -1.06288561e-03 9.99875234e-01 -1.11013078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38650248099998 meters 0.11448565202839912 Centerline is valid? [False, False] Translation: X:3.88, Y:0.23, Z:-1.11 [[ 9.99860621e-01 -5.35567489e-03 -1.58131686e-02 3.88353191e+00] [ 5.37715163e-03 9.99984677e-01 1.31594999e-03 2.26145567e-01] [ 1.58058785e-02 -1.40079638e-03 9.99874098e-01 -1.11079657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41650248099998 meters 0.11456647173104141 Centerline is valid? [False, False] Translation: X:3.88, Y:0.23, Z:-1.11 [[ 9.99859564e-01 -4.90332985e-03 -1.60252693e-02 3.88450920e+00] [ 4.93437079e-03 9.99986025e-01 1.89803386e-03 2.25575786e-01] [ 1.60157386e-02 -1.97684193e-03 9.99869786e-01 -1.11172695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44650248099998 meters 0.11460778443904321 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-1.11 [[ 9.99863036e-01 -4.51297228e-03 -1.59230359e-02 3.88530267e+00] [ 4.55239028e-03 9.99986661e-01 2.44015553e-03 2.25410207e-01] [ 1.59118111e-02 -2.51230919e-03 9.99870243e-01 -1.11306098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47650248099998 meters 0.11480368996070597 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-1.11 [[ 9.99859153e-01 -4.42212916e-03 -1.61901075e-02 3.88555635e+00] [ 4.46147384e-03 9.99987180e-01 2.39485677e-03 2.25473167e-01] [ 1.61793096e-02 -2.46675120e-03 9.99866064e-01 -1.11286449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50650248099998 meters 0.11505057252477334 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-1.11 [[ 9.99862315e-01 -4.40948708e-03 -1.59970810e-02 3.88540750e+00] [ 4.44929285e-03 9.99987092e-01 2.45357797e-03 2.25114822e-01] [ 1.59860555e-02 -2.52441585e-03 9.99869028e-01 -1.11303503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53650248099999 meters 0.11502320638575025 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99858064e-01 -4.29634144e-03 -1.62908758e-02 3.88576809e+00] [ 4.33733421e-03 9.99987514e-01 2.48180568e-03 2.24928212e-01] [ 1.62800097e-02 -2.55211239e-03 9.99864215e-01 -1.11291644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.566502481 meters 0.11496277666341218 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-1.11 [[ 9.99853591e-01 -4.38452186e-03 -1.65400072e-02 3.88575807e+00] [ 4.42096615e-03 9.99987878e-01 2.16748172e-03 2.25352880e-01] [ 1.65303034e-02 -2.24028720e-03 9.99860855e-01 -1.11238646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.596502481 meters 0.11491569060569967 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-1.11 [[ 9.99855113e-01 -4.42755408e-03 -1.64362527e-02 3.88559021e+00] [ 4.46285362e-03 9.99987812e-01 2.11160628e-03 2.25389436e-01] [ 1.64267032e-02 -2.18465293e-03 9.99862686e-01 -1.11234695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.626502481 meters 0.11496995297700786 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-1.11 [[ 9.99856088e-01 -4.41308704e-03 -1.63807131e-02 3.88556733e+00] [ 4.44777689e-03 9.99987941e-01 2.08189811e-03 2.25294003e-01] [ 1.63713280e-02 -2.15445626e-03 9.99863660e-01 -1.11239051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.656502481 meters 0.11480296820173291 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99855198e-01 -4.35191821e-03 -1.64512551e-02 3.88565976e+00] [ 4.38748583e-03 9.99988114e-01 2.12652674e-03 2.24932541e-01] [ 1.64418051e-02 -2.19839847e-03 9.99862408e-01 -1.11233300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.686502481 meters 0.11451888398026758 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99853653e-01 -4.29298060e-03 -1.65602689e-02 3.88575660e+00] [ 4.32835104e-03 9.99988426e-01 2.10061143e-03 2.24510663e-01] [ 1.65510594e-02 -2.17198267e-03 9.99860663e-01 -1.11217599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.716502481 meters 0.11453070528529813 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99855990e-01 -4.25188367e-03 -1.64292934e-02 3.88566284e+00] [ 4.28885707e-03 9.99988348e-01 2.21587742e-03 2.23905564e-01] [ 1.64196803e-02 -2.28602120e-03 9.99862575e-01 -1.11229723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.746502481 meters 0.11434699997412316 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99858147e-01 -4.14715207e-03 -1.63244039e-02 3.88572447e+00] [ 4.18691237e-03 9.99988350e-01 2.40221237e-03 2.23341878e-01] [ 1.63142513e-02 -2.47022046e-03 9.99863862e-01 -1.11255810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.776502481 meters 0.11405600499472034 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99863668e-01 -3.92453758e-03 -1.60387805e-02 3.88588857e+00] [ 3.97116304e-03 9.99987979e-01 2.87623153e-03 2.22039704e-01] [ 1.60272998e-02 -2.93953202e-03 9.99867234e-01 -1.11328787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.806502481 meters 0.11368008287808112 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99870617e-01 -3.69041545e-03 -1.56566620e-02 3.88589188e+00] [ 3.74519129e-03 9.99986964e-01 3.47068731e-03 2.20286215e-01] [ 1.56436496e-02 -3.52887545e-03 9.99871403e-01 -1.11399723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.836502481 meters 0.11374015168263621 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99873664e-01 -3.53037713e-03 -1.54981754e-02 3.88591009e+00] [ 3.58984454e-03 9.99986295e-01 3.81091738e-03 2.19273744e-01] [ 1.54845090e-02 -3.86607197e-03 9.99872634e-01 -1.11432600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.866502481 meters 0.11311618918301565 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99875259e-01 -3.35872774e-03 -1.54332515e-02 3.88597956e+00] [ 3.42513079e-03 9.99984983e-01 4.27818045e-03 2.17738452e-01] [ 1.54186505e-02 -4.33050769e-03 9.99871748e-01 -1.11451997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.896502481 meters 0.11276074694540561 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99876331e-01 -3.42829099e-03 -1.53482729e-02 3.88562092e+00] [ 3.49459154e-03 9.99984670e-01 4.29500682e-03 2.17092112e-01] [ 1.53333130e-02 -4.34811160e-03 9.99872984e-01 -1.11416411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.926502481 meters 0.11230797131754973 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99880308e-01 -3.52841169e-03 -1.50638922e-02 3.88510665e+00] [ 3.59748484e-03 9.99983129e-01 4.56071247e-03 2.15109781e-01] [ 1.50475460e-02 -4.61435871e-03 9.99876132e-01 -1.11394615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.956502481 meters 0.11208342855073375 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:-1.11 [[ 9.99881991e-01 -3.45165256e-03 -1.49696243e-02 3.88516624e+00] [ 3.52400884e-03 9.99982223e-01 4.80985852e-03 2.14275402e-01] [ 1.49527562e-02 -4.86204401e-03 9.99876380e-01 -1.11419112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.986502481 meters 0.11171153374475731 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:-1.11 [[ 9.99883459e-01 -3.27491975e-03 -1.49112064e-02 3.88543810e+00] [ 3.35392788e-03 9.99980454e-01 5.27665330e-03 2.12905152e-01] [ 1.48936343e-02 -5.32604946e-03 9.99874899e-01 -1.11464892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.016502481 meters 0.11164247628361042 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:-1.11 [[ 9.99883823e-01 -3.24489228e-03 -1.48933303e-02 3.88547765e+00] [ 3.32539868e-03 9.99979977e-01 5.38395563e-03 2.12510706e-01] [ 1.48755617e-02 -5.43285639e-03 9.99874593e-01 -1.11472220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04650248099998 meters 0.11132529451974477 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:-1.12 [[ 9.99883521e-01 -3.04971783e-03 -1.49547430e-02 3.88587759e+00] [ 3.13519327e-03 9.99978866e-01 5.69549787e-03 2.11854350e-01] [ 1.49370572e-02 -5.74172047e-03 9.99871950e-01 -1.11512713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07650248099998 meters 0.11110041383711493 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:-1.12 [[ 9.99887020e-01 -3.13081991e-03 -1.47019070e-02 3.88561024e+00] [ 3.21656336e-03 9.99977936e-01 5.81211076e-03 2.10960420e-01] [ 1.46833860e-02 -5.85874372e-03 9.99875029e-01 -1.11519005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10650248099998 meters 0.11071258475755638 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:-1.11 [[ 9.99886762e-01 -3.34926881e-03 -1.46712238e-02 3.88514229e+00] [ 3.43122666e-03 9.99978630e-01 5.56469403e-03 2.10835548e-01] [ 1.46522727e-02 -5.61440419e-03 9.99876887e-01 -1.11456637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13650248099998 meters 0.11072989339252268 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:-1.11 [[ 9.99840140e-01 -7.64030836e-03 -1.61653875e-02 3.88610318e+00] [ 7.65336942e-03 9.99970434e-01 7.46253667e-04 2.12550300e-01] [ 1.61592080e-02 -8.69854054e-04 9.99869053e-01 -1.11304350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16650248099998 meters 0.11068613381190874 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:-1.11 [[ 9.99838234e-01 -7.66011588e-03 -1.62735746e-02 3.88625285e+00] [ 7.67238602e-03 9.99970328e-01 6.91692345e-04 2.12750172e-01] [ 1.62677932e-02 -8.16437599e-04 9.99867337e-01 -1.11301471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19650248099998 meters 0.11051005771397408 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:-1.11 [[ 9.99838946e-01 -7.67422388e-03 -1.62230733e-02 3.88636232e+00] [ 7.68628719e-03 9.99970228e-01 6.81368271e-04 2.13008991e-01] [ 1.62173614e-02 -8.05953735e-04 9.99868165e-01 -1.11323904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22650248099998 meters 0.11055938700057028 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:-1.11 [[ 9.99832780e-01 -7.74244491e-03 -1.65670410e-02 3.88648433e+00] [ 7.75125733e-03 9.99969849e-01 4.67777619e-04 2.13274928e-01] [ 1.65629198e-02 -5.96114795e-04 9.99862648e-01 -1.11268918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25650248099998 meters 0.11037804989779822 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:-1.11 [[ 9.99827084e-01 -7.86168720e-03 -1.68521904e-02 3.88651798e+00] [ 7.86609602e-03 9.99969043e-01 1.95346529e-04 2.13885931e-01] [ 1.68501330e-02 -3.27873698e-04 9.99857973e-01 -1.11217079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28650248099999 meters 0.11051729525300784 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:-1.11 [[ 9.99826604e-01 -7.72008654e-03 -1.69458828e-02 3.88697579e+00] [ 7.72709718e-03 9.99970085e-01 3.48270054e-04 2.13989172e-01] [ 1.69426871e-02 -4.79152148e-04 9.99856348e-01 -1.11260860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.316502481 meters 0.11049733305051194 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:-1.11 [[ 9.99815579e-01 -7.66212601e-03 -1.76096597e-02 3.88754493e+00] [ 7.66722927e-03 9.99970582e-01 2.22302616e-04 2.14744087e-01] [ 1.76074383e-02 -3.57278917e-04 9.99844913e-01 -1.11210487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.346502481 meters 0.11057348027714102 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:-1.11 [[ 9.99814573e-01 -7.44733538e-03 -1.77582638e-02 3.88808322e+00] [ 7.45736488e-03 9.99972069e-01 4.98625119e-04 2.14565957e-01] [ 1.77540544e-02 -6.30962513e-04 9.99842185e-01 -1.11254046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.376502481 meters 0.11084398390550047 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:-1.11 [[ 9.99824664e-01 -7.03953119e-03 -1.73518104e-02 3.88888117e+00] [ 7.06030138e-03 9.99974430e-01 1.13603525e-03 2.13747340e-01] [ 1.73433696e-02 -1.25834507e-03 9.99848801e-01 -1.11434471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.406502481 meters 0.11079341181704198 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:-1.12 [[ 9.99827191e-01 -6.81434300e-03 -1.72960080e-02 3.88945418e+00] [ 6.84054576e-03 9.99975543e-01 1.45625060e-03 2.13538661e-01] [ 1.72856616e-02 -1.57431308e-03 9.99849352e-01 -1.11524466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.436502481 meters 0.11104830778135591 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:-1.12 [[ 9.99825531e-01 -6.78281413e-03 -1.74040634e-02 3.88967607e+00] [ 6.80916309e-03 9.99975759e-01 1.45514229e-03 2.13719320e-01] [ 1.73937716e-02 -1.57339552e-03 9.99847479e-01 -1.11532757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.466502481 meters 0.11124582293959218 Centerline is valid? [False, False] Translation: X:3.89, Y:0.21, Z:-1.11 [[ 9.99812512e-01 -6.65572419e-03 -1.81835775e-02 3.89042520e+00] [ 6.68056398e-03 9.99976832e-01 1.30565396e-03 2.14511559e-01] [ 1.81744661e-02 -1.42688572e-03 9.99833813e-01 -1.11479241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.496502481 meters 0.11129694693538032 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99807668e-01 -6.82233411e-03 -1.83870243e-02 3.89046292e+00] [ 6.84016290e-03 9.99976195e-01 9.06923090e-04 2.15705781e-01] [ 1.83803993e-02 -1.03251890e-03 9.99830533e-01 -1.11445330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.526502481 meters 0.11134917548250499 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99808091e-01 -6.78849219e-03 -1.83765646e-02 3.89057212e+00] [ 6.80653318e-03 9.99976413e-01 9.19370387e-04 2.15888257e-01] [ 1.83698900e-02 -1.04427465e-03 9.99830714e-01 -1.11461737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.556502481 meters 0.11128669916685255 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99807073e-01 -6.89911284e-03 -1.83907520e-02 3.89040512e+00] [ 6.91369360e-03 9.99975834e-01 7.29368924e-04 2.16259257e-01] [ 1.83852756e-02 -8.56376233e-04 9.99830610e-01 -1.11435482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.586502481 meters 0.11152547138498244 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99794449e-01 -7.46313297e-03 -1.88510440e-02 3.88968624e+00] [ 7.45660580e-03 9.99972112e-01 -4.16515411e-04 2.18053310e-01] [ 1.88536268e-02 2.75864992e-04 9.99822217e-01 -1.11237324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.616502481 meters 0.11162623838755001 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99790336e-01 -7.54501232e-03 -1.90356937e-02 3.88976016e+00] [ 7.53440532e-03 9.99971418e-01 -6.28873591e-04 2.18511837e-01] [ 1.90398944e-02 4.85319107e-04 9.99818607e-01 -1.11208569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.646502481 meters 0.112117820188736 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99792216e-01 -7.63300117e-03 -1.89013908e-02 3.88977028e+00] [ 7.61914742e-03 9.99970650e-01 -8.04853785e-04 2.19247191e-01] [ 1.89069795e-02 6.60674066e-04 9.99821029e-01 -1.11238092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.676502481 meters 0.11229012203644227 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99786359e-01 -7.62569292e-03 -1.92115975e-02 3.89011034e+00] [ 7.60842408e-03 9.99970583e-01 -9.71808166e-04 2.19801401e-01] [ 1.92184430e-02 8.25430567e-04 9.99814968e-01 -1.11220850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.706502481 meters 0.11281001451257089 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99780923e-01 -7.75732979e-03 -1.94404392e-02 3.89028982e+00] [ 7.73084662e-03 9.99969084e-01 -1.43705606e-03 2.21495076e-01] [ 1.94509859e-02 1.28645018e-03 9.99809984e-01 -1.11202208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.736502481 meters 0.1129287789020038 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99776495e-01 -7.63204594e-03 -1.97157716e-02 3.89099174e+00] [ 7.60509765e-03 9.99970042e-01 -1.44145617e-03 2.22279724e-01] [ 1.97261822e-02 1.29119363e-03 9.99804586e-01 -1.11244390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.766502481 meters 0.11353843963879871 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99811852e-01 -3.13909437e-03 -1.91417539e-02 3.89138467e+00] [ 3.19757696e-03 9.99990311e-01 3.02539619e-03 2.22795210e-01] [ 1.91320714e-02 -3.08603420e-03 9.99812202e-01 -1.11403072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79650248099998 meters 0.11353843963879871 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99811852e-01 -3.13909437e-03 -1.91417539e-02 3.89138467e+00] [ 3.19757696e-03 9.99990311e-01 3.02539619e-03 2.22795210e-01] [ 1.91320714e-02 -3.08603420e-03 9.99812202e-01 -1.11403072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82650248099998 meters 0.11358874498432589 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99804236e-01 -3.21005836e-03 -1.95239771e-02 3.89161599e+00] [ 3.26355788e-03 9.99991005e-01 2.70895161e-03 2.23478216e-01] [ 1.95151056e-02 -2.77213892e-03 9.99805719e-01 -1.11353944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85650248099998 meters 0.11360948748717997 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99812249e-01 -3.59855912e-03 -1.90398692e-02 3.89092843e+00] [ 3.64177464e-03 9.99990870e-01 2.23555273e-03 2.24201362e-01] [ 1.90316506e-02 -2.30447192e-03 9.99816226e-01 -1.11348548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88650248099998 meters 0.1135206635522822 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99815920e-01 -3.59038590e-03 -1.88476589e-02 3.89093064e+00] [ 3.63425080e-03 9.99990766e-01 2.29360371e-03 2.24059477e-01] [ 1.88392499e-02 -2.36167862e-03 9.99819736e-01 -1.11383612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91650248099998 meters 0.11326133750190727 Centerline is valid? [False, False] Translation: X:3.89, Y:0.22, Z:-1.11 [[ 9.99819467e-01 -3.81011123e-03 -1.86149683e-02 3.89071435e+00] [ 3.84810400e-03 9.99990585e-01 2.00558650e-03 2.24758208e-01] [ 1.86071516e-02 -2.07685676e-03 9.99824715e-01 -1.11394952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94650248099998 meters 0.11341658919193398 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-1.11 [[ 9.99820142e-01 -4.03625437e-03 -1.85308586e-02 3.89039883e+00] [ 4.06784911e-03 9.99990336e-01 1.66760286e-03 2.25438127e-01] [ 1.85239486e-02 -1.74268366e-03 9.99826898e-01 -1.11364804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97650248099998 meters 0.11297932827802898 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-1.11 [[ 9.99819228e-01 -4.07892674e-03 -1.85707591e-02 3.89050594e+00] [ 4.10830604e-03 9.99990369e-01 1.54414391e-03 2.25951681e-01] [ 1.85642817e-02 -1.62015914e-03 9.99826356e-01 -1.11367865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00650248099998 meters 0.11308120291089734 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-1.11 [[ 9.99825358e-01 -4.29992343e-03 -1.81869243e-02 3.89011341e+00] [ 4.32454971e-03 9.99989785e-01 1.31495303e-03 2.26283552e-01] [ 1.81810843e-02 -1.39337364e-03 9.99833740e-01 -1.11381185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03650248099999 meters 0.11265231773876563 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-1.11 [[ 9.99831889e-01 -4.62507866e-03 -1.77426782e-02 3.88930316e+00] [ 4.64465706e-03 9.99988649e-01 1.06241478e-03 2.26149809e-01] [ 1.77375631e-02 -1.14464483e-03 9.99842022e-01 -1.11349191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.066502481 meters 0.112298622794876 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-1.11 [[ 9.99836236e-01 -4.74224947e-03 -1.74646225e-02 3.88891937e+00] [ 4.76076762e-03 9.99988148e-01 1.01890042e-03 2.26064272e-01] [ 1.74595837e-02 -1.10187857e-03 9.99846963e-01 -1.11349152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.096502481 meters 0.1124146817268322 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-1.11 [[ 9.99836493e-01 -4.66591037e-03 -1.74704335e-02 3.88937703e+00] [ 4.68623413e-03 9.99988389e-01 1.12256537e-03 2.26462466e-01] [ 1.74649929e-02 -1.20425237e-03 9.99846750e-01 -1.11406312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.126502481 meters 0.11225715925287277 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-1.11 [[ 9.99842850e-01 -4.63716650e-03 -1.71106024e-02 3.88944627e+00] [ 4.65918114e-03 9.99988368e-01 1.24696868e-03 2.26603680e-01] [ 1.71046210e-02 -1.32649411e-03 9.99852825e-01 -1.11484285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.156502481 meters 0.11220511292911459 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-1.12 [[ 9.99847591e-01 -4.61352989e-03 -1.68377573e-02 3.88976180e+00] [ 4.63540231e-03 9.99988462e-01 1.26021369e-03 2.27314959e-01] [ 1.68317490e-02 -1.33807140e-03 9.99857441e-01 -1.11576909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.186502481 meters 0.11201273481622823 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-1.12 [[ 9.99848257e-01 -4.78225466e-03 -1.67509136e-02 3.88969940e+00] [ 4.79928791e-03 9.99988006e-01 9.76803274e-04 2.28172709e-01] [ 1.67460414e-02 -1.05704751e-03 9.99859216e-01 -1.11582512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.216502481 meters 0.11189578914841149 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-1.12 [[ 9.99868931e-01 -8.31777659e-04 -1.61687445e-02 3.88913770e+00] [ 9.08277539e-04 9.99988427e-01 4.72457584e-03 2.29785426e-01] [ 1.61646276e-02 -4.73864231e-03 9.99858115e-01 -1.11614834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.246502481 meters 0.11197231102687513 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-1.12 [[ 9.99858043e-01 -9.71299696e-04 -1.68211567e-02 3.88962473e+00] [ 1.04116669e-03 9.99990866e-01 4.14525978e-03 2.31401050e-01] [ 1.68169767e-02 -4.16218495e-03 9.99849921e-01 -1.11546250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.276502481 meters 0.11210381454314981 Centerline is valid? [False, False] Translation: X:3.89, Y:0.23, Z:-1.11 [[ 9.99854244e-01 -1.26498509e-03 -1.70261693e-02 3.88962142e+00] [ 1.32451015e-03 9.99993049e-01 3.48527021e-03 2.33008449e-01] [ 1.70216421e-02 -3.50731355e-03 9.99848970e-01 -1.11498716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.306502481 meters 0.11204341855692788 Centerline is valid? [False, False] Translation: X:3.89, Y:0.24, Z:-1.12 [[ 9.99851457e-01 -1.42458667e-03 -1.71765723e-02 3.89028255e+00] [ 1.47438727e-03 9.99994746e-01 2.88701796e-03 2.36033099e-01] [ 1.71723692e-02 -2.91191404e-03 9.99848304e-01 -1.11558066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.336502481 meters 0.11219479381583922 Centerline is valid? [False, False] Translation: X:3.89, Y:0.24, Z:-1.12 [[ 9.99848907e-01 -1.58713402e-03 -1.73102268e-02 3.89054819e+00] [ 1.62930791e-03 9.99995738e-01 2.42252594e-03 2.37495653e-01] [ 1.73063082e-02 -2.45036360e-03 9.99847232e-01 -1.11563562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.366502481 meters 0.11255020809041466 Centerline is valid? [False, False] Translation: X:3.89, Y:0.24, Z:-1.12 [[ 9.99839961e-01 -1.52891260e-03 -1.78245434e-02 3.89183035e+00] [ 1.56352482e-03 9.99996919e-01 1.92805560e-03 2.41714802e-01] [ 1.78215406e-02 -1.95561615e-03 9.99839271e-01 -1.11645460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.396502481 meters 0.11288144781529896 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.12 [[ 9.99829398e-01 -1.28567433e-03 -1.84261312e-02 3.89322485e+00] [ 1.31439570e-03 9.99997940e-01 1.54670492e-03 2.46391805e-01] [ 1.84241047e-02 -1.57066027e-03 9.99829028e-01 -1.11727907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.426502481 meters 0.11292281245394088 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.12 [[ 9.99820965e-01 -1.34824499e-03 -1.88738117e-02 3.89380837e+00] [ 1.36965000e-03 9.99998433e-01 1.12123152e-03 2.47861699e-01] [ 1.88722704e-02 -1.14688130e-03 9.99821245e-01 -1.11713008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.456502481 meters 0.11309614314677416 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.12 [[ 9.99818647e-01 -1.57700066e-03 -1.89785530e-02 3.89383000e+00] [ 1.58865400e-03 9.99998559e-01 5.98966343e-04 2.49183370e-01] [ 1.89775811e-02 -6.29008073e-04 9.99819712e-01 -1.11687765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.486502481 meters 0.11349130812634672 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.12 [[ 9.99809357e-01 -1.62361207e-03 -1.94579879e-02 3.89462415e+00] [ 1.62640658e-03 9.99998669e-01 1.27793416e-04 2.52193106e-01] [ 1.94577545e-02 -1.59415652e-04 9.99810667e-01 -1.11704492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.516502481 meters 0.11363361835506515 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.12 [[ 9.99808193e-01 -1.89692593e-03 -1.94930325e-02 3.89438181e+00] [ 1.89014953e-03 9.99998147e-01 -3.66050340e-04 2.53329079e-01] [ 1.94936908e-02 3.29135383e-04 9.99809926e-01 -1.11661806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54650248099998 meters 0.1137274354577816 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:-1.12 [[ 9.99800760e-01 -2.29320352e-03 -1.98288212e-02 3.89415368e+00] [ 2.26958252e-03 9.99996688e-01 -1.21366750e-03 2.55133157e-01] [ 1.98315387e-02 1.16842254e-03 9.99802653e-01 -1.11555111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57650248099998 meters 0.11337640968009842 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:-1.12 [[ 9.99803020e-01 -2.45820339e-03 -1.96946519e-02 3.89388565e+00] [ 2.43045277e-03 9.99996020e-01 -1.43285546e-03 2.55433926e-01] [ 1.96980957e-02 1.38470630e-03 9.99805015e-01 -1.11542661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60650248099998 meters 0.11314480262995003 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:-1.12 [[ 9.99811456e-01 -2.66052128e-03 -1.92347010e-02 3.89339232e+00] [ 2.63109706e-03 9.99995330e-01 -1.55489125e-03 2.55421814e-01] [ 1.92387480e-02 1.50398972e-03 9.99813787e-01 -1.11562073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63650248099998 meters 0.11309486144376185 Centerline is valid? [False, False] Translation: X:3.89, Y:0.26, Z:-1.12 [[ 9.99813871e-01 -2.63042493e-03 -1.91129345e-02 3.89346737e+00] [ 2.60321928e-03 9.99995563e-01 -1.44815635e-03 2.55287094e-01] [ 1.91166589e-02 1.39813165e-03 9.99816282e-01 -1.11593899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66650248099998 meters 0.1128428703376365 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.12 [[ 9.99820422e-01 -2.30592745e-03 -1.88097214e-02 3.89404098e+00] [ 2.29119700e-03 9.99997051e-01 -8.04641997e-04 2.54462944e-01] [ 1.88115214e-02 7.61400724e-04 9.99822758e-01 -1.11733344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69650248099998 meters 0.11271217278525139 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.12 [[ 9.99822833e-01 -2.08385539e-03 -1.87072271e-02 3.89445532e+00] [ 2.07574660e-03 9.99997743e-01 -4.52864757e-04 2.54086948e-01] [ 1.87081286e-02 4.13953061e-04 9.99824902e-01 -1.11808474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72650248099998 meters 0.1126571512465463 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.12 [[ 9.99829703e-01 -2.20580827e-03 -1.83221240e-02 3.89414995e+00] [ 2.19761219e-03 9.99997476e-01 -4.67454217e-04 2.54105373e-01] [ 1.83231089e-02 4.27109688e-04 9.99832027e-01 -1.11841594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75650248099998 meters 0.11272906593206954 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.12 [[ 9.99831738e-01 -2.09052349e-03 -1.82243313e-02 3.89430938e+00] [ 2.08617501e-03 9.99997791e-01 -2.57616431e-04 2.53805097e-01] [ 1.82248296e-02 2.19553939e-04 9.99833890e-01 -1.11882598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78650248099999 meters 0.11250538569488061 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.12 [[ 9.99835232e-01 -2.20360664e-03 -1.80181281e-02 3.89401148e+00] [ 2.19828112e-03 9.99997534e-01 -3.15365002e-04 2.53667748e-01] [ 1.80187786e-02 2.75704129e-04 9.99837611e-01 -1.11880635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.816502481 meters 0.1124732118758159 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.12 [[ 9.99837433e-01 -2.23708096e-03 -1.78914422e-02 3.89386941e+00] [ 2.23189333e-03 9.99997461e-01 -3.09912559e-04 2.53640348e-01] [ 1.78920900e-02 2.69930386e-04 9.99839887e-01 -1.11885999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.846502481 meters 0.11254879698481238 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.12 [[ 9.99838108e-01 -2.24397408e-03 -1.78528021e-02 3.89388846e+00] [ 2.23921531e-03 9.99997452e-01 -2.86541316e-04 2.53682421e-01] [ 1.78533996e-02 2.46518660e-04 9.99840585e-01 -1.11896257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.876502481 meters 0.11254398706357249 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.12 [[ 9.99842790e-01 -2.43061559e-03 -1.75638049e-02 3.89355638e+00] [ 2.42331115e-03 9.99996968e-01 -4.37151159e-04 2.54032232e-01] [ 1.75648142e-02 3.94519870e-04 9.99845649e-01 -1.11907338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.906502481 meters 0.11242781989526453 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.12 [[ 9.99853534e-01 -2.37422356e-03 -1.69491268e-02 3.89353030e+00] [ 2.37230983e-03 9.99997177e-01 -1.33015496e-04 2.53878684e-01] [ 1.69493948e-02 9.27874336e-05 9.99856344e-01 -1.12028439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.936502481 meters 0.11259320979707493 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.12 [[ 9.99858512e-01 -2.28286803e-03 -1.66656791e-02 3.89369116e+00] [ 2.28523635e-03 9.99997381e-01 1.23064762e-04 2.53780648e-01] [ 1.66653545e-02 -1.61132366e-04 9.99861110e-01 -1.12110107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.966502481 meters 0.11270480117476452 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.12 [[ 9.99858585e-01 -2.06730298e-03 -1.66893882e-02 3.89422285e+00] [ 2.07449002e-03 9.99997763e-01 4.13334585e-04 2.53572864e-01] [ 1.66884964e-02 -4.47898103e-04 9.99860637e-01 -1.12176940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.996502481 meters 0.11303610944367481 Centerline is valid? [False, False] Translation: X:3.89, Y:0.25, Z:-1.12 [[ 9.99860505e-01 -1.98687071e-03 -1.65838005e-02 3.89467468e+00] [ 1.99608496e-03 9.99997863e-01 5.39083378e-04 2.54230891e-01] [ 1.65826940e-02 -5.72110854e-04 9.99862334e-01 -1.12260966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.026502481 meters 0.1132689062028744 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-1.12 [[ 9.99861215e-01 -1.66361409e-03 -1.65765605e-02 3.89566676e+00] [ 1.68004916e-03 9.99998111e-01 9.77588419e-04 2.54706732e-01] [ 1.65749029e-02 -1.00530218e-03 9.99862121e-01 -1.12400991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.056502481 meters 0.11338081840176062 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-1.12 [[ 9.99860464e-01 -1.47806516e-03 -1.66393534e-02 3.89625771e+00] [ 1.49772000e-03 9.99998195e-01 1.16882639e-03 2.54827586e-01] [ 1.66375958e-02 -1.19358439e-03 9.99860873e-01 -1.12465539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.086502481 meters 0.11345249180309189 Centerline is valid? [False, False] Translation: X:3.90, Y:0.25, Z:-1.13 [[ 9.99861677e-01 -1.31204939e-03 -1.65802783e-02 3.89675820e+00] [ 1.33535628e-03 9.99998136e-01 1.39470640e-03 2.54945921e-01] [ 1.65784174e-02 -1.41665406e-03 9.99861565e-01 -1.12544392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.116502481 meters 0.11375544969033538 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-1.13 [[ 9.99865215e-01 -1.13458264e-03 -1.63787729e-02 3.89739692e+00] [ 1.16145021e-03 9.99997995e-01 1.63097028e-03 2.55551143e-01] [ 1.63768896e-02 -1.64977358e-03 9.99864529e-01 -1.12671839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.146502481 meters 0.11374616412213907 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-1.13 [[ 9.99864691e-01 -9.87436075e-04 -1.64202777e-02 3.89790360e+00] [ 1.01705789e-03 9.99997870e-01 1.79572459e-03 2.55724200e-01] [ 1.64184696e-02 -1.81218199e-03 9.99863566e-01 -1.12730261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.176502481 meters 0.11391382202488284 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-1.13 [[ 9.99863287e-01 -9.53185657e-04 -1.65075144e-02 3.89840221e+00] [ 9.82136170e-04 9.99997994e-01 1.74575982e-03 2.56648463e-01] [ 1.65058172e-02 -1.76173378e-03 9.99862218e-01 -1.12779409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.206502481 meters 0.11407785665569017 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-1.13 [[ 9.99859220e-01 -7.78145350e-04 -1.67611330e-02 3.89900192e+00] [ 8.09391212e-04 9.99997947e-01 1.85748264e-03 2.56659549e-01] [ 1.67596532e-02 -1.87078745e-03 9.99857797e-01 -1.12802396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.236502481 meters 0.11407663686939634 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-1.13 [[ 9.99854839e-01 -8.44057536e-04 -1.70173081e-02 3.89926002e+00] [ 8.71951407e-04 9.99998288e-01 1.63179408e-03 2.57582079e-01] [ 1.70159017e-02 -1.64639547e-03 9.99853864e-01 -1.12784278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.266502481 meters 0.11419879392389201 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-1.13 [[ 9.99849148e-01 -8.76012356e-04 -1.73468804e-02 3.89956576e+00] [ 9.00851219e-04 9.99998580e-01 1.42412990e-03 2.58093455e-01] [ 1.73456082e-02 -1.43954203e-03 9.99848517e-01 -1.12752257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29650248099998 meters 0.11428990902485728 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-1.13 [[ 9.99849910e-01 -8.48650889e-04 -1.73042560e-02 3.89975796e+00] [ 8.73442134e-04 9.99998603e-01 1.42516015e-03 2.58109889e-01] [ 1.73030224e-02 -1.44006052e-03 9.99849254e-01 -1.12780196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32650248099998 meters 0.11444171152119195 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-1.13 [[ 9.99850619e-01 -6.30852585e-04 -1.72725562e-02 3.90009708e+00] [ 6.61201460e-04 9.99998248e-01 1.75140318e-03 2.57524896e-01] [ 1.72714210e-02 -1.76256219e-03 9.99849284e-01 -1.12830200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35650248099998 meters 0.11448736745686702 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-1.13 [[ 9.99808360e-01 -4.89586323e-03 -1.89545067e-02 3.90123083e+00] [ 4.83473043e-03 9.99982967e-01 -3.26972008e-03 2.60076778e-01] [ 1.89701920e-02 3.17745354e-03 9.99815001e-01 -1.12650477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38650248099998 meters 0.1144833944508269 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-1.13 [[ 9.99806088e-01 -4.95598118e-03 -1.90584281e-02 3.90129622e+00] [ 4.89153641e-03 9.99982166e-01 -3.42656318e-03 2.60551796e-01] [ 1.90750701e-02 3.33267373e-03 9.99812500e-01 -1.12635766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41650248099998 meters 0.1147871167953819 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-1.13 [[ 9.99806815e-01 -4.82822172e-03 -1.90530998e-02 3.90168802e+00] [ 4.76702289e-03 9.99983336e-01 -3.25612545e-03 2.60794505e-01] [ 1.90685036e-02 3.16466985e-03 9.99813171e-01 -1.12690268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44650248099998 meters 0.11467042416662349 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-1.13 [[ 9.99804631e-01 -4.75145889e-03 -1.91865661e-02 3.90193479e+00] [ 4.69079043e-03 9.99983860e-01 -3.20579588e-03 2.60789083e-01] [ 1.92014887e-02 3.11516941e-03 9.99810781e-01 -1.12694448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47650248099998 meters 0.114792055918109 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-1.13 [[ 9.99799605e-01 -4.65311602e-03 -1.94704558e-02 3.90229805e+00] [ 4.59086927e-03 9.99984212e-01 -3.24046197e-03 2.61068209e-01] [ 1.94852266e-02 3.15042628e-03 9.99805181e-01 -1.12682169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50650248099998 meters 0.11503215591620924 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-1.13 [[ 9.99801144e-01 -4.60396276e-03 -1.94030074e-02 3.90246565e+00] [ 4.54343633e-03 9.99984678e-01 -3.16236436e-03 2.61230108e-01] [ 1.94172695e-02 3.07357917e-03 9.99806743e-01 -1.12719848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53650248099999 meters 0.11516898001891279 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-1.13 [[ 9.99795398e-01 -4.43886036e-03 -1.97347076e-02 3.90314260e+00] [ 4.37706802e-03 9.99985386e-01 -3.17324317e-03 2.61909652e-01] [ 1.97485048e-02 3.08621376e-03 9.99800216e-01 -1.12742209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.566502481 meters 0.11538748372737502 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-1.13 [[ 9.99795332e-01 -4.30707210e-03 -1.97672513e-02 3.90360382e+00] [ 4.24743861e-03 9.99986305e-01 -3.05777558e-03 2.62202985e-01] [ 1.97801507e-02 2.97318956e-03 9.99799933e-01 -1.12797297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.596502481 meters 0.11589979311551628 Centerline is valid? [False, False] Translation: X:3.90, Y:0.26, Z:-1.13 [[ 9.99793133e-01 -3.84448574e-03 -1.99727514e-02 3.90482757e+00] [ 3.79249143e-03 9.99989322e-01 -2.64048753e-03 2.62656968e-01] [ 1.99826895e-02 2.56419481e-03 9.99797038e-01 -1.12922595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.626502481 meters 0.11630045036620594 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-1.13 [[ 9.99792666e-01 -3.51031973e-03 -2.00575039e-02 3.90561595e+00] [ 3.46433545e-03 9.99991292e-01 -2.32690922e-03 2.62929304e-01] [ 2.00654975e-02 2.25694085e-03 9.99796120e-01 -1.13014821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.656502481 meters 0.11653685934965508 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-1.13 [[ 9.99790347e-01 -3.37218753e-03 -2.01962886e-02 3.90601018e+00] [ 3.32778256e-03 9.99991972e-01 -2.23187465e-03 2.62937520e-01] [ 2.02036528e-02 2.16419787e-03 9.99793543e-01 -1.13036290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.686502481 meters 0.11653685934965508 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-1.13 [[ 9.99790347e-01 -3.37218753e-03 -2.01962886e-02 3.90601018e+00] [ 3.32778256e-03 9.99991972e-01 -2.23187465e-03 2.62937520e-01] [ 2.02036528e-02 2.16419787e-03 9.99793543e-01 -1.13036290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.716502481 meters 0.11678180113467868 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-1.13 [[ 9.99787848e-01 -3.31384084e-03 -2.03292378e-02 3.90614849e+00] [ 3.26921597e-03 9.99992174e-01 -2.22794892e-03 2.62908114e-01] [ 2.03364618e-02 2.16101558e-03 9.99790857e-01 -1.13026255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.746502481 meters 0.11694236397558164 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-1.13 [[ 9.99783308e-01 -3.32201699e-03 -2.05499882e-02 3.90611141e+00] [ 3.27459319e-03 9.99991898e-01 -2.34094821e-03 2.62765182e-01] [ 2.05575984e-02 2.27314809e-03 9.99786086e-01 -1.12972183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.776502481 meters 0.11709362979626636 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-1.13 [[ 9.99784291e-01 -3.20645793e-03 -2.05204639e-02 3.90621375e+00] [ 3.16320873e-03 9.99992708e-01 -2.13972497e-03 2.62142476e-01] [ 2.05271752e-02 2.07435290e-03 9.99787143e-01 -1.12989505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.806502481 meters 0.11692066211688906 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-1.13 [[ 9.99796530e-01 -2.91154897e-03 -1.99605213e-02 3.90636165e+00] [ 2.88389099e-03 9.99994841e-01 -1.41427892e-03 2.60094125e-01] [ 1.99645361e-02 1.35642719e-03 9.99799769e-01 -1.13114453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.836502481 meters 0.11687347445988976 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-1.13 [[ 9.99803234e-01 -2.69663628e-03 -1.96525394e-02 3.90645866e+00] [ 2.67908450e-03 9.99995989e-01 -9.19378316e-04 2.58911290e-01] [ 1.96549398e-02 8.66546600e-04 9.99806447e-01 -1.13189874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.866502481 meters 0.11664565993055495 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-1.13 [[ 9.99813428e-01 -2.59301703e-03 -1.91412173e-02 3.90614203e+00] [ 2.58568386e-03 9.99996574e-01 -4.07848011e-04 2.56992703e-01] [ 1.91422093e-02 3.58278782e-04 9.99816707e-01 -1.13246733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.896502481 meters 0.11640737715899152 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-1.13 [[ 9.99814259e-01 -2.42507663e-03 -1.91198150e-02 3.90637366e+00] [ 2.42314830e-03 9.99997056e-01 -1.24021590e-04 2.56288814e-01] [ 1.91200594e-02 7.76684066e-05 9.99817192e-01 -1.13280358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.926502481 meters 0.11646065439784388 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-1.13 [[ 9.99815761e-01 -2.14653694e-03 -1.90745126e-02 3.90681708e+00] [ 2.15491578e-03 9.99997591e-01 4.18726166e-04 2.55269365e-01] [ 1.90735678e-02 -4.59752988e-04 9.99817977e-01 -1.13351595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.956502481 meters 0.11640557129042314 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:-1.13 [[ 9.99818650e-01 -1.83365262e-03 -1.89553433e-02 3.90722986e+00] [ 1.85241148e-03 9.99997812e-01 9.72123304e-04 2.54266930e-01] [ 1.89535193e-02 -1.00706011e-03 9.99819859e-01 -1.13433214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.986502481 meters 0.11635686429666658 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:-1.13 [[ 9.99830715e-01 -1.90444415e-03 -1.83006699e-02 3.90663298e+00] [ 1.92855822e-03 9.99997295e-01 1.30010222e-03 2.52748114e-01] [ 1.82981444e-02 -1.33517604e-03 9.99831683e-01 -1.13483971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.016502481 meters 0.11623400459390337 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:-1.14 [[ 9.99833628e-01 -1.65597378e-03 -1.81651820e-02 3.90695903e+00] [ 1.68822058e-03 9.99997026e-01 1.76000714e-03 2.51868733e-01] [ 1.81622134e-02 -1.79038116e-03 9.99833450e-01 -1.13556225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04650248099998 meters 0.1163422776550836 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:-1.14 [[ 9.99806252e-01 -5.89941689e-03 -1.87791434e-02 3.90756490e+00] [ 5.85269205e-03 9.99979642e-01 -2.54211179e-03 2.52299051e-01] [ 1.87937581e-02 2.43171072e-03 9.99820425e-01 -1.13513864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07650248099998 meters 0.11620509468577832 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:-1.14 [[ 9.99808333e-01 -5.82435606e-03 -1.86915344e-02 3.90761264e+00] [ 5.78099921e-03 9.99980475e-01 -2.37279379e-03 2.51895263e-01] [ 1.87049895e-02 2.26428326e-03 9.99822482e-01 -1.13537591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10650248099998 meters 0.11634367991287718 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:-1.14 [[ 9.99806736e-01 -5.57457248e-03 -1.88524550e-02 3.90831133e+00] [ 5.53586625e-03 9.99982462e-01 -2.10467794e-03 2.51799078e-01] [ 1.88638570e-02 1.99990652e-03 9.99820061e-01 -1.13597876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13650248099998 meters 0.11643619439842064 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:-1.14 [[ 9.99810220e-01 -5.33903763e-03 -1.87355012e-02 3.90876218e+00] [ 5.30748759e-03 9.99984413e-01 -1.73329058e-03 2.51453999e-01] [ 1.87444633e-02 1.63352320e-03 9.99822973e-01 -1.13682842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16650248099998 meters 0.11662011759533349 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:-1.14 [[ 9.99812853e-01 -5.08359448e-03 -1.86659100e-02 3.90927708e+00] [ 5.05921711e-03 9.99986287e-01 -1.35297334e-03 2.51154519e-01] [ 1.86725320e-02 1.25828524e-03 9.99824861e-01 -1.13767649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19650248099998 meters 0.11680729261285372 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:-1.14 [[ 9.99807496e-01 -4.68304492e-03 -1.90535957e-02 3.91045910e+00] [ 4.66363230e-03 9.99988560e-01 -1.06314896e-03 2.51567948e-01] [ 1.90583565e-02 9.74085334e-04 9.99817899e-01 -1.13852212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22650248099998 meters 0.11682051674423179 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:-1.14 [[ 9.99808374e-01 -4.48922313e-03 -1.90541698e-02 3.91105292e+00] [ 4.47400381e-03 9.99989638e-01 -8.41292920e-04 2.51740699e-01] [ 1.90577491e-02 7.55883279e-04 9.99818099e-01 -1.13931821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25650248099998 meters 0.11722206856132886 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:-1.14 [[ 9.99802671e-01 -4.16931817e-03 -1.94225688e-02 3.91213472e+00] [ 4.15590151e-03 9.99991097e-01 -7.31088664e-04 2.52798426e-01] [ 1.94254441e-02 6.50226116e-04 9.99811097e-01 -1.14010366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28650248099999 meters 0.11768611589424359 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:-1.14 [[ 9.99797114e-01 -4.09233232e-03 -1.97226797e-02 3.91262635e+00] [ 4.07708280e-03 9.99991358e-01 -8.13344743e-04 2.53575232e-01] [ 1.97258377e-02 7.32768729e-04 9.99805158e-01 -1.14018074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.316502481 meters 0.11793675862014118 Centerline is valid? [False, False] Translation: X:3.91, Y:0.25, Z:-1.14 [[ 9.99794739e-01 -4.04069040e-03 -1.98532648e-02 3.91314058e+00] [ 4.02278519e-03 9.99991465e-01 -9.41731428e-04 2.54648396e-01] [ 1.98569006e-02 8.61672709e-04 9.99802461e-01 -1.14061360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.346502481 meters 0.1189418980315275 Centerline is valid? [False, False] Translation: X:3.91, Y:0.26, Z:-1.14 [[ 9.99789551e-01 -3.82217142e-03 -2.01555188e-02 3.91403605e+00] [ 3.80039093e-03 9.99992153e-01 -1.11881451e-03 2.56463940e-01] [ 2.01596369e-02 1.04198021e-03 9.99796231e-01 -1.14128645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.376502481 meters 0.11943042152301037 Centerline is valid? [False, False] Translation: X:3.92, Y:0.26, Z:-1.14 [[ 9.99772508e-01 -3.57432039e-03 -2.10275079e-02 3.91524344e+00] [ 3.54873110e-03 9.99992917e-01 -1.25413207e-03 2.57459225e-01] [ 2.10318416e-02 1.17922579e-03 9.99778111e-01 -1.14113684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.406502481 meters 0.12064308216329678 Centerline is valid? [False, False] Translation: X:3.92, Y:0.26, Z:-1.14 [[ 9.99752104e-01 -3.46593314e-03 -2.19935829e-02 3.91613655e+00] [ 3.42681828e-03 9.99992480e-01 -1.81590664e-03 2.60055842e-01] [ 2.19997113e-02 1.74008847e-03 9.99756463e-01 -1.14044113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.436502481 meters 0.12035779866588332 Centerline is valid? [False, False] Translation: X:3.92, Y:0.26, Z:-1.14 [[ 9.99751927e-01 -3.26731185e-03 -2.20320120e-02 3.91671340e+00] [ 3.23194204e-03 9.99993431e-01 -1.64079934e-03 2.60388121e-01] [ 2.20372283e-02 1.56918611e-03 9.99755919e-01 -1.14115000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.466502481 meters 0.12084997954592021 Centerline is valid? [False, False] Translation: X:3.92, Y:0.26, Z:-1.14 [[ 9.99753860e-01 -3.03825915e-03 -2.19769969e-02 3.91730729e+00] [ 3.00839554e-03 9.99994506e-01 -1.39179183e-03 2.60418440e-01] [ 2.19811048e-02 1.32533375e-03 9.99757508e-01 -1.14205595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.496502481 meters 0.12164072970930516 Centerline is valid? [False, False] Translation: X:3.92, Y:0.26, Z:-1.14 [[ 9.99758081e-01 -3.06553468e-03 -2.17803095e-02 3.91720929e+00] [ 3.03621918e-03 9.99994440e-01 -1.37890476e-03 2.60435386e-01] [ 2.17844155e-02 1.31244138e-03 9.99761830e-01 -1.14230526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.526502481 meters 0.12101091966428981 Centerline is valid? [False, False] Translation: X:3.92, Y:0.26, Z:-1.14 [[ 9.99754552e-01 -2.73096594e-03 -2.19858487e-02 3.91786504e+00] [ 2.71020407e-03 9.99995853e-01 -9.74070420e-04 2.59730122e-01] [ 2.19884177e-02 9.14245200e-04 9.99757807e-01 -1.14274013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.556502481 meters 0.12058396932781763 Centerline is valid? [False, False] Translation: X:3.92, Y:0.26, Z:-1.14 [[ 9.99761002e-01 -2.34425192e-03 -2.17357534e-02 3.91824705e+00] [ 2.33944927e-03 9.99997233e-01 -2.46381555e-04 2.57909944e-01] [ 2.17362709e-02 1.95472978e-04 9.99763720e-01 -1.14374294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.586502481 meters 0.12099604895814486 Centerline is valid? [False, False] Translation: X:3.92, Y:0.26, Z:-1.14 [[ 9.99762688e-01 -2.10423357e-03 -2.16827087e-02 3.91849425e+00] [ 2.10772319e-03 9.99997769e-01 1.38087973e-04 2.56899633e-01] [ 2.16823697e-02 -1.83756351e-04 9.99764893e-01 -1.14415027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.616502481 meters 0.12036750289897692 Centerline is valid? [False, False] Translation: X:3.92, Y:0.26, Z:-1.14 [[ 9.99767292e-01 -1.98644756e-03 -2.14805842e-02 3.91830160e+00] [ 1.99624649e-03 9.99997913e-01 4.34743037e-04 2.55305207e-01] [ 2.14796757e-02 -4.77522409e-04 9.99769171e-01 -1.14418162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.646502481 meters 0.11982691678296602 Centerline is valid? [False, False] Translation: X:3.92, Y:0.25, Z:-1.14 [[ 9.99768138e-01 -1.61177081e-03 -2.14725846e-02 3.91881319e+00] [ 1.63373228e-03 9.99998160e-01 1.00526520e-03 2.53968501e-01] [ 2.14709248e-02 -1.04011257e-03 9.99768932e-01 -1.14483865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.676502481 meters 0.11981679460319603 Centerline is valid? [False, False] Translation: X:3.92, Y:0.25, Z:-1.15 [[ 9.99781337e-01 -1.31653528e-03 -2.08697321e-02 3.91874391e+00] [ 1.35462510e-03 9.99997442e-01 1.81109056e-03 2.51350583e-01] [ 2.08672943e-02 -1.83896520e-03 9.99780563e-01 -1.14593386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.706502481 meters 0.11943080800563007 Centerline is valid? [False, False] Translation: X:3.92, Y:0.25, Z:-1.15 [[ 9.99743692e-01 -5.53274716e-03 -2.19531283e-02 3.91972626e+00] [ 5.47542637e-03 9.99981444e-01 -2.67030400e-03 2.52313339e-01] [ 2.19674950e-02 2.54941684e-03 9.99755435e-01 -1.14508848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.736502481 meters 0.11902161232069845 Centerline is valid? [False, False] Translation: X:3.92, Y:0.25, Z:-1.15 [[ 9.99750257e-01 -5.23210341e-03 -2.17266766e-02 3.91991716e+00] [ 5.18903144e-03 9.99984459e-01 -2.03835094e-03 2.50765365e-01] [ 2.17370039e-02 1.92510146e-03 9.99761870e-01 -1.14581764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.766502481 meters 0.11833910052553864 Centerline is valid? [False, False] Translation: X:3.92, Y:0.25, Z:-1.15 [[ 9.99775295e-01 -5.54510627e-03 -2.04599884e-02 3.91880909e+00] [ 5.51521478e-03 9.99983640e-01 -1.51711114e-03 2.45803321e-01] [ 2.04680662e-02 1.40392900e-03 9.99789521e-01 -1.14660290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79650248099998 meters 0.11725862139546958 Centerline is valid? [False, False] Translation: X:3.92, Y:0.24, Z:-1.15 [[ 9.99788279e-01 -5.63048921e-03 -1.97912734e-02 3.91801483e+00] [ 5.61290636e-03 9.99983802e-01 -9.43851511e-04 2.41045885e-01] [ 1.97962672e-02 8.32565113e-04 9.99803688e-01 -1.14663124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82650248099998 meters 0.11685403714768695 Centerline is valid? [False, False] Translation: X:3.92, Y:0.24, Z:-1.15 [[ 9.99794499e-01 -5.51542442e-03 -1.95074406e-02 3.91778412e+00] [ 5.50642528e-03 9.99984707e-01 -5.15001742e-04 2.39379413e-01] [ 1.95099828e-02 4.07479644e-04 9.99809579e-01 -1.14682538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85650248099998 meters 0.1158506675408043 Centerline is valid? [False, False] Translation: X:3.92, Y:0.23, Z:-1.15 [[ 9.99817710e-01 -5.90458619e-03 -1.81571494e-02 3.91681375e+00] [ 5.90792784e-03 9.99982540e-01 1.30405705e-04 2.33545760e-01] [ 1.81560624e-02 -2.37653062e-04 9.99835137e-01 -1.14788145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88650248099998 meters 0.11564361744954213 Centerline is valid? [False, False] Translation: X:3.92, Y:0.23, Z:-1.15 [[ 9.99826080e-01 -5.66287946e-03 -1.77691323e-02 3.91668340e+00] [ 5.67842642e-03 9.99983538e-01 8.24608981e-04 2.31356027e-01] [ 1.77641702e-02 -9.25366275e-04 9.99841776e-01 -1.14845060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91650248099998 meters 0.11511132304453131 Centerline is valid? [False, False] Translation: X:3.92, Y:0.23, Z:-1.15 [[ 9.99839011e-01 -6.09583150e-03 -1.68758233e-02 3.91538916e+00] [ 6.11367617e-03 9.99980805e-01 1.00602165e-03 2.26888418e-01] [ 1.68693669e-02 -1.10903301e-03 9.99857087e-01 -1.14825525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94650248099998 meters 0.11492244609999805 Centerline is valid? [False, False] Translation: X:3.92, Y:0.23, Z:-1.15 [[ 9.99841524e-01 -5.78556436e-03 -1.68361093e-02 3.91560071e+00] [ 5.81269548e-03 9.99981885e-01 1.56299476e-03 2.25249822e-01] [ 1.68267615e-02 -1.66061024e-03 9.99857041e-01 -1.14858150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97650248099998 meters 0.11473923978944288 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:-1.15 [[ 9.99850150e-01 -5.58256029e-03 -1.63863283e-02 3.91527306e+00] [ 5.62057923e-03 9.99981617e-01 2.27502581e-03 2.22405590e-01] [ 1.63733266e-02 -2.36678556e-03 9.99863147e-01 -1.14898682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00650248099998 meters 0.11455502957001744 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:-1.15 [[ 9.99850593e-01 -5.38420243e-03 -1.64256645e-02 3.91542129e+00] [ 5.42818869e-03 9.99981797e-01 2.63449080e-03 2.21255611e-01] [ 1.64111809e-02 -2.72325879e-03 9.99861619e-01 -1.14909406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03650248099999 meters 0.11456103580554108 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:-1.15 [[ 9.99849500e-01 -5.11238461e-03 -1.65783552e-02 3.91572435e+00] [ 5.16357497e-03 9.99982028e-01 3.04644945e-03 2.20021036e-01] [ 1.65624826e-02 -3.13159454e-03 9.99857929e-01 -1.14917886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.066502481 meters 0.11431681360778861 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:-1.15 [[ 9.99857883e-01 -4.88011000e-03 -1.61368320e-02 3.91561757e+00] [ 4.94038947e-03 9.99980959e-01 3.69776934e-03 2.17943140e-01] [ 1.61184792e-02 -3.77696606e-03 9.99862955e-01 -1.14990998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.096502481 meters 0.1142637738000995 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:-1.15 [[ 0.99986112 -0.0044999 -0.01604665 3.91607423] [ 0.0045693 0.99998036 0.00429078 0.21652717] [ 0.01602702 -0.0043635 0.99986204 -1.1506897 ] [ 0. 0. 0. 1. ]] SLAMing on 134.126502481 meters 0.11452920811945232 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-1.15 [[ 0.99985981 -0.00404388 -0.01624852 3.91689225] [ 0.00412442 0.99997936 0.00492641 0.21499084] [ 0.01622827 -0.00499273 0.99985585 -1.15138584] [ 0. 0. 0. 1. ]] SLAMing on 134.156502481 meters 0.11471934223693633 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-1.15 [[ 0.99985804 -0.00398323 -0.01637155 3.91713191] [ 0.00406493 0.99997944 0.00496008 0.21489865] [ 0.01635146 -0.00502593 0.99985367 -1.15146573] [ 0. 0. 0. 1. ]] SLAMing on 134.186502481 meters 0.11510631205376554 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-1.15 [[ 9.99849316e-01 -3.37205630e-03 -1.70286586e-02 3.91868112e+00] [ 3.46669237e-03 9.99978695e-01 5.53100147e-03 2.14297727e-01] [ 1.70096450e-02 -5.58920116e-03 9.99839704e-01 -1.15229328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.216502481 meters 0.11547039325126955 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-1.15 [[ 9.99845488e-01 -3.18322062e-03 -1.72877781e-02 3.91920687e+00] [ 3.28233917e-03 9.99978322e-01 5.70810157e-03 2.14035298e-01] [ 1.72692332e-02 -5.76396395e-03 9.99834261e-01 -1.15250136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.246502481 meters 0.11555669146136649 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-1.15 [[ 9.99840934e-01 -3.13046826e-03 -1.75586890e-02 3.91950649e+00] [ 3.23017221e-03 9.99978805e-01 5.65284151e-03 2.14101356e-01] [ 1.75406208e-02 -5.70865992e-03 9.99829854e-01 -1.15238002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.276502481 meters 0.11635091085554775 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-1.15 [[ 9.99830293e-01 -3.14745933e-03 -1.81515253e-02 3.91987124e+00] [ 3.24398827e-03 9.99980741e-01 5.29096175e-03 2.14812685e-01] [ 1.81345226e-02 -5.34894718e-03 9.99821248e-01 -1.15172971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.306502481 meters 0.11704443332158353 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:-1.15 [[ 9.99816476e-01 -3.18190918e-03 -1.88915119e-02 3.92032074e+00] [ 3.27279195e-03 9.99983211e-01 4.78180650e-03 2.16042688e-01] [ 1.88759794e-02 -4.84275691e-03 9.99810105e-01 -1.15091448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.336502481 meters 0.11763047464430643 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:-1.15 [[ 9.99806395e-01 -3.24277716e-03 -1.94076709e-02 3.92062564e+00] [ 3.32944986e-03 9.99984622e-01 4.43525502e-03 2.16705944e-01] [ 1.93929899e-02 -4.49901320e-03 9.99801816e-01 -1.15028010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.366502481 meters 0.11790846872569985 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:-1.15 [[ 9.99802591e-01 -3.40587729e-03 -1.95749604e-02 3.92044327e+00] [ 3.48667086e-03 9.99985538e-01 4.09474771e-03 2.17084049e-01] [ 1.95607311e-02 -4.16219082e-03 9.99800007e-01 -1.14968146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.396502481 meters 0.11865407271364434 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:-1.15 [[ 9.99793267e-01 -3.38460816e-03 -2.00491114e-02 3.92051080e+00] [ 3.46424938e-03 9.99986242e-01 3.93890832e-03 2.16589247e-01] [ 2.00355039e-02 -4.00754914e-03 9.99791237e-01 -1.14878744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.426502481 meters 0.11901099007216231 Centerline is valid? [False, False] Translation: X:3.92, Y:0.22, Z:-1.15 [[ 9.99791454e-01 -3.29735757e-03 -2.01538096e-02 3.92058680e+00] [ 3.37976833e-03 9.99986061e-01 4.05639868e-03 2.15952675e-01] [ 2.01401533e-02 -4.12366794e-03 9.99788662e-01 -1.14866828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.456502481 meters 0.11962995696446235 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-1.15 [[ 9.99787258e-01 -3.06239431e-03 -2.03975615e-02 3.92069973e+00] [ 3.15413754e-03 9.99985048e-01 4.46710263e-03 2.14176610e-01] [ 2.03835765e-02 -4.53048900e-03 9.99781968e-01 -1.14834912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.486502481 meters 0.11970998319021323 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-1.15 [[ 9.99785132e-01 -2.95021299e-03 -2.05179252e-02 3.92065088e+00] [ 3.04653830e-03 9.99984478e-01 4.66501871e-03 2.13094256e-01] [ 2.05038439e-02 -4.72652500e-03 9.99778602e-01 -1.14801047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.516502481 meters 0.11957841355534642 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-1.15 [[ 9.99797871e-01 -3.41856118e-03 -1.98123825e-02 3.91958789e+00] [ 3.51361539e-03 9.99982475e-01 4.76489515e-03 2.08333005e-01] [ 1.97957462e-02 -4.83354512e-03 9.99792361e-01 -1.14777407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54650248099998 meters 0.11965741136776421 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-1.15 [[ 9.99803415e-01 -2.93647112e-03 -1.96088982e-02 3.92006312e+00] [ 3.04957155e-03 9.99978874e-01 5.74040265e-03 2.05867687e-01] [ 1.95916274e-02 -5.79907291e-03 9.99791248e-01 -1.14883055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57650248099998 meters 0.11965676370492878 Centerline is valid? [False, False] Translation: X:3.92, Y:0.20, Z:-1.15 [[ 9.99809614e-01 -2.51686808e-03 -1.93494474e-02 3.92040384e+00] [ 2.64585611e-03 9.99974431e-01 6.64353116e-03 2.03534929e-01] [ 1.93322318e-02 -6.69346218e-03 9.99790709e-01 -1.14980140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60650248099998 meters 0.11965676370492878 Centerline is valid? [False, False] Translation: X:3.92, Y:0.20, Z:-1.15 [[ 9.99809614e-01 -2.51686808e-03 -1.93494474e-02 3.92040384e+00] [ 2.64585611e-03 9.99974431e-01 6.64353116e-03 2.03534929e-01] [ 1.93322318e-02 -6.69346218e-03 9.99790709e-01 -1.14980140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63650248099998 meters 0.11931515097482408 Centerline is valid? [False, False] Translation: X:3.92, Y:0.20, Z:-1.15 [[ 9.99787493e-01 -6.59299713e-03 -1.95320413e-02 3.92060420e+00] [ 6.65242303e-03 9.99973435e-01 2.97907257e-03 2.01312487e-01] [ 1.95118814e-02 -3.10837490e-03 9.99804793e-01 -1.14971484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66650248099998 meters 0.11892125339662168 Centerline is valid? [False, False] Translation: X:3.92, Y:0.20, Z:-1.15 [[ 9.99795551e-01 -6.86528316e-03 -1.90190690e-02 3.91951258e+00] [ 6.92944374e-03 9.99970514e-01 3.30964096e-03 1.96085022e-01] [ 1.89957866e-02 -3.44075587e-03 9.99813643e-01 -1.14911792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69650248099998 meters 0.11888476034197659 Centerline is valid? [False, False] Translation: X:3.92, Y:0.19, Z:-1.15 [[ 9.99798036e-01 -6.60375415e-03 -1.89809578e-02 3.91949149e+00] [ 6.67835088e-03 9.99970213e-01 3.86938602e-03 1.94038571e-01] [ 1.89548400e-02 -3.99536604e-03 9.99812358e-01 -1.14910516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72650248099998 meters 0.1184980473253563 Centerline is valid? [False, False] Translation: X:3.92, Y:0.19, Z:-1.15 [[ 9.99809061e-01 -7.31118756e-03 -1.81215044e-02 3.91776995e+00] [ 7.38169243e-03 9.99965432e-01 3.82684247e-03 1.89311987e-01] [ 1.80928992e-02 -3.95987915e-03 9.99828468e-01 -1.14836526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75650248099998 meters 0.1182032736695191 Centerline is valid? [False, False] Translation: X:3.92, Y:0.19, Z:-1.15 [[ 0.99981323 -0.00718056 -0.01794294 3.9175005 ] [ 0.00725768 0.99996469 0.00423676 0.18770681] [ 0.01791188 -0.00436619 0.99983004 -1.14832942] [ 0. 0. 0. 1. ]] SLAMing on 134.78650248099999 meters 0.1177790629968005 Centerline is valid? [False, False] Translation: X:3.92, Y:0.19, Z:-1.15 [[ 0.99981422 -0.00746643 -0.01777006 3.91620555] [ 0.00754183 0.99996282 0.00417965 0.18510105] [ 0.01773819 -0.00431289 0.99983336 -1.14685372] [ 0. 0. 0. 1. ]] SLAMing on 134.816502481 meters 0.11765027052641279 Centerline is valid? [False, False] Translation: X:3.92, Y:0.18, Z:-1.15 [[ 0.99981873 -0.0074386 -0.01752612 3.91571137] [ 0.00751718 0.99996197 0.0044221 0.18383298] [ 0.01749256 -0.00455305 0.99983663 -1.14664368] [ 0. 0. 0. 1. ]] SLAMing on 134.846502481 meters 0.11755058136188216 Centerline is valid? [False, False] Translation: X:3.92, Y:0.18, Z:-1.15 [[ 0.99982115 -0.007162 -0.0175035 3.91583212] [ 0.00724972 0.99996145 0.00495356 0.18212123] [ 0.01746735 -0.00507957 0.99983453 -1.14680125] [ 0. 0. 0. 1. ]] SLAMing on 134.876502481 meters 0.11708962044297092 Centerline is valid? [False, False] Translation: X:3.92, Y:0.18, Z:-1.15 [[ 0.99983491 -0.00671187 -0.01688488 3.91571278] [ 0.00681419 0.99995872 0.00600989 0.17827399] [ 0.01684384 -0.00612396 0.99983938 -1.14769267] [ 0. 0. 0. 1. ]] SLAMing on 134.906502481 meters 0.11687534508795208 Centerline is valid? [False, False] Translation: X:3.92, Y:0.18, Z:-1.15 [[ 0.9998376 -0.00665824 -0.01674612 3.91542775] [ 0.00676354 0.99995766 0.00623919 0.17706838] [ 0.01670387 -0.00635144 0.99984031 -1.14752795] [ 0. 0. 0. 1. ]] SLAMing on 134.936502481 meters 0.11670611940341248 Centerline is valid? [False, False] Translation: X:3.92, Y:0.17, Z:-1.15 [[ 0.99984149 -0.00648732 -0.01658017 3.91519167] [ 0.00659972 0.99995555 0.00673353 0.17499446] [ 0.01653575 -0.00684189 0.99983987 -1.14747508] [ 0. 0. 0. 1. ]] SLAMing on 134.966502481 meters 0.11643210459409661 Centerline is valid? [False, False] Translation: X:3.92, Y:0.17, Z:-1.15 [[ 0.99984154 -0.00613655 -0.01671069 3.91568874] [ 0.00625831 0.99995418 0.00724404 0.17372317] [ 0.01666547 -0.00734748 0.99983412 -1.14782899] [ 0. 0. 0. 1. ]] SLAMing on 134.996502481 meters 0.1164715569952681 Centerline is valid? [False, False] Translation: X:3.92, Y:0.17, Z:-1.15 [[ 0.99984928 -0.00564234 -0.01641887 3.91602714] [ 0.0057775 0.99994972 0.00819634 0.17087825] [ 0.0163718 -0.00828997 0.99983161 -1.1487747 ] [ 0. 0. 0. 1. ]] SLAMing on 135.026502481 meters 0.11646450206050779 Centerline is valid? [False, False] Translation: X:3.92, Y:0.17, Z:-1.15 [[ 0.9998495 -0.00537781 -0.01649425 3.91641899] [ 0.00552048 0.99994764 0.00861632 0.16977685] [ 0.01644704 -0.00870608 0.99982683 -1.14913298] [ 0. 0. 0. 1. ]] SLAMing on 135.056502481 meters 0.11638213513098869 Centerline is valid? [False, False] Translation: X:3.92, Y:0.17, Z:-1.15 [[ 0.99984755 -0.00493119 -0.01675017 3.91721138] [ 0.00508599 0.99994464 0.00921138 0.16840132] [ 0.01670382 -0.00929517 0.99981727 -1.14964729] [ 0. 0. 0. 1. ]] SLAMing on 135.086502481 meters 0.11643514098366939 Centerline is valid? [False, False] Translation: X:3.92, Y:0.17, Z:-1.15 [[ 0.99984702 -0.00485339 -0.01680425 3.91737112] [ 0.00501056 0.99994398 0.00932378 0.16795963] [ 0.01675806 -0.00940655 0.99981533 -1.14974772] [ 0. 0. 0. 1. ]] SLAMing on 135.116502481 meters 0.116828241389877 Centerline is valid? [False, False] Translation: X:3.91, Y:0.17, Z:-1.15 [[ 9.99977471e-01 2.22883257e-04 -6.70871388e-03 3.91432418e+00] [-2.11230963e-04 9.99998468e-01 1.73754781e-03 1.67312617e-01] [ 6.70909088e-03 -1.73609157e-03 9.99975987e-01 -1.15144485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.146502481 meters 0.11668497532335137 Centerline is valid? [False, False] Translation: X:3.92, Y:0.17, Z:-1.15 [[ 9.99960834e-01 -3.78131772e-03 -8.00198869e-03 3.91549242e+00] [ 3.76018693e-03 9.99989408e-01 -2.65409096e-03 1.68256893e-01] [ 8.01193990e-03 2.62389804e-03 9.99964461e-01 -1.15058924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.176502481 meters 0.11696278105189911 Centerline is valid? [False, False] Translation: X:3.92, Y:0.17, Z:-1.15 [[ 9.99957440e-01 -3.73942384e-03 -8.43418813e-03 3.91550041e+00] [ 3.71660174e-03 9.99989394e-01 -2.71995658e-03 1.67782387e-01] [ 8.44426975e-03 2.68849430e-03 9.99960732e-01 -1.14974002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.206502481 meters 0.11713956686952726 Centerline is valid? [False, False] Translation: X:3.92, Y:0.17, Z:-1.15 [[ 9.99956589e-01 -3.65184307e-03 -8.57230801e-03 3.91563088e+00] [ 3.62926061e-03 9.99989907e-01 -2.64842849e-03 1.67430902e-01] [ 8.58189314e-03 2.61720238e-03 9.99959750e-01 -1.14961295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.236502481 meters 0.11732952120721045 Centerline is valid? [False, False] Translation: X:3.92, Y:0.17, Z:-1.15 [[ 9.99956770e-01 -3.26719938e-03 -8.70533263e-03 3.91617135e+00] [ 3.24871799e-03 9.99992441e-01 -2.13629166e-03 1.66065246e-01] [ 8.71224652e-03 2.10791814e-03 9.99959826e-01 -1.15004113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.266502481 meters 0.11762535590869265 Centerline is valid? [False, False] Translation: X:3.92, Y:0.17, Z:-1.15 [[ 9.99956495e-01 -2.96188163e-03 -8.84511520e-03 3.91660353e+00] [ 2.94682095e-03 9.99994187e-01 -1.71525900e-03 1.65090510e-01] [ 8.85014418e-03 1.68911941e-03 9.99959410e-01 -1.15033545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29650248099998 meters 0.11751700927588456 Centerline is valid? [False, False] Translation: X:3.92, Y:0.16, Z:-1.15 [[ 9.99956450e-01 -2.78978782e-03 -8.90592828e-03 3.91674016e+00] [ 2.77708448e-03 9.99995109e-01 -1.43843934e-03 1.64246631e-01] [ 8.90989766e-03 1.41364418e-03 9.99959307e-01 -1.15038064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32650248099998 meters 0.11755462720037373 Centerline is valid? [False, False] Translation: X:3.92, Y:0.16, Z:-1.15 [[ 9.99957888e-01 -2.50508863e-03 -8.82875872e-03 3.91679241e+00] [ 2.49697134e-03 9.99996450e-01 -9.30317618e-04 1.62389547e-01] [ 8.83105791e-03 9.08233283e-04 9.99960593e-01 -1.15056164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35650248099998 meters 0.1173960639254699 Centerline is valid? [False, False] Translation: X:3.92, Y:0.16, Z:-1.15 [[ 9.99959370e-01 -2.08077434e-03 -8.77092348e-03 3.91712606e+00] [ 2.07908597e-03 9.99997818e-01 -2.01609199e-04 1.60238317e-01] [ 8.77132385e-03 1.83365504e-04 9.99961514e-01 -1.15108957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38650248099998 meters 0.11755205399062112 Centerline is valid? [False, False] Translation: X:3.92, Y:0.16, Z:-1.15 [[ 9.99959198e-01 -1.95830010e-03 -8.81853078e-03 3.91710756e+00] [ 1.95871378e-03 9.99998081e-01 3.82744661e-05 1.59308936e-01] [ 8.81843891e-03 -5.55458823e-05 9.99961115e-01 -1.15097037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41650248099998 meters 0.11716626713296273 Centerline is valid? [False, False] Translation: X:3.92, Y:0.16, Z:-1.15 [[ 9.99958859e-01 -1.59404769e-03 -8.92974284e-03 3.91754076e+00] [ 1.59961499e-03 9.99998531e-01 6.16347267e-04 1.58049935e-01] [ 8.92874723e-03 -6.30606060e-04 9.99959939e-01 -1.15132288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44650248099998 meters 0.11699794034092419 Centerline is valid? [False, False] Translation: X:3.92, Y:0.15, Z:-1.15 [[ 9.99966710e-01 -1.89220312e-03 -7.93719798e-03 3.91650376e+00] [ 1.90018099e-03 9.99997697e-01 9.97703673e-04 1.53145252e-01] [ 7.93529184e-03 -1.01275257e-03 9.99968002e-01 -1.15166703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47650248099998 meters 0.11670780465113381 Centerline is valid? [False, False] Translation: X:3.92, Y:0.15, Z:-1.15 [[ 9.99969193e-01 -1.55533081e-03 -7.69376257e-03 3.91662820e+00] [ 1.56893574e-03 9.99997216e-01 1.76258652e-03 1.50989557e-01] [ 7.69099975e-03 -1.77460324e-03 9.99968849e-01 -1.15230447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50650248099998 meters 0.11613299613301803 Centerline is valid? [False, False] Translation: X:3.92, Y:0.15, Z:-1.15 [[ 9.99951951e-01 -5.31838522e-03 -8.23474813e-03 3.91738783e+00] [ 5.30531049e-03 9.99984633e-01 -1.60878244e-03 1.48843529e-01] [ 8.24317771e-03 1.56501724e-03 9.99964800e-01 -1.15231772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53650248099999 meters 0.11600280262197926 Centerline is valid? [False, False] Translation: X:3.92, Y:0.15, Z:-1.15 [[ 9.99955302e-01 -4.86902145e-03 -8.10473020e-03 3.91766754e+00] [ 4.86349088e-03 9.99987927e-01 -7.01957390e-04 1.46640708e-01] [ 8.10805019e-03 6.62508733e-04 9.99966910e-01 -1.15293245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.566502481 meters 0.11498154198103792 Centerline is valid? [False, False] Translation: X:3.92, Y:0.14, Z:-1.15 [[ 9.99962739e-01 -5.39105876e-03 -6.74221448e-03 3.91641030e+00] [ 5.39083431e-03 9.99985468e-01 -5.14628982e-05 1.40543726e-01] [ 6.74239394e-03 1.51148195e-05 9.99977270e-01 -1.15359118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.596502481 meters 0.11493297055829574 Centerline is valid? [False, False] Translation: X:3.92, Y:0.14, Z:-1.15 [[ 9.99968467e-01 -5.01177776e-03 -6.16017055e-03 3.91631498e+00] [ 5.01758648e-03 9.99986981e-01 9.27854114e-04 1.37695590e-01] [ 6.15544015e-03 -9.58734044e-04 9.99980596e-01 -1.15451526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.626502481 meters 0.11465967776926082 Centerline is valid? [False, False] Translation: X:3.92, Y:0.14, Z:-1.16 [[ 9.99973227e-01 -4.78302306e-03 -5.53779563e-03 3.91594055e+00] [ 4.79268313e-03 9.99987014e-01 1.73243420e-03 1.35198185e-01] [ 5.52943744e-03 -1.75892872e-03 9.99983166e-01 -1.15515455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.656502481 meters 0.11375956877182127 Centerline is valid? [False, False] Translation: X:3.91, Y:0.13, Z:-1.15 [[ 9.99973281e-01 -5.84733854e-03 -4.38710585e-03 3.91352579e+00] [ 5.85306879e-03 9.99982033e-01 1.29445730e-03 1.31021636e-01] [ 4.37945789e-03 -1.32010075e-03 9.99989539e-01 -1.15384847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.686502481 meters 0.1133415406151575 Centerline is valid? [False, False] Translation: X:3.91, Y:0.13, Z:-1.15 [[ 9.99974807e-01 -6.21559743e-03 -3.42821629e-03 3.91203982e+00] [ 6.22043467e-03 9.99979670e-01 1.40215636e-03 1.27745335e-01] [ 3.41943135e-03 -1.42344603e-03 9.99993141e-01 -1.15349974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.716502481 meters 0.11328998251005379 Centerline is valid? [False, False] Translation: X:3.91, Y:0.13, Z:-1.15 [[ 9.99977410e-01 -5.82793273e-03 -3.34891083e-03 3.91244678e+00] [ 5.83487815e-03 9.99980839e-01 2.06792121e-03 1.26377276e-01] [ 3.33679496e-03 -2.08741498e-03 9.99992254e-01 -1.15418222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.746502481 meters 0.11308686942584686 Centerline is valid? [False, False] Translation: X:3.91, Y:0.13, Z:-1.15 [[ 9.99979562e-01 -5.56074113e-03 -3.15483036e-03 3.91251839e+00] [ 5.56885386e-03 9.99981195e-01 2.56859405e-03 1.25134055e-01] [ 3.14048775e-03 -2.58611035e-03 9.99991725e-01 -1.15460590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.776502481 meters 0.11276408266345479 Centerline is valid? [False, False] Translation: X:3.91, Y:0.12, Z:-1.16 [[ 9.99983095e-01 -5.24614265e-03 -2.50752749e-03 3.91234972e+00] [ 5.25451858e-03 9.99980599e-01 3.34547867e-03 1.23045795e-01] [ 2.48992798e-03 -3.35859796e-03 9.99991260e-01 -1.15555731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.806502481 meters 0.11274266950837909 Centerline is valid? [False, False] Translation: X:3.91, Y:0.12, Z:-1.16 [[ 9.99985660e-01 -4.81387382e-03 -2.34670176e-03 3.91284511e+00] [ 4.82332380e-03 9.99980215e-01 4.03803135e-03 1.21797725e-01] [ 2.32721676e-03 -4.04929234e-03 9.99989094e-01 -1.15653747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.836502481 meters 0.11267212221652444 Centerline is valid? [False, False] Translation: X:3.91, Y:0.12, Z:-1.16 [[ 9.99987921e-01 -4.51590896e-03 -1.94007643e-03 3.91296366e+00] [ 4.52490687e-03 9.99978910e-01 4.65883557e-03 1.20206633e-01] [ 1.91899663e-03 -4.66755796e-03 9.99987266e-01 -1.15742862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.866502481 meters 0.11255628424291869 Centerline is valid? [False, False] Translation: X:3.91, Y:0.12, Z:-1.16 [[ 9.99989038e-01 -4.22858096e-03 -2.01073984e-03 3.91343109e+00] [ 4.23873617e-03 9.99978147e-01 5.07333273e-03 1.19558069e-01] [ 1.98924290e-03 -5.08180011e-03 9.99985109e-01 -1.15791301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.896502481 meters 0.11232327838435067 Centerline is valid? [False, False] Translation: X:3.92, Y:0.12, Z:-1.16 [[ 9.99965791e-01 -7.77340257e-03 -2.82673115e-03 3.91535052e+00] [ 7.77743106e-03 9.99968751e-01 1.41695283e-03 1.20649348e-01] [ 2.81562827e-03 -1.43888906e-03 9.99995001e-01 -1.15899190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.926502481 meters 0.11232357038573729 Centerline is valid? [False, False] Translation: X:3.92, Y:0.12, Z:-1.16 [[ 9.99969128e-01 -7.32225088e-03 -2.85077542e-03 3.91620908e+00] [ 7.32816173e-03 9.99971009e-01 2.06852370e-03 1.19790198e-01] [ 2.83554652e-03 -2.08935078e-03 9.99993797e-01 -1.16010980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.956502481 meters 0.11213161025229863 Centerline is valid? [False, False] Translation: X:3.92, Y:0.12, Z:-1.16 [[ 9.99972370e-01 -6.82721430e-03 -2.94073250e-03 3.91730922e+00] [ 6.83492711e-03 9.99973207e-01 2.62073572e-03 1.19605513e-01] [ 2.92276139e-03 -2.64076300e-03 9.99992242e-01 -1.16142146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.986502481 meters 0.11211967435217324 Centerline is valid? [False, False] Translation: X:3.92, Y:0.12, Z:-1.16 [[ 9.99973024e-01 -6.66138174e-03 -3.09485537e-03 3.91790935e+00] [ 6.66981649e-03 9.99974049e-01 2.72313082e-03 1.19980027e-01] [ 3.07663524e-03 -2.74369948e-03 9.99991503e-01 -1.16193411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.016502481 meters 0.11212858925026362 Centerline is valid? [False, False] Translation: X:3.92, Y:0.12, Z:-1.16 [[ 9.99973496e-01 -6.35625918e-03 -3.55032370e-03 3.91903494e+00] [ 6.36627599e-03 9.99975767e-01 2.81723944e-03 1.20855675e-01] [ 3.53233056e-03 -2.83976711e-03 9.99989729e-01 -1.16261067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04650248099998 meters 0.11206587857259079 Centerline is valid? [False, False] Translation: X:3.92, Y:0.12, Z:-1.16 [[ 9.99973471e-01 -6.23289042e-03 -3.76949968e-03 3.91965588e+00] [ 6.24353865e-03 9.99976533e-01 2.81969873e-03 1.21524686e-01] [ 3.75183635e-03 -2.84315894e-03 9.99988920e-01 -1.16304979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07650248099998 meters 0.11206107360561389 Centerline is valid? [False, False] Translation: X:3.92, Y:0.12, Z:-1.16 [[ 9.99973073e-01 -6.12409440e-03 -4.04345469e-03 3.92025786e+00] [ 6.13530814e-03 9.99977351e-01 2.76675101e-03 1.22252392e-01] [ 4.02641926e-03 -2.79148434e-03 9.99987998e-01 -1.16335419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10650248099998 meters 0.1121424873847946 Centerline is valid? [False, False] Translation: X:3.92, Y:0.12, Z:-1.16 [[ 9.99971704e-01 -5.99753298e-03 -4.54100912e-03 3.92106488e+00] [ 6.00918692e-03 9.99978675e-01 2.55709721e-03 1.23600784e-01] [ 4.52557601e-03 -2.58431262e-03 9.99986420e-01 -1.16352724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13650248099998 meters 0.11222648771813755 Centerline is valid? [False, False] Translation: X:3.92, Y:0.12, Z:-1.16 [[ 9.99970784e-01 -5.80405922e-03 -4.97427972e-03 3.92184493e+00] [ 5.81715812e-03 9.99979640e-01 2.62291607e-03 1.24003526e-01] [ 4.95895488e-03 -2.65177561e-03 9.99984188e-01 -1.16376321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16650248099998 meters 0.11236594955781382 Centerline is valid? [False, False] Translation: X:3.92, Y:0.13, Z:-1.16 [[ 9.99968368e-01 -5.48609587e-03 -5.75896583e-03 3.92308370e+00] [ 5.50077810e-03 9.99981653e-01 2.53671863e-03 1.25557533e-01] [ 5.74494349e-03 -2.56831718e-03 9.99980199e-01 -1.16402295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19650248099998 meters 0.11269819737377658 Centerline is valid? [False, False] Translation: X:3.92, Y:0.13, Z:-1.16 [[ 9.99965753e-01 -5.34439099e-03 -6.31909058e-03 3.92385528e+00] [ 5.36002797e-03 9.99982609e-01 2.46022124e-03 1.26317037e-01] [ 6.30583230e-03 -2.49400749e-03 9.99977008e-01 -1.16400241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22650248099998 meters 0.1132515415356044 Centerline is valid? [False, False] Translation: X:3.93, Y:0.13, Z:-1.16 [[ 9.99961422e-01 -5.03380791e-03 -7.19822061e-03 3.92525760e+00] [ 5.05034979e-03 9.99984644e-01 2.28172256e-03 1.28023551e-01] [ 7.18662432e-03 -2.31798807e-03 9.99971489e-01 -1.16426306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25650248099998 meters 0.11358148509101178 Centerline is valid? [False, False] Translation: X:3.93, Y:0.13, Z:-1.16 [[ 9.99959202e-01 -4.83692846e-03 -7.62876354e-03 3.92608454e+00] [ 4.85461478e-03 9.99985568e-01 2.30156160e-03 1.28587973e-01] [ 7.61752095e-03 -2.33850241e-03 9.99968252e-01 -1.16455958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28650248099999 meters 0.11432601180595069 Centerline is valid? [False, False] Translation: X:3.93, Y:0.13, Z:-1.16 [[ 9.99956509e-01 -4.73858967e-03 -8.03275051e-03 3.92670787e+00] [ 4.75542758e-03 9.99986533e-01 2.07835559e-03 1.29594072e-01] [ 8.02279386e-03 -2.11646436e-03 9.99965577e-01 -1.16467763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.316502481 meters 0.11467921485569997 Centerline is valid? [False, False] Translation: X:3.93, Y:0.13, Z:-1.16 [[ 9.99954111e-01 -4.59820298e-03 -8.40425115e-03 3.92738251e+00] [ 4.61570263e-03 9.99987217e-01 2.06402979e-03 1.30190590e-01] [ 8.39465290e-03 -2.10272660e-03 9.99962553e-01 -1.16488558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.346502481 meters 0.11515689273834355 Centerline is valid? [False, False] Translation: X:3.93, Y:0.13, Z:-1.17 [[ 9.99950575e-01 -4.41246183e-03 -8.90936389e-03 3.92819456e+00] [ 4.43133577e-03 9.99987977e-01 2.09981042e-03 1.30742174e-01] [ 8.89999143e-03 -2.13918702e-03 9.99958106e-01 -1.16502835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.376502481 meters 0.11516039932611791 Centerline is valid? [False, False] Translation: X:3.93, Y:0.13, Z:-1.17 [[ 9.99945320e-01 -4.04545437e-03 -9.64318228e-03 3.92950747e+00] [ 4.06694452e-03 9.99989288e-01 2.20996582e-03 1.31702670e-01] [ 9.63413867e-03 -2.24906327e-03 9.99951061e-01 -1.16542183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.406502481 meters 0.11533108888921569 Centerline is valid? [False, False] Translation: X:3.93, Y:0.13, Z:-1.17 [[ 9.99943674e-01 -3.95143714e-03 -9.85059760e-03 3.92984491e+00] [ 3.97392348e-03 9.99989541e-01 2.26421217e-03 1.31682211e-01] [ 9.84154767e-03 -2.30323016e-03 9.99948918e-01 -1.16544227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.436502481 meters 0.11549970099519671 Centerline is valid? [False, False] Translation: X:3.93, Y:0.13, Z:-1.17 [[ 9.99942107e-01 -3.68444726e-03 -1.01098031e-02 3.93035021e+00] [ 3.71082931e-03 9.99989755e-01 2.59203466e-03 1.30874055e-01] [ 1.01001493e-02 -2.62940035e-03 9.99945535e-01 -1.16561458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.466502481 meters 0.1157817918329108 Centerline is valid? [False, False] Translation: X:3.93, Y:0.13, Z:-1.17 [[ 9.99941190e-01 -3.50442229e-03 -1.02633537e-02 3.93060882e+00] [ 3.53388111e-03 9.99989684e-01 2.85356445e-03 1.29955946e-01] [ 1.02532478e-02 -2.88966611e-03 9.99943259e-01 -1.16563750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.496502481 meters 0.1157817918329108 Centerline is valid? [False, False] Translation: X:3.93, Y:0.13, Z:-1.17 [[ 9.99941190e-01 -3.50442229e-03 -1.02633537e-02 3.93060882e+00] [ 3.53388111e-03 9.99989684e-01 2.85356445e-03 1.29955946e-01] [ 1.02532478e-02 -2.88966611e-03 9.99943259e-01 -1.16563750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.526502481 meters 0.11605620355492048 Centerline is valid? [False, False] Translation: X:3.93, Y:0.13, Z:-1.17 [[ 9.99938710e-01 -3.10293178e-03 -1.06276728e-02 3.93133029e+00] [ 3.13892104e-03 9.99989390e-01 3.37136822e-03 1.28952995e-01] [ 1.06170989e-02 -3.40452101e-03 9.99937841e-01 -1.16593857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.556502481 meters 0.1160227487279455 Centerline is valid? [False, False] Translation: X:3.93, Y:0.13, Z:-1.17 [[ 9.99937342e-01 -2.95100956e-03 -1.07983165e-02 3.93161518e+00] [ 2.98984509e-03 9.99989115e-01 3.58206913e-03 1.28336232e-01] [ 1.07876282e-02 -3.61412997e-03 9.99935280e-01 -1.16598078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.586502481 meters 0.11617599837248861 Centerline is valid? [False, False] Translation: X:3.93, Y:0.13, Z:-1.17 [[ 9.99933925e-01 -2.51794227e-03 -1.12163246e-02 3.93231479e+00] [ 2.56523631e-03 9.99987872e-01 4.20414745e-03 1.26937032e-01] [ 1.12056027e-02 -4.23264218e-03 9.99928257e-01 -1.16615592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.616502481 meters 0.11591462053016696 Centerline is valid? [False, False] Translation: X:3.93, Y:0.13, Z:-1.17 [[ 9.99934772e-01 -2.47153167e-03 -1.11509574e-02 3.93211642e+00] [ 2.52073388e-03 9.99987141e-01 4.40048060e-03 1.26063324e-01] [ 1.11399380e-02 -4.42830216e-03 9.99928143e-01 -1.16601230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.646502481 meters 0.11589474117698484 Centerline is valid? [False, False] Translation: X:3.93, Y:0.12, Z:-1.16 [[ 9.99935873e-01 -2.73368748e-03 -1.09898145e-02 3.93108073e+00] [ 2.78179410e-03 9.99986606e-01 4.36448192e-03 1.24222308e-01] [ 1.09777361e-02 -4.39477344e-03 9.99930085e-01 -1.16494973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.676502481 meters 0.11569441162599331 Centerline is valid? [False, False] Translation: X:3.93, Y:0.12, Z:-1.16 [[ 9.99937179e-01 -2.75754073e-03 -1.08643005e-02 3.93069132e+00] [ 2.80647321e-03 9.99985976e-01 4.49130137e-03 1.23184561e-01] [ 1.08517632e-02 -4.52150960e-03 9.99930895e-01 -1.16463309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.706502481 meters 0.11570130381325916 Centerline is valid? [False, False] Translation: X:3.93, Y:0.12, Z:-1.16 [[ 9.99937600e-01 -2.74727013e-03 -1.08281219e-02 3.93015749e+00] [ 2.79956784e-03 9.99984476e-01 4.81761032e-03 1.21058286e-01] [ 1.08147185e-02 -4.84762376e-03 9.99929769e-01 -1.16398656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.736502481 meters 0.11566106562697995 Centerline is valid? [False, False] Translation: X:3.93, Y:0.12, Z:-1.16 [[ 9.99938028e-01 -2.79423460e-03 -1.07764578e-02 3.92975142e+00] [ 2.84734611e-03 9.99983861e-01 4.91628628e-03 1.20169800e-01] [ 1.07625467e-02 -4.94666591e-03 9.99929847e-01 -1.16351728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.766502481 meters 0.1157692207285792 Centerline is valid? [False, False] Translation: X:3.93, Y:0.12, Z:-1.16 [[ 9.99909647e-01 -6.80906358e-03 -1.15902981e-02 3.93034245e+00] [ 6.82005019e-03 9.99976330e-01 9.08652692e-04 1.19883962e-01] [ 1.15838367e-02 -9.87617007e-04 9.99932417e-01 -1.16284452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79650248099998 meters 0.11533549143174106 Centerline is valid? [False, False] Translation: X:3.93, Y:0.12, Z:-1.16 [[ 9.99910875e-01 -6.71744462e-03 -1.15377026e-02 3.93020845e+00] [ 6.73174406e-03 9.99976620e-01 1.20097780e-03 1.18823095e-01] [ 1.15293653e-02 -1.27853963e-03 9.99932717e-01 -1.16277214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82650248099998 meters 0.11565120219404462 Centerline is valid? [False, False] Translation: X:3.93, Y:0.12, Z:-1.16 [[ 9.99914799e-01 -6.29309849e-03 -1.14364310e-02 3.93041358e+00] [ 6.31736225e-03 9.99977868e-01 2.08673471e-03 1.16426901e-01] [ 1.14230459e-02 -2.15880500e-03 9.99932425e-01 -1.16322425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85650248099998 meters 0.11547508047151457 Centerline is valid? [False, False] Translation: X:3.93, Y:0.11, Z:-1.16 [[ 9.99917055e-01 -5.90559760e-03 -1.14458157e-02 3.93078684e+00] [ 5.93730463e-03 9.99978625e-01 2.73818787e-03 1.14909240e-01] [ 1.14294004e-02 -2.80591805e-03 9.99930745e-01 -1.16371704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88650248099998 meters 0.11592748116586785 Centerline is valid? [False, False] Translation: X:3.93, Y:0.11, Z:-1.16 [[ 9.99925332e-01 -6.35587909e-03 -1.04371281e-02 3.92939594e+00] [ 6.38467645e-03 9.99975896e-01 2.72812861e-03 1.11192312e-01] [ 1.04195368e-02 -2.79456259e-03 9.99941810e-01 -1.16364446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91650248099998 meters 0.11600935122850323 Centerline is valid? [False, False] Translation: X:3.93, Y:0.11, Z:-1.16 [[ 9.99924903e-01 -6.01619709e-03 -1.06768201e-02 3.92992994e+00] [ 6.05131050e-03 9.99976378e-01 3.25949958e-03 1.09939282e-01] [ 1.06569581e-02 -3.32386356e-03 9.99937689e-01 -1.16390098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94650248099998 meters 0.11565526329188264 Centerline is valid? [False, False] Translation: X:3.93, Y:0.11, Z:-1.16 [[ 9.99926476e-01 -5.82255741e-03 -1.06367365e-02 3.93004422e+00] [ 5.86149884e-03 9.99976220e-01 3.63353318e-03 1.08943665e-01] [ 1.06153271e-02 -3.69561324e-03 9.99936827e-01 -1.16414844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97650248099998 meters 0.11649531463303488 Centerline is valid? [False, False] Translation: X:3.93, Y:0.11, Z:-1.16 [[ 0.99992729 -0.00529311 -0.01083526 3.93087173] [ 0.0053415 0.99997587 0.00444206 0.10746131] [ 0.01081149 -0.00449961 0.99993143 -1.16493598] [ 0. 0. 0. 1. ]] SLAMing on 137.00650248099998 meters 0.11678046426930554 Centerline is valid? [False, False] Translation: X:3.93, Y:0.11, Z:-1.17 [[ 0.99992913 -0.00523711 -0.01069112 3.93083258] [ 0.00528641 0.9999755 0.00458865 0.10689184] [ 0.01066683 -0.00464484 0.99993232 -1.16515036] [ 0. 0. 0. 1. ]] SLAMing on 137.03650248099999 meters 0.1163978072901456 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.17 [[ 0.99993436 -0.00499531 -0.01031176 3.93068562] [ 0.0050493 0.99997365 0.00521591 0.10471315] [ 0.01028544 -0.00526763 0.99993323 -1.16565632] [ 0. 0. 0. 1. ]] SLAMing on 137.066502481 meters 0.11656712575972435 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.17 [[ 0.99993416 -0.00465851 -0.01048711 3.93120696] [ 0.00471894 0.99997237 0.00574461 0.10359438] [ 0.01046006 -0.00579372 0.99992851 -1.16605517] [ 0. 0. 0. 1. ]] SLAMing on 137.096502481 meters 0.11683252691721838 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.17 [[ 0.99993518 -0.00468297 -0.01037823 3.93077177] [ 0.00474461 0.99997121 0.00592229 0.10254855] [ 0.0103502 -0.00597114 0.99992861 -1.16565604] [ 0. 0. 0. 1. ]] SLAMing on 137.126502481 meters 0.11684552596655912 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.17 [[ 0.99993317 -0.00458454 -0.01061311 3.93089746] [ 0.00464916 0.99997076 0.00607165 0.10204677] [ 0.01058496 -0.00612059 0.99992525 -1.1653739 ] [ 0. 0. 0. 1. ]] SLAMing on 137.156502481 meters 0.11679127497183511 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.16 [[ 0.9999337 -0.00472854 -0.01049914 3.93034085] [ 0.00479151 0.99997064 0.00598035 0.10154797] [ 0.01047056 -0.00603026 0.999927 -1.16479477] [ 0. 0. 0. 1. ]] SLAMing on 137.186502481 meters 0.11679326715837114 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.17 [[ 9.99904887e-01 -8.67099058e-03 -1.07252007e-02 3.93102772e+00] [ 8.69516437e-03 9.99959756e-01 2.20935065e-03 1.00643744e-01] [ 1.07056118e-02 -2.30239790e-03 9.99940043e-01 -1.16530629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.216502481 meters 0.11670980859227935 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.17 [[ 9.99908845e-01 -8.38964335e-03 -1.05789785e-02 3.93124342e+00] [ 8.41875306e-03 9.99960889e-01 2.71013260e-03 9.94296389e-02] [ 1.05558277e-02 -2.79894736e-03 9.99940368e-01 -1.16585541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.246502481 meters 0.11650416002416054 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.17 [[ 9.99911224e-01 -8.25523888e-03 -1.04592349e-02 3.93092992e+00] [ 8.28843198e-03 9.99960739e-01 3.13420661e-03 9.78647323e-02] [ 1.04329507e-02 -3.22061903e-03 9.99940389e-01 -1.16563025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.276502481 meters 0.11658730432071555 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.17 [[ 9.99911191e-01 -8.11466505e-03 -1.05717628e-02 3.93096649e+00] [ 8.15107551e-03 9.99960980e-01 3.40560109e-03 9.70515804e-02] [ 1.05437150e-02 -3.49146988e-03 9.99938318e-01 -1.16544688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.306502481 meters 0.11637445766806521 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.17 [[ 9.99913953e-01 -8.01906493e-03 -1.03817805e-02 3.93074179e+00] [ 8.05775055e-03 9.99960728e-01 3.68984871e-03 9.61919823e-02] [ 1.03517836e-02 -3.77318500e-03 9.99939300e-01 -1.16546683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.336502481 meters 0.11615593111277249 Centerline is valid? [False, False] Translation: X:3.93, Y:0.09, Z:-1.17 [[ 0.99992082 -0.00786939 -0.00982018 3.93036193] [ 0.00791182 0.9999595 0.00428872 0.09423845] [ 0.00978604 -0.00436608 0.99994258 -1.16594221] [ 0. 0. 0. 1. ]] SLAMing on 137.366502481 meters 0.11605497195411199 Centerline is valid? [False, False] Translation: X:3.93, Y:0.09, Z:-1.17 [[ 0.99992851 -0.00791143 -0.00896573 3.92956387] [ 0.0079546 0.99995689 0.00479025 0.09183762] [ 0.00892744 -0.00486123 0.99994833 -1.16635017] [ 0. 0. 0. 1. ]] SLAMing on 137.396502481 meters 0.11577220712839105 Centerline is valid? [False, False] Translation: X:3.93, Y:0.09, Z:-1.17 [[ 0.99993223 -0.0076163 -0.0088045 3.92976588] [ 0.00766348 0.99995639 0.0053368 0.09051968] [ 0.00876347 -0.00540391 0.999947 -1.16690499] [ 0. 0. 0. 1. ]] SLAMing on 137.426502481 meters 0.11569425329048566 Centerline is valid? [False, False] Translation: X:3.93, Y:0.09, Z:-1.17 [[ 0.99993427 -0.0073486 -0.00880033 3.92999496] [ 0.00739995 0.9999557 0.00581645 0.08936955] [ 0.0087572 -0.00588119 0.99994436 -1.16722536] [ 0. 0. 0. 1. ]] SLAMing on 137.456502481 meters 0.11557989960399877 Centerline is valid? [False, False] Translation: X:3.93, Y:0.09, Z:-1.17 [[ 0.99993697 -0.00743387 -0.00841376 3.92957977] [ 0.00748338 0.99995478 0.0058687 0.08893782] [ 0.00836975 -0.0059313 0.99994738 -1.1673532 ] [ 0. 0. 0. 1. ]] SLAMing on 137.486502481 meters 0.11563546448301464 Centerline is valid? [False, False] Translation: X:3.93, Y:0.09, Z:-1.17 [[ 0.99993485 -0.00743219 -0.00866327 3.92993483] [ 0.00748247 0.99995526 0.00578626 0.08932594] [ 0.00861988 -0.0058507 0.99994573 -1.16735308] [ 0. 0. 0. 1. ]] SLAMing on 137.516502481 meters 0.11579272466806598 Centerline is valid? [False, False] Translation: X:3.93, Y:0.09, Z:-1.17 [[ 9.99999767e-01 -6.75946976e-04 9.70405225e-05 3.92777023e+00] [ 6.76140209e-04 9.99997761e-01 -2.00522917e-03 8.95990340e-02] [-9.56848767e-05 2.00529431e-03 9.99997985e-01 -1.16922988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54650248099998 meters 0.11571510682979098 Centerline is valid? [False, False] Translation: X:3.93, Y:0.09, Z:-1.17 [[ 9.99999893e-01 -4.24190128e-04 1.82168114e-04 3.92828843e+00] [ 4.24496077e-04 9.99998494e-01 -1.68274557e-03 8.93073094e-02] [-1.81454036e-04 1.68282272e-03 9.99998568e-01 -1.17010926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57650248099998 meters 0.11576888539875727 Centerline is valid? [False, False] Translation: X:3.93, Y:0.09, Z:-1.17 [[ 9.99999967e-01 -1.62553172e-04 1.97997686e-04 3.92895914e+00] [ 1.62841344e-04 9.99998926e-01 -1.45628731e-03 8.94322430e-02] [-1.97760749e-04 1.45631950e-03 9.99998920e-01 -1.17107485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60650248099998 meters 0.11592144609630717 Centerline is valid? [False, False] Translation: X:3.93, Y:0.09, Z:-1.17 [[ 9.99999944e-01 -3.04595641e-04 1.37676151e-04 3.92886268e+00] [ 3.04833217e-04 9.99998459e-01 -1.72890522e-03 8.99831317e-02] [-1.37149322e-04 1.72894709e-03 9.99998496e-01 -1.17081728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63650248099998 meters 0.11634745168371323 Centerline is valid? [False, False] Translation: X:3.93, Y:0.09, Z:-1.17 [[ 9.99999816e-01 -2.02543864e-04 -5.72549154e-04 3.92938883e+00] [ 2.01257880e-04 9.99997459e-01 -2.24523374e-03 9.23993788e-02] [ 5.73002458e-04 2.24511810e-03 9.99997316e-01 -1.17026576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66650248099998 meters 0.11642559298957891 Centerline is valid? [False, False] Translation: X:3.93, Y:0.09, Z:-1.17 [[ 9.99999609e-01 -1.68946093e-04 -8.67541036e-04 3.92978936e+00] [ 1.66834372e-04 9.99997025e-01 -2.43364082e-03 9.33314963e-02] [ 8.67949609e-04 2.43349513e-03 9.99996662e-01 -1.17024411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69650248099998 meters 0.11707471866531113 Centerline is valid? [False, False] Translation: X:3.93, Y:0.09, Z:-1.17 [[ 9.99999190e-01 -8.29717588e-05 -1.27015706e-03 3.93028360e+00] [ 7.94340195e-05 9.99996119e-01 -2.78507417e-03 9.49085632e-02] [ 1.27038321e-03 2.78497102e-03 9.99995315e-01 -1.17020138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72650248099998 meters 0.11730962333422584 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.17 [[ 9.99999285e-01 -1.52374767e-04 -1.18642044e-03 3.93025162e+00] [ 1.48804244e-04 9.99995462e-01 -3.00899919e-03 9.54501930e-02] [ 1.18687355e-03 3.00882049e-03 9.99994769e-01 -1.17029822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75650248099998 meters 0.1175405726767959 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.17 [[ 9.99999335e-01 -1.59115071e-04 -1.14247155e-03 3.93030025e+00] [ 1.55562005e-04 9.99995154e-01 -3.10939768e-03 9.57148804e-02] [ 1.14296077e-03 3.10921789e-03 9.99994513e-01 -1.17043960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78650248099999 meters 0.11806418628978756 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.17 [[ 9.99998965e-01 2.83916038e-04 -1.41053219e-03 3.93151591e+00] [-2.88006842e-04 9.99995751e-01 -2.90082891e-03 9.65265476e-02] [ 1.40970261e-03 2.90123215e-03 9.99994798e-01 -1.17161007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.816502481 meters 0.11821540314926536 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.17 [[ 9.99997859e-01 5.28217648e-04 -2.00093564e-03 3.93252747e+00] [-5.34266741e-04 9.99995286e-01 -3.02380497e-03 9.78651292e-02] [ 1.99932898e-03 3.02486753e-03 9.99993426e-01 -1.17190987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.846502481 meters 0.11848631597047576 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.17 [[ 9.99997705e-01 5.88772186e-04 -2.05985587e-03 3.93278006e+00] [-5.94974587e-04 9.99995288e-01 -3.01176918e-03 9.80783470e-02] [ 2.05807292e-03 3.01298783e-03 9.99993343e-01 -1.17211743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.876502481 meters 0.1184214458326876 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.17 [[ 9.99997785e-01 9.44208214e-04 -1.88101557e-03 3.93333295e+00] [-9.48954932e-04 9.99996364e-01 -2.52419494e-03 9.74162641e-02] [ 1.87862536e-03 2.52597435e-03 9.99995045e-01 -1.17320972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.906502481 meters 0.11863235792958421 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.17 [[ 9.99997514e-01 1.21353979e-03 -1.87060674e-03 3.93374584e+00] [-1.21752341e-03 9.99996991e-01 -2.12992221e-03 9.68310990e-02] [ 1.86801636e-03 2.13219442e-03 9.99995982e-01 -1.17377804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.936502481 meters 0.11859203320260318 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.17 [[ 9.99997444e-01 1.25776732e-03 -1.87860684e-03 3.93363481e+00] [-1.26151471e-03 9.99997214e-01 -1.99492047e-03 9.62549361e-02] [ 1.87609246e-03 1.99728526e-03 9.99996246e-01 -1.17359621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.966502481 meters 0.11780683132753292 Centerline is valid? [False, False] Translation: X:3.93, Y:0.10, Z:-1.17 [[ 9.99992362e-01 -2.87799663e-03 -2.64438874e-03 3.93440144e+00] [ 2.86101749e-03 9.99975412e-01 -6.40231890e-03 9.74942156e-02] [ 2.66274957e-03 6.39470436e-03 9.99976008e-01 -1.17325269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.996502481 meters 0.11754780690278936 Centerline is valid? [False, False] Translation: X:3.94, Y:0.10, Z:-1.17 [[ 9.99994054e-01 -2.28096949e-03 -2.58639681e-03 3.93529131e+00] [ 2.26691520e-03 9.99982721e-01 -5.42390046e-03 9.56392873e-02] [ 2.59872387e-03 5.41800507e-03 9.99981946e-01 -1.17453300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.026502481 meters 0.11700781716012143 Centerline is valid? [False, False] Translation: X:3.94, Y:0.09, Z:-1.18 [[ 9.99994819e-01 -1.85982076e-03 -2.62741001e-03 3.93592299e+00] [ 1.84732068e-03 9.99987003e-01 -4.75201096e-03 9.43911643e-02] [ 2.63621375e-03 4.74713267e-03 9.99985257e-01 -1.17530369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.056502481 meters 0.11724332529163585 Centerline is valid? [False, False] Translation: X:3.94, Y:0.09, Z:-1.18 [[ 9.99995542e-01 -1.45257248e-03 -2.60876603e-03 3.93651879e+00] [ 1.44185376e-03 9.99990531e-01 -4.10592496e-03 9.32071804e-02] [ 2.61470548e-03 4.10214520e-03 9.99988168e-01 -1.17613633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.086502481 meters 0.11670383197460711 Centerline is valid? [False, False] Translation: X:3.94, Y:0.09, Z:-1.18 [[ 9.99996117e-01 -9.28629089e-04 -2.62746761e-03 3.93726766e+00] [ 9.20146131e-04 9.99994367e-01 -3.22793698e-03 9.16452341e-02] [ 2.63045036e-03 3.22550679e-03 9.99991338e-01 -1.17712865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.116502481 meters 0.11676558433115164 Centerline is valid? [False, False] Translation: X:3.94, Y:0.09, Z:-1.18 [[ 9.99995966e-01 -6.84144511e-04 -2.75693419e-03 3.93760402e+00] [ 6.76264717e-04 9.99995687e-01 -2.85809198e-03 9.08748292e-02] [ 2.75887764e-03 2.85621603e-03 9.99992115e-01 -1.17729196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.146502481 meters 0.1164304207580606 Centerline is valid? [False, False] Translation: X:3.94, Y:0.09, Z:-1.18 [[ 9.99995956e-01 -6.30981134e-04 -2.77296172e-03 3.93729732e+00] [ 6.23759617e-04 9.99996414e-01 -2.60435506e-03 8.95768674e-02] [ 2.77459507e-03 2.60261487e-03 9.99992764e-01 -1.17678814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.176502481 meters 0.11652828074416328 Centerline is valid? [False, False] Translation: X:3.94, Y:0.09, Z:-1.18 [[ 9.99995825e-01 -4.88459311e-04 -2.84805668e-03 3.93750119e+00] [ 4.81621727e-04 9.99997002e-01 -2.40098104e-03 8.90781064e-02] [ 2.84922092e-03 2.39959932e-03 9.99993062e-01 -1.17689010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.206502481 meters 0.11600441795307603 Centerline is valid? [False, False] Translation: X:3.94, Y:0.09, Z:-1.18 [[ 9.99996397e-01 -1.76320288e-04 -2.67871097e-03 3.93776166e+00] [ 1.71415015e-04 9.99998308e-01 -1.83132588e-03 8.77269978e-02] [ 2.67902934e-03 1.83086011e-03 9.99994735e-01 -1.17754522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.236502481 meters 0.11601670897403808 Centerline is valid? [False, False] Translation: X:3.94, Y:0.09, Z:-1.18 [[ 9.99996758e-01 1.36890698e-04 -2.54271561e-03 3.93793130e+00] [-1.40143262e-04 9.99999172e-01 -1.27903524e-03 8.63187061e-02] [ 2.54253842e-03 1.27938744e-03 9.99995949e-01 -1.17802558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.266502481 meters 0.11574480637823473 Centerline is valid? [False, False] Translation: X:3.94, Y:0.08, Z:-1.18 [[ 9.99997100e-01 4.10745693e-04 -2.37311064e-03 3.93802797e+00] [-4.12390186e-04 9.99999675e-01 -6.92521546e-04 8.44852789e-02] [ 2.37282542e-03 6.93498185e-04 9.99996944e-01 -1.17843299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29650248099998 meters 0.11591339296554934 Centerline is valid? [False, False] Translation: X:3.94, Y:0.08, Z:-1.18 [[ 9.99996844e-01 6.73493143e-04 -2.42021956e-03 3.93840224e+00] [-6.74248260e-04 9.99999724e-01 -3.11201003e-04 8.37162065e-02] [ 2.42000930e-03 3.12831849e-04 9.99997023e-01 -1.17884637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32650248099998 meters 0.11601430378808439 Centerline is valid? [False, False] Translation: X:3.94, Y:0.08, Z:-1.18 [[ 9.99997035e-01 8.96338813e-04 -2.26438597e-03 3.93855542e+00] [-8.96091094e-04 9.99999592e-01 1.10409980e-04 8.25167099e-02] [ 2.26448401e-03 -1.08380556e-04 9.99997430e-01 -1.17932133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35650248099998 meters 0.11596469608708368 Centerline is valid? [False, False] Translation: X:3.94, Y:0.08, Z:-1.18 [[ 9.99990801e-01 -3.03254481e-03 -3.03342752e-03 3.93960311e+00] [ 3.02027514e-03 9.99987273e-01 -4.04125929e-03 8.32171463e-02] [ 3.04564421e-03 4.03206033e-03 9.99987233e-01 -1.17937481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38650248099998 meters 0.11608811310132756 Centerline is valid? [False, False] Translation: X:3.94, Y:0.08, Z:-1.18 [[ 9.99991578e-01 -2.69247259e-03 -3.09740985e-03 3.94006662e+00] [ 2.68148489e-03 9.99990117e-01 -3.54608223e-03 8.24212326e-02] [ 3.10692697e-03 3.53774671e-03 9.99988916e-01 -1.17988207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41650248099998 meters 0.11608811310132756 Centerline is valid? [False, False] Translation: X:3.94, Y:0.08, Z:-1.18 [[ 9.99991578e-01 -2.69247259e-03 -3.09740985e-03 3.94006662e+00] [ 2.68148489e-03 9.99990117e-01 -3.54608223e-03 8.24212326e-02] [ 3.10692697e-03 3.53774671e-03 9.99988916e-01 -1.17988207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44650248099998 meters 0.11644728067318869 Centerline is valid? [False, False] Translation: X:3.94, Y:0.08, Z:-1.18 [[ 9.99992254e-01 -2.35405504e-03 -3.15445053e-03 3.94042254e+00] [ 2.34453844e-03 9.99992700e-01 -3.01719142e-03 8.13120876e-02] [ 3.16153013e-03 3.00977232e-03 9.99990473e-01 -1.18024158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47650248099998 meters 0.1165608994123009 Centerline is valid? [False, False] Translation: X:3.94, Y:0.08, Z:-1.18 [[ 9.99993114e-01 -1.96955188e-03 -3.14532686e-03 3.94082796e+00] [ 1.96193897e-03 9.99995143e-01 -2.42164219e-03 8.01513066e-02] [ 3.15008113e-03 2.41545457e-03 9.99992121e-01 -1.18081267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50650248099998 meters 0.11684066235598568 Centerline is valid? [False, False] Translation: X:3.94, Y:0.08, Z:-1.18 [[ 9.99994511e-01 -1.63051345e-03 -2.88437047e-03 3.94080631e+00] [ 1.62564093e-03 9.99997249e-01 -1.69082403e-03 7.78751725e-02] [ 2.88711945e-03 1.68612580e-03 9.99994411e-01 -1.18123995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53650248099999 meters 0.11665667548266574 Centerline is valid? [False, False] Translation: X:3.94, Y:0.08, Z:-1.18 [[ 9.99995147e-01 -1.35311333e-03 -2.80615201e-03 3.94104501e+00] [ 1.34972984e-03 9.99998360e-01 -1.20728551e-03 7.67674394e-02] [ 2.80778100e-03 1.20349211e-03 9.99995334e-01 -1.18170083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.566502481 meters 0.11667180103035746 Centerline is valid? [False, False] Translation: X:3.94, Y:0.07, Z:-1.18 [[ 9.99996046e-01 -7.83270222e-04 -2.70089277e-03 3.94161304e+00] [ 7.82626471e-04 9.99999665e-01 -2.39395905e-04 7.47409913e-02] [ 2.70107938e-03 2.37281168e-04 9.99996324e-01 -1.18265411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.596502481 meters 0.11686543506512963 Centerline is valid? [False, False] Translation: X:3.94, Y:0.07, Z:-1.18 [[ 9.99996050e-01 -5.76617995e-04 -2.75074299e-03 3.94180191e+00] [ 5.76977334e-04 9.99999825e-01 1.29841472e-04 7.37536018e-02] [ 2.75066764e-03 -1.31428076e-04 9.99996208e-01 -1.18279905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.626502481 meters 0.11672354156672175 Centerline is valid? [False, False] Translation: X:3.94, Y:0.07, Z:-1.18 [[ 9.99996255e-01 -3.71797700e-04 -2.71147016e-03 3.94196820e+00] [ 3.73106082e-04 9.99999814e-01 4.82046089e-04 7.29039765e-02] [ 2.71129043e-03 -4.83055949e-04 9.99996208e-01 -1.18308776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.656502481 meters 0.11697488865770257 Centerline is valid? [False, False] Translation: X:3.94, Y:0.07, Z:-1.18 [[ 9.99985905e-01 -4.15945211e-03 -3.29994654e-03 3.94306976e+00] [ 4.14850735e-03 9.99985895e-01 -3.31658913e-03 7.27529546e-02] [ 3.31369519e-03 3.30285253e-03 9.99989055e-01 -1.18353520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.686502481 meters 0.11713720907002732 Centerline is valid? [False, False] Translation: X:3.94, Y:0.07, Z:-1.18 [[ 9.99987641e-01 -3.84468251e-03 -3.15204543e-03 3.94335728e+00] [ 3.83593698e-03 9.99988790e-01 -2.77592596e-03 7.14530047e-02] [ 3.16268265e-03 2.76380061e-03 9.99991179e-01 -1.18421372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.716502481 meters 0.11713560697257153 Centerline is valid? [False, False] Translation: X:3.94, Y:0.07, Z:-1.19 [[ 9.99990442e-01 -3.26760437e-03 -2.90481231e-03 3.94380234e+00] [ 3.26263238e-03 9.99993207e-01 -1.71473294e-03 6.88258209e-02] [ 2.91039565e-03 1.70523922e-03 9.99994311e-01 -1.18523541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.746502481 meters 0.11698882819161661 Centerline is valid? [False, False] Translation: X:3.94, Y:0.07, Z:-1.19 [[ 9.99991786e-01 -2.93990424e-03 -2.79009356e-03 3.94396396e+00] [ 2.93678944e-03 9.99995061e-01 -1.11981945e-03 6.74388105e-02] [ 2.79337194e-03 1.11161633e-03 9.99995481e-01 -1.18565860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.776502481 meters 0.117111183786587 Centerline is valid? [False, False] Translation: X:3.94, Y:0.07, Z:-1.19 [[ 9.99992971e-01 -2.54484488e-03 -2.75364183e-03 3.94423432e+00] [ 2.54380794e-03 9.99996692e-01 -3.80006159e-04 6.57157578e-02] [ 2.75459978e-03 3.72998752e-04 9.99996137e-01 -1.18607809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.806502481 meters 0.11735204412910241 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-1.19 [[ 9.99993781e-01 -2.20961051e-03 -2.74864247e-03 3.94458703e+00] [ 2.21012460e-03 9.99997541e-01 1.84008201e-04 6.45475638e-02] [ 2.74822912e-03 -1.90081899e-04 9.99996206e-01 -1.18655740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.836502481 meters 0.11732166178776858 Centerline is valid? [False, False] Translation: X:3.95, Y:0.06, Z:-1.19 [[ 9.99994505e-01 -1.81442258e-03 -2.77467561e-03 3.94504130e+00] [ 1.81678111e-03 9.99997990e-01 8.47736302e-04 6.31120947e-02] [ 2.77313188e-03 -8.52772621e-04 9.99995791e-01 -1.18712588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.866502481 meters 0.11756346883372078 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-1.19 [[ 9.99996653e-01 -1.66893433e-03 -1.97696472e-03 3.94447039e+00] [ 1.67198175e-03 9.99997415e-01 1.54081317e-03 6.02872022e-02] [ 1.97438809e-03 -1.54411347e-03 9.99996859e-01 -1.18779465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.896502481 meters 0.11756227953828506 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-1.19 [[ 9.99997456e-01 -1.56831853e-03 -1.62098615e-03 3.94408592e+00] [ 1.57171686e-03 9.99996565e-01 2.09731008e-03 5.81076201e-02] [ 1.61769134e-03 -2.09985247e-03 9.99996487e-01 -1.18793229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.926502481 meters 0.11750589425058394 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-1.19 [[ 9.99998023e-01 -1.27739453e-03 -1.52422312e-03 3.94425205e+00] [ 1.28138107e-03 9.99995754e-01 2.61735629e-03 5.68487065e-02] [ 1.52087325e-03 -2.61930422e-03 9.99995413e-01 -1.18833741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.956502481 meters 0.11764764133805998 Centerline is valid? [False, False] Translation: X:3.94, Y:0.06, Z:-1.19 [[ 9.99998031e-01 -1.19804580e-03 -1.58199317e-03 3.94423870e+00] [ 1.20252404e-03 9.99995264e-01 2.83284917e-03 5.60783102e-02] [ 1.57859180e-03 -2.83474597e-03 9.99994736e-01 -1.18820647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.986502481 meters 0.11797226303247574 Centerline is valid? [False, False] Translation: X:3.95, Y:0.06, Z:-1.19 [[ 9.99984082e-01 -4.98613081e-03 -2.64093255e-03 3.94518937e+00] [ 4.98298250e-03 9.99986868e-01 -1.19736226e-03 5.69440449e-02] [ 2.64686807e-03 1.18418348e-03 9.99995796e-01 -1.18767248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01650248099997 meters 0.11867419372518039 Centerline is valid? [False, False] Translation: X:3.95, Y:0.06, Z:-1.19 [[ 9.99984378e-01 -4.61676649e-03 -3.15092971e-03 3.94591794e+00] [ 4.61421521e-03 9.99989021e-01 -8.16479853e-04 5.65347995e-02] [ 3.15466461e-03 8.01928031e-04 9.99994702e-01 -1.18776323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04650248099998 meters 0.1187510750400331 Centerline is valid? [False, False] Translation: X:3.95, Y:0.06, Z:-1.19 [[ 9.99984844e-01 -4.46047081e-03 -3.22744705e-03 3.94618495e+00] [ 4.45853113e-03 9.99989876e-01 -6.07939793e-04 5.62166411e-02] [ 3.23012608e-03 5.93540906e-04 9.99994607e-01 -1.18798297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07650248099998 meters 0.11900833938643135 Centerline is valid? [False, False] Translation: X:3.95, Y:0.06, Z:-1.19 [[ 9.99985453e-01 -4.19156656e-03 -3.39487849e-03 3.94672077e+00] [ 4.19069300e-03 9.99991184e-01 -2.64389307e-04 5.57942183e-02] [ 3.39595677e-03 2.50158567e-04 9.99994202e-01 -1.18840602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10650248099998 meters 0.11932419900401334 Centerline is valid? [False, False] Translation: X:3.95, Y:0.06, Z:-1.19 [[ 9.99986085e-01 -4.01661706e-03 -3.42000887e-03 3.94688426e+00] [ 4.01659738e-03 9.99991933e-01 -1.26231935e-05 5.51403928e-02] [ 3.42003198e-03 -1.11378078e-06 9.99994152e-01 -1.18858026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13650248099998 meters 0.11955962304825671 Centerline is valid? [False, False] Translation: X:3.95, Y:0.05, Z:-1.19 [[ 9.99986909e-01 -3.71672596e-03 -3.51673051e-03 3.94747016e+00] [ 3.71815637e-03 9.99993008e-01 4.00295144e-04 5.46034783e-02] [ 3.51521814e-03 -4.13365658e-04 9.99993736e-01 -1.18921066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16650248099998 meters 0.11996265533507251 Centerline is valid? [False, False] Translation: X:3.95, Y:0.05, Z:-1.19 [[ 9.99987688e-01 -3.32565461e-03 -3.68300459e-03 3.94807841e+00] [ 3.32940176e-03 9.99993946e-01 1.01175217e-03 5.34297186e-02] [ 3.67961755e-03 -1.02400192e-03 9.99992706e-01 -1.18972958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19650248099998 meters 0.12017840733217289 Centerline is valid? [False, False] Translation: X:3.95, Y:0.05, Z:-1.19 [[ 9.99988135e-01 -3.01813754e-03 -3.82361580e-03 3.94846052e+00] [ 3.02403704e-03 9.99994245e-01 1.53807066e-03 5.23662878e-02] [ 3.81895169e-03 -1.54961517e-03 9.99991507e-01 -1.18997305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22650248099998 meters 0.1202926821757948 Centerline is valid? [False, False] Translation: X:3.95, Y:0.05, Z:-1.19 [[ 9.99988383e-01 -2.94360832e-03 -3.81681879e-03 3.94846695e+00] [ 2.95023423e-03 9.99994149e-01 1.73151059e-03 5.17132796e-02] [ 3.81169957e-03 -1.74275098e-03 9.99991217e-01 -1.18997861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25650248099998 meters 0.11977086075736983 Centerline is valid? [False, False] Translation: X:3.95, Y:0.05, Z:-1.19 [[ 9.99988893e-01 -2.55194886e-03 -3.96261519e-03 3.94908271e+00] [ 2.56123129e-03 9.99993984e-01 2.33919639e-03 5.06299013e-02] [ 3.95662184e-03 -2.34931959e-03 9.99989413e-01 -1.19054286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28650248099999 meters 0.11951651301769266 Centerline is valid? [False, False] Translation: X:3.95, Y:0.05, Z:-1.19 [[ 9.99990591e-01 -2.67800494e-03 -3.41275792e-03 3.94832044e+00] [ 2.68674084e-03 9.99993120e-01 2.55776863e-03 4.89913091e-02] [ 3.40588472e-03 -2.56691376e-03 9.99990905e-01 -1.19045318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.316502481 meters 0.11962782660390447 Centerline is valid? [False, False] Translation: X:3.95, Y:0.05, Z:-1.19 [[ 9.99991088e-01 -2.40963543e-03 -3.46664428e-03 3.94862744e+00] [ 2.42011504e-03 9.99992505e-01 3.02197055e-03 4.80050578e-02] [ 3.45933645e-03 -3.03033329e-03 9.99989425e-01 -1.19071813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.346502481 meters 0.11902197643940818 Centerline is valid? [False, False] Translation: X:3.95, Y:0.05, Z:-1.19 [[ 9.99992338e-01 -1.99607014e-03 -3.36734438e-03 3.94903619e+00] [ 2.00898248e-03 9.99990626e-01 3.83556270e-03 4.62923309e-02] [ 3.35965677e-03 -3.84229825e-03 9.99986975e-01 -1.19138517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.376502481 meters 0.11833288351157105 Centerline is valid? [False, False] Translation: X:3.95, Y:0.04, Z:-1.19 [[ 9.99992022e-01 -3.15964979e-03 -2.44378611e-03 3.94715830e+00] [ 3.16716063e-03 9.99990255e-01 3.07570753e-03 4.34738245e-02] [ 2.43404414e-03 -3.08342286e-03 9.99992284e-01 -1.19036493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.406502481 meters 0.11798291857256173 Centerline is valid? [False, False] Translation: X:3.95, Y:0.04, Z:-1.19 [[ 9.99993088e-01 -2.91807233e-03 -2.30400271e-03 3.94721675e+00] [ 2.92640170e-03 9.99989165e-01 3.62011668e-03 4.20560691e-02] [ 2.29341398e-03 -3.62683409e-03 9.99990793e-01 -1.19065946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.436502481 meters 0.11771578680911275 Centerline is valid? [False, False] Translation: X:3.95, Y:0.04, Z:-1.19 [[ 9.99994062e-01 -2.67633945e-03 -2.17087121e-03 3.94734559e+00] [ 2.68529776e-03 9.99987849e-01 4.13423425e-03 4.07457086e-02] [ 2.15978021e-03 -4.14003913e-03 9.99989098e-01 -1.19104341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.466502481 meters 0.11718241273121116 Centerline is valid? [False, False] Translation: X:3.95, Y:0.04, Z:-1.19 [[ 9.99975089e-01 -6.62491459e-03 -2.43565888e-03 3.94816186e+00] [ 6.62565386e-03 9.99978006e-01 2.95574037e-04 4.05176073e-02] [ 2.43364716e-03 -3.11704507e-04 9.99996990e-01 -1.19163224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.496502481 meters 0.11668249136811136 Centerline is valid? [False, False] Translation: X:3.95, Y:0.04, Z:-1.19 [[ 9.99978393e-01 -6.11678414e-03 -2.40818442e-03 3.94895298e+00] [ 6.11963974e-03 9.99980578e-01 1.18021149e-03 3.90809452e-02] [ 2.40091855e-03 -1.19492321e-03 9.99996404e-01 -1.19273234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.526502481 meters 0.11660266383140887 Centerline is valid? [False, False] Translation: X:3.95, Y:0.04, Z:-1.19 [[ 9.99980439e-01 -5.77250200e-03 -2.40842965e-03 3.94942504e+00] [ 5.77665179e-03 9.99981836e-01 1.71964564e-03 3.81616552e-02] [ 2.39845925e-03 -1.73352466e-03 9.99995621e-01 -1.19334182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.556502481 meters 0.11644322055476583 Centerline is valid? [False, False] Translation: X:3.95, Y:0.04, Z:-1.19 [[ 9.99982448e-01 -5.44033285e-03 -2.34660120e-03 3.94986427e+00] [ 5.44563438e-03 9.99982621e-01 2.25879704e-03 3.71978932e-02] [ 2.33427181e-03 -2.27153612e-03 9.99994696e-01 -1.19403578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.586502481 meters 0.11615139080326099 Centerline is valid? [False, False] Translation: X:3.95, Y:0.04, Z:-1.20 [[ 9.99985674e-01 -4.93646915e-03 -2.06947676e-03 3.95053195e+00] [ 4.94296227e-03 9.99982840e-01 3.14428392e-03 3.54572512e-02] [ 2.05391959e-03 -3.15446822e-03 9.99992915e-01 -1.19542927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.616502481 meters 0.11608380094484227 Centerline is valid? [False, False] Translation: X:3.95, Y:0.03, Z:-1.20 [[ 9.99986597e-01 -4.67542486e-03 -2.22408799e-03 3.95107133e+00] [ 4.68323866e-03 9.99982834e-01 3.52112166e-03 3.48766675e-02] [ 2.20758707e-03 -3.53149040e-03 9.99991328e-01 -1.19587699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.646502481 meters 0.1159269965234947 Centerline is valid? [False, False] Translation: X:3.95, Y:0.04, Z:-1.20 [[ 9.99985690e-01 -4.69760822e-03 -2.55965934e-03 3.95139273e+00] [ 4.70619502e-03 9.99983284e-01 3.35903328e-03 3.56508348e-02] [ 2.54383713e-03 -3.37103147e-03 9.99991082e-01 -1.19561501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.676502481 meters 0.11576528673008504 Centerline is valid? [False, False] Translation: X:3.95, Y:0.04, Z:-1.20 [[ 9.99985139e-01 -4.67777221e-03 -2.80018704e-03 3.95183995e+00] [ 4.68677210e-03 9.99983845e-01 3.21614710e-03 3.64460746e-02] [ 2.78509740e-03 -3.22922315e-03 9.99990908e-01 -1.19573121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.706502481 meters 0.11583154453117138 Centerline is valid? [False, False] Translation: X:3.95, Y:0.04, Z:-1.20 [[ 9.99984880e-01 -4.59796805e-03 -3.01644662e-03 3.95232475e+00] [ 4.60757774e-03 9.99984308e-01 3.18658841e-03 3.69560634e-02] [ 3.00174746e-03 -3.20043875e-03 9.99990373e-01 -1.19597509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.736502481 meters 0.11566555069589346 Centerline is valid? [False, False] Translation: X:3.95, Y:0.04, Z:-1.20 [[ 9.99984488e-01 -4.65142855e-03 -3.06398157e-03 3.95254185e+00] [ 4.66029918e-03 9.99984952e-01 2.89438338e-03 3.78961896e-02] [ 3.05047244e-03 -2.90861755e-03 9.99991117e-01 -1.19613165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76650248099997 meters 0.11573661597479419 Centerline is valid? [False, False] Translation: X:3.95, Y:0.04, Z:-1.20 [[ 9.99983665e-01 -4.74649310e-03 -3.18433935e-03 3.95263051e+00] [ 4.75488804e-03 9.99985227e-01 2.63394964e-03 3.86301236e-02] [ 3.17179029e-03 -2.64904779e-03 9.99991461e-01 -1.19598516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79650248099998 meters 0.11572385311485658 Centerline is valid? [False, False] Translation: X:3.95, Y:0.04, Z:-1.20 [[ 9.99981111e-01 -4.82417843e-03 -3.80864594e-03 3.95330520e+00] [ 4.83197643e-03 9.99986243e-01 2.04090724e-03 4.08181283e-02] [ 3.79874784e-03 -2.05927198e-03 9.99990664e-01 -1.19572620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82650248099998 meters 0.11577683392422593 Centerline is valid? [False, False] Translation: X:3.95, Y:0.04, Z:-1.20 [[ 9.99980461e-01 -4.77808189e-03 -4.03094737e-03 3.95392235e+00] [ 4.78561362e-03 9.99986817e-01 1.86090665e-03 4.19112159e-02] [ 4.02200267e-03 -1.88016084e-03 9.99990144e-01 -1.19613671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85650248099998 meters 0.11580475691012322 Centerline is valid? [False, False] Translation: X:3.96, Y:0.04, Z:-1.20 [[ 9.99981410e-01 -3.98336465e-03 -4.61660832e-03 3.95603113e+00] [ 3.99422598e-03 9.99989272e-01 2.34583786e-03 4.36765919e-02] [ 4.60721446e-03 -2.36423403e-03 9.99986592e-01 -1.19788574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88650248099998 meters 0.11581761332690559 Centerline is valid? [False, False] Translation: X:3.96, Y:0.04, Z:-1.20 [[ 9.99981091e-01 -3.86235388e-03 -4.78533309e-03 3.95668162e+00] [ 3.87344465e-03 9.99989829e-01 2.31056175e-03 4.43518143e-02] [ 4.77636021e-03 -2.32905378e-03 9.99985881e-01 -1.19843614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91650248099998 meters 0.11587544458692901 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-1.20 [[ 9.99980356e-01 -3.45576587e-03 -5.22923223e-03 3.95815641e+00] [ 3.46859827e-03 9.99990991e-01 2.44689854e-03 4.56344283e-02] [ 5.22072921e-03 -2.46498858e-03 9.99983334e-01 -1.19958323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94650248099998 meters 0.11593925479556116 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-1.20 [[ 9.99979775e-01 -3.26600802e-03 -5.45740141e-03 3.95903589e+00] [ 3.27967168e-03 9.99991505e-01 2.49662246e-03 4.62940599e-02] [ 5.44920107e-03 -2.51447045e-03 9.99981992e-01 -1.20036308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97650248099998 meters 0.11590218816624852 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-1.20 [[ 9.99978725e-01 -2.97410187e-03 -5.80559123e-03 3.96016857e+00] [ 2.98944889e-03 9.99992056e-01 2.63660482e-03 4.70422496e-02] [ 5.79770357e-03 -2.65390425e-03 9.99979672e-01 -1.20124259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00650248099998 meters 0.11592731700003799 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-1.20 [[ 9.99975666e-01 -2.87344955e-03 -6.35696829e-03 3.96124236e+00] [ 2.88793443e-03 9.99993252e-01 2.27057855e-03 4.94430582e-02] [ 6.35040101e-03 -2.28888180e-03 9.99977216e-01 -1.20164449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03650248099999 meters 0.11594004665421997 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-1.20 [[ 9.99972415e-01 -3.06219758e-03 -6.76699607e-03 3.96167134e+00] [ 3.07286418e-03 9.99994052e-01 1.56643390e-03 5.17666294e-02] [ 6.76215909e-03 -1.58718475e-03 9.99975877e-01 -1.20140267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.066502481 meters 0.11608032673991928 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-1.20 [[ 9.99970707e-01 -3.11984653e-03 -6.98933845e-03 3.96205356e+00] [ 3.12890185e-03 9.99994279e-01 1.28503014e-03 5.28454346e-02] [ 6.98528937e-03 -1.30686145e-03 9.99974749e-01 -1.20146863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.096502481 meters 0.11600816276401393 Centerline is valid? [False, False] Translation: X:3.96, Y:0.05, Z:-1.20 [[ 9.99969621e-01 -3.12076641e-03 -7.14261600e-03 3.96250503e+00] [ 3.12855902e-03 9.99994523e-01 1.08008890e-03 5.37301279e-02] [ 7.13920617e-03 -1.10240218e-03 9.99973908e-01 -1.20176214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.126502481 meters 0.11615293662561509 Centerline is valid? [False, False] Translation: X:3.96, Y:0.06, Z:-1.20 [[ 9.99965215e-01 -3.20123279e-03 -7.70206838e-03 3.96322849e+00] [ 3.20480099e-03 9.99994763e-01 4.50981535e-04 5.61317079e-02] [ 7.70058435e-03 -4.75649444e-04 9.99970237e-01 -1.20166272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.156502481 meters 0.11616355436243418 Centerline is valid? [False, False] Translation: X:3.96, Y:0.06, Z:-1.20 [[ 9.99963410e-01 -3.21415448e-03 -7.92770322e-03 3.96366896e+00] [ 3.21612378e-03 9.99994800e-01 2.35671762e-04 5.71898552e-02] [ 7.92690452e-03 -2.61159614e-04 9.99968547e-01 -1.20182817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.186502481 meters 0.11627854164508898 Centerline is valid? [False, False] Translation: X:3.96, Y:0.06, Z:-1.20 [[ 9.99960667e-01 -3.15567164e-03 -8.28891187e-03 3.96452511e+00] [ 3.15469153e-03 9.99995015e-01 -1.31315563e-04 5.91366261e-02] [ 8.28928494e-03 1.05161438e-04 9.99965638e-01 -1.20228426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.216502481 meters 0.11620521314923146 Centerline is valid? [False, False] Translation: X:3.96, Y:0.06, Z:-1.20 [[ 9.99959731e-01 -3.12027573e-03 -8.41425972e-03 3.96496622e+00] [ 3.11817340e-03 9.99995104e-01 -2.62960284e-04 6.00068649e-02] [ 8.41503903e-03 2.36712574e-04 9.99964565e-01 -1.20260043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.246502481 meters 0.1161455358855136 Centerline is valid? [False, False] Translation: X:3.97, Y:0.06, Z:-1.20 [[ 9.99958328e-01 -3.11726837e-03 -8.58054828e-03 3.96537028e+00] [ 3.11330261e-03 9.99995041e-01 -4.75499037e-04 6.10631085e-02] [ 8.58198799e-03 4.48765378e-04 9.99963073e-01 -1.20276049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.276502481 meters 0.11588827336626686 Centerline is valid? [False, False] Translation: X:3.97, Y:0.06, Z:-1.20 [[ 9.99957904e-01 -2.91043850e-03 -8.70164849e-03 3.96596065e+00] [ 2.90831188e-03 9.99995738e-01 -2.57036443e-04 6.11062846e-02] [ 8.70235949e-03 2.31718515e-04 9.99962107e-01 -1.20330482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.306502481 meters 0.11588827336626686 Centerline is valid? [False, False] Translation: X:3.97, Y:0.06, Z:-1.20 [[ 9.99957904e-01 -2.91043850e-03 -8.70164849e-03 3.96596065e+00] [ 2.90831188e-03 9.99995738e-01 -2.57036443e-04 6.11062846e-02] [ 8.70235949e-03 2.31718515e-04 9.99962107e-01 -1.20330482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.336502481 meters 0.11575225658209039 Centerline is valid? [False, False] Translation: X:3.97, Y:0.06, Z:-1.20 [[ 9.99960903e-01 -2.80836311e-03 -8.38483806e-03 3.96610868e+00] [ 2.80750862e-03 9.99996052e-01 -1.13677302e-04 6.11009942e-02] [ 8.38512421e-03 9.01323521e-05 9.99964840e-01 -1.20401553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.366502481 meters 0.11560692749019766 Centerline is valid? [False, False] Translation: X:3.97, Y:0.06, Z:-1.20 [[ 9.99961666e-01 -2.64960247e-03 -8.34536655e-03 3.96643843e+00] [ 2.65050929e-03 9.99996483e-01 9.76041301e-05 6.09614985e-02] [ 8.34507859e-03 -1.19719860e-04 9.99965172e-01 -1.20446904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.396502481 meters 0.11570258677969222 Centerline is valid? [False, False] Translation: X:3.97, Y:0.06, Z:-1.21 [[ 9.99964826e-01 -2.69901538e-03 -7.94112003e-03 3.96638696e+00] [ 2.69909193e-03 9.99996357e-01 -1.07724223e-06 6.15342685e-02] [ 7.94109401e-03 -2.03566086e-05 9.99968469e-01 -1.20505210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.426502481 meters 0.11566088480140983 Centerline is valid? [False, False] Translation: X:3.97, Y:0.06, Z:-1.21 [[ 9.99966127e-01 -2.62373523e-03 -7.80138101e-03 3.96659669e+00] [ 2.62420703e-03 9.99996556e-01 5.02397207e-05 6.17885989e-02] [ 7.80122232e-03 -7.07104578e-05 9.99969568e-01 -1.20554055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.456502481 meters 0.11576487730100544 Centerline is valid? [False, False] Translation: X:3.97, Y:0.06, Z:-1.21 [[ 9.99969467e-01 -2.64773152e-03 -7.35216205e-03 3.96662489e+00] [ 2.64737679e-03 9.99996494e-01 -5.79801582e-05 6.24511426e-02] [ 7.35228979e-03 3.85144447e-05 9.99972971e-01 -1.20630722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.486502481 meters 0.11568029526794778 Centerline is valid? [False, False] Translation: X:3.97, Y:0.06, Z:-1.21 [[ 9.99969515e-01 -2.58687254e-03 -7.36725844e-03 3.96703374e+00] [ 2.58608018e-03 9.99996649e-01 -1.17075067e-04 6.31176380e-02] [ 7.36753661e-03 9.80191769e-05 9.99972855e-01 -1.20676667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51650248099997 meters 0.11573631484229276 Centerline is valid? [False, False] Translation: X:3.97, Y:0.06, Z:-1.21 [[ 9.99972083e-01 -2.00635254e-03 -7.19775896e-03 3.96870973e+00] [ 2.00888626e-03 9.99997923e-01 3.44802084e-04 6.49692075e-02] [ 7.19705221e-03 -3.59251937e-04 9.99974036e-01 -1.20920149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54650248099998 meters 0.1157935786005768 Centerline is valid? [False, False] Translation: X:3.97, Y:0.07, Z:-1.21 [[ 9.99974309e-01 -1.70406350e-03 -6.96262618e-03 3.96940495e+00] [ 1.70883184e-03 9.99998309e-01 6.78956708e-04 6.51220236e-02] [ 6.96145743e-03 -6.90837222e-04 9.99975530e-01 -1.21055356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57650248099998 meters 0.11585135100474324 Centerline is valid? [False, False] Translation: X:3.97, Y:0.07, Z:-1.21 [[ 9.99978293e-01 -1.81613902e-03 -6.33364283e-03 3.96932815e+00] [ 1.81850046e-03 9.99998279e-01 3.67101803e-04 6.65123757e-02] [ 6.33296522e-03 -3.78611566e-04 9.99979875e-01 -1.21152276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60650248099998 meters 0.11571676033779354 Centerline is valid? [False, False] Translation: X:3.97, Y:0.07, Z:-1.21 [[ 9.99978985e-01 -1.79949710e-03 -6.22829052e-03 3.96947794e+00] [ 1.80104483e-03 9.99998349e-01 2.42899456e-04 6.73515198e-02] [ 6.22784313e-03 -2.54111782e-04 9.99980575e-01 -1.21186954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63650248099998 meters 0.11564672303385572 Centerline is valid? [False, False] Translation: X:3.97, Y:0.07, Z:-1.21 [[ 9.99981367e-01 -1.82130542e-03 -5.82656965e-03 3.96972495e+00] [ 1.82022356e-03 9.99998325e-01 -1.90975278e-04 6.98214394e-02] [ 5.82690772e-03 1.80366060e-04 9.99983007e-01 -1.21288159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66650248099998 meters 0.11552725108159692 Centerline is valid? [False, False] Translation: X:3.97, Y:0.07, Z:-1.21 [[ 9.99982206e-01 -1.77623814e-03 -5.69501027e-03 3.97011008e+00] [ 1.77416611e-03 9.99998358e-01 -3.68863508e-04 7.10742226e-02] [ 5.69565611e-03 3.58753051e-04 9.99983715e-01 -1.21361025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69650248099998 meters 0.11575975399732556 Centerline is valid? [False, False] Translation: X:3.97, Y:0.07, Z:-1.22 [[ 9.99985213e-01 -1.61709333e-03 -5.19209756e-03 3.97063998e+00] [ 1.61400047e-03 9.99998518e-01 -5.99819404e-04 7.34908705e-02] [ 5.19305982e-03 5.91430487e-04 9.99986341e-01 -1.21521868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72650248099998 meters 0.11583957044128206 Centerline is valid? [False, False] Translation: X:3.97, Y:0.07, Z:-1.22 [[ 9.99986773e-01 -1.61695833e-03 -4.88249088e-03 3.97084576e+00] [ 1.61312512e-03 9.99998388e-01 -7.88929654e-04 7.46598049e-02] [ 4.88375867e-03 7.81043150e-04 9.99987769e-01 -1.21607199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75650248099998 meters 0.11595743730299336 Centerline is valid? [False, False] Translation: X:3.98, Y:0.08, Z:-1.22 [[ 9.99983495e-01 2.87761693e-03 -4.97286250e-03 3.98273001e+00] [-2.89166386e-03 9.99991843e-01 -2.81983901e-03 7.65020045e-02] [ 4.96470753e-03 2.83417231e-03 9.99983659e-01 -1.21834610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78650248099999 meters 0.1157824861687606 Centerline is valid? [False, False] Translation: X:3.98, Y:0.08, Z:-1.22 [[ 9.99985268e-01 2.98297419e-03 -4.53483702e-03 3.98292872e+00] [-2.99542558e-03 9.99991756e-01 -2.74141261e-03 7.69256940e-02] [ 4.52662207e-03 2.75495599e-03 9.99985960e-01 -1.21944659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.816502481 meters 0.11580558270136143 Centerline is valid? [False, False] Translation: X:3.99, Y:0.08, Z:-1.22 [[ 9.99990554e-01 8.46157005e-07 -4.34645275e-03 3.98511865e+00] [-2.65634485e-05 9.99982495e-01 -5.91679165e-03 7.93497799e-02] [ 4.34637166e-03 5.91685122e-03 9.99973050e-01 -1.22276193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.846502481 meters 0.11580380921402939 Centerline is valid? [False, False] Translation: X:3.99, Y:0.08, Z:-1.22 [[ 9.99993219e-01 4.03265249e-04 -3.66051081e-03 3.98550907e+00] [-4.22581933e-04 9.99985983e-01 -5.27780737e-03 7.85197072e-02] [ 3.65833114e-03 5.27931844e-03 9.99979372e-01 -1.22463687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.876502481 meters 0.11585066799758101 Centerline is valid? [False, False] Translation: X:3.99, Y:0.08, Z:-1.23 [[ 9.99996657e-01 9.12494589e-04 -2.41923174e-03 3.98610873e+00] [-9.23403026e-04 9.99989396e-01 -4.51177412e-03 7.82606502e-02] [ 2.41508912e-03 4.51399297e-03 9.99986896e-01 -1.22781208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.906502481 meters 0.11591940620619115 Centerline is valid? [False, False] Translation: X:3.99, Y:0.08, Z:-1.23 [[ 9.99997058e-01 1.12967551e-03 -2.14673721e-03 3.98656719e+00] [-1.13885561e-03 9.99990193e-01 -4.27990287e-03 7.87166638e-02] [ 2.14188125e-03 4.28233511e-03 9.99988537e-01 -1.22899357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.936502481 meters 0.11583228515500765 Centerline is valid? [False, False] Translation: X:3.99, Y:0.08, Z:-1.23 [[ 9.99997481e-01 1.35185111e-03 -1.79165291e-03 3.98692307e+00] [-1.35904966e-03 9.99990985e-01 -4.02271602e-03 7.89261312e-02] [ 1.78619864e-03 4.02514083e-03 9.99990304e-01 -1.23019055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.966502481 meters 0.1160562369651413 Centerline is valid? [False, False] Translation: X:3.99, Y:0.08, Z:-1.23 [[ 9.99997284e-01 2.16622663e-03 -8.59743835e-04 3.98823640e+00] [-2.16870291e-03 9.99993473e-01 -2.88985143e-03 7.90725901e-02] [ 8.53478150e-04 2.89170811e-03 9.99995455e-01 -1.23383928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.996502481 meters 0.116233797029949 Centerline is valid? [False, False] Translation: X:3.99, Y:0.08, Z:-1.24 [[ 9.99999254e-01 -1.01361098e-03 -6.81982403e-04 3.99039800e+00] [ 1.00949035e-03 9.99981397e-01 -6.01559534e-03 8.02725546e-02] [ 6.88067189e-04 6.01490240e-03 9.99981674e-01 -1.23722257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.026502481 meters 0.11630831413481017 Centerline is valid? [False, False] Translation: X:3.99, Y:0.08, Z:-1.24 [[ 9.99999759e-01 -6.47378374e-04 -2.49225907e-04 3.99088793e+00] [ 6.46018429e-04 9.99985110e-01 -5.41862112e-03 7.95982364e-02] [ 2.52730095e-04 5.41845882e-03 9.99985288e-01 -1.23880268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.056502481 meters 0.11640108255717056 Centerline is valid? [False, False] Translation: X:3.99, Y:0.08, Z:-1.24 [[ 9.99999938e-01 -2.60913496e-04 2.37238344e-04 3.99140225e+00] [ 2.62046826e-04 9.99988495e-01 -4.78976195e-03 7.90096359e-02] [-2.35985901e-04 4.78982382e-03 9.99988501e-01 -1.24053138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.086502481 meters 0.11649187944732071 Centerline is valid? [False, False] Translation: X:3.99, Y:0.08, Z:-1.24 [[ 9.99998612e-01 3.00823790e-04 1.63905382e-03 3.99187551e+00] [-2.94679520e-04 9.99992934e-01 -3.74762201e-03 7.78778829e-02] [-1.64016962e-03 3.74713381e-03 9.99991634e-01 -1.24400535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.116502481 meters 0.11672430672954298 Centerline is valid? [False, False] Translation: X:3.99, Y:0.08, Z:-1.25 [[ 9.99994977e-01 9.99281931e-04 3.00788970e-03 3.99255913e+00] [-9.91760443e-04 9.99996381e-01 -2.50104006e-03 7.68974504e-02] [-3.01037805e-03 2.49804440e-03 9.99992349e-01 -1.24779153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.146502481 meters 0.11662793627138983 Centerline is valid? [False, False] Translation: X:3.99, Y:0.08, Z:-1.25 [[ 9.99992771e-01 1.39525452e-03 3.53708205e-03 3.99305346e+00] [-1.38868286e-03 9.99997307e-01 -1.85970752e-03 7.63748944e-02] [-3.53966729e-03 1.85478220e-03 9.99992015e-01 -1.24961137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.176502481 meters 0.11687126497000502 Centerline is valid? [False, False] Translation: X:4.00, Y:0.08, Z:-1.25 [[ 9.99992702e-01 -1.38002585e-03 3.56263610e-03 3.99570895e+00] [ 1.39629612e-03 9.99988590e-01 -4.56847811e-03 7.75178648e-02] [-3.55629083e-03 4.57341926e-03 9.99983218e-01 -1.25346658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.206502481 meters 0.11699193950195903 Centerline is valid? [False, False] Translation: X:4.00, Y:0.08, Z:-1.26 [[ 9.99991600e-01 -8.75752561e-04 4.00415442e-03 3.99646166e+00] [ 8.90999043e-04 9.99992355e-01 -3.80746885e-03 7.69282735e-02] [-4.00078940e-03 3.81100457e-03 9.99984735e-01 -1.25550627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.236502481 meters 0.11734306818325539 Centerline is valid? [False, False] Translation: X:4.00, Y:0.08, Z:-1.26 [[ 9.99990166e-01 -4.94013737e-04 4.40734577e-03 3.99706294e+00] [ 5.08316977e-04 9.99994606e-01 -3.24478870e-03 7.66074907e-02] [-4.40571903e-03 3.24699711e-03 9.99985023e-01 -1.25722942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26650248099997 meters 0.11706270350853996 Centerline is valid? [False, False] Translation: X:4.00, Y:0.08, Z:-1.26 [[ 9.99986082e-01 3.28111045e-04 5.26573178e-03 3.99845444e+00] [-3.16912982e-04 9.99997687e-01 -2.12728554e-03 7.66779759e-02] [-5.26641758e-03 2.12558715e-03 9.99983873e-01 -1.26102813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29650248099998 meters 0.11754830858947456 Centerline is valid? [False, False] Translation: X:4.00, Y:0.08, Z:-1.27 [[ 9.99983056e-01 -1.03364209e-03 5.72882120e-03 4.00117936e+00] [ 1.05472960e-03 9.99992676e-01 -3.67915314e-03 7.85848668e-02] [-5.72497631e-03 3.68513316e-03 9.99976822e-01 -1.26563104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32650248099998 meters 0.11814582697671035 Centerline is valid? [False, False] Translation: X:4.00, Y:0.08, Z:-1.27 [[ 9.99980525e-01 -6.51438920e-04 6.20692014e-03 4.00171055e+00] [ 6.70717833e-04 9.99994956e-01 -3.10446007e-03 7.81226303e-02] [-6.20486647e-03 3.10856270e-03 9.99975918e-01 -1.26745074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35650248099998 meters 0.11830984619200817 Centerline is valid? [False, False] Translation: X:4.00, Y:0.08, Z:-1.27 [[ 9.99979504e-01 -4.60578794e-05 6.40223927e-03 4.00285863e+00] [ 6.08610632e-05 9.99997325e-01 -2.31201287e-03 7.78329619e-02] [-6.40211566e-03 2.31235513e-03 9.99976833e-01 -1.26957699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38650248099998 meters 0.11892683902485522 Centerline is valid? [False, False] Translation: X:4.00, Y:0.08, Z:-1.27 [[ 9.99974222e-01 8.47707203e-04 7.13000140e-03 4.00448866e+00] [-8.39220297e-04 9.99998936e-01 -1.19321674e-03 7.79207071e-02] [-7.13100531e-03 1.18720234e-03 9.99973869e-01 -1.27340961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41650248099998 meters 0.11893140148412791 Centerline is valid? [False, False] Translation: X:4.01, Y:0.08, Z:-1.28 [[ 9.99971647e-01 1.33508948e-03 7.41095402e-03 4.00545621e+00] [-1.33117911e-03 9.99998972e-01 -5.32553676e-04 7.74677890e-02] [-7.41165741e-03 5.22673269e-04 9.99972397e-01 -1.27543070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44650248099998 meters 0.11978204780901291 Centerline is valid? [False, False] Translation: X:4.01, Y:0.08, Z:-1.28 [[ 9.99973529e-01 -9.87585431e-04 7.20870207e-03 4.00894835e+00] [ 1.00869989e-03 9.99995211e-01 -2.92597615e-03 7.85970422e-02] [-7.20577789e-03 2.93317012e-03 9.99969736e-01 -1.28007824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47650248099998 meters 0.11959156192418963 Centerline is valid? [False, False] Translation: X:4.01, Y:0.08, Z:-1.28 [[ 9.99972076e-01 -3.75252162e-04 7.46370609e-03 4.01012291e+00] [ 3.90502582e-04 9.99997839e-01 -2.04192476e-03 7.80707138e-02] [-7.46292373e-03 2.04478234e-03 9.99970061e-01 -1.28235655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50650248099998 meters 0.12013864057174112 Centerline is valid? [False, False] Translation: X:4.01, Y:0.08, Z:-1.29 [[ 9.99964828e-01 5.33721395e-04 8.37009804e-03 4.01180194e+00] [-5.28108361e-04 9.99999634e-01 -6.72801345e-04 7.72340318e-02] [-8.37045406e-03 6.68357362e-04 9.99964744e-01 -1.28673522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53650248099999 meters 0.12001340998293893 Centerline is valid? [False, False] Translation: X:4.01, Y:0.08, Z:-1.29 [[ 9.99962950e-01 1.12699076e-03 8.53400911e-03 4.01307854e+00] [-1.12820202e-03 9.99999354e-01 1.37120394e-04 7.67855321e-02] [-8.53384906e-03 -1.46743400e-04 9.99963575e-01 -1.28896929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.566502481 meters 0.12041022883480189 Centerline is valid? [False, False] Translation: X:4.02, Y:0.08, Z:-1.29 [[ 9.99967608e-01 -1.29345116e-03 7.94413770e-03 4.01656266e+00] [ 1.31316888e-03 9.99996069e-01 -2.47733173e-03 7.87669213e-02] [-7.94090216e-03 2.48768347e-03 9.99965376e-01 -1.29273819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.596502481 meters 0.1205135109322769 Centerline is valid? [False, False] Translation: X:4.02, Y:0.08, Z:-1.29 [[ 9.99965055e-01 -8.59079369e-04 8.31567016e-03 4.01717765e+00] [ 8.74036054e-04 9.99998007e-01 -1.79514748e-03 7.80018221e-02] [-8.31411142e-03 1.80235295e-03 9.99963813e-01 -1.29447487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.626502481 meters 0.12105532968929898 Centerline is valid? [False, False] Translation: X:4.02, Y:0.08, Z:-1.30 [[ 9.99956070e-01 -3.78553243e-03 8.57482688e-03 4.01965608e+00] [ 3.82254258e-03 9.99983432e-01 -4.30387040e-03 7.78855201e-02] [-8.55839237e-03 4.33645897e-03 9.99953973e-01 -1.29869282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.656502481 meters 0.12149373524750194 Centerline is valid? [False, False] Translation: X:4.02, Y:0.08, Z:-1.30 [[ 9.99950595e-01 -2.59240027e-03 9.59622225e-03 4.02130657e+00] [ 2.61349230e-03 9.99994195e-01 -2.18606373e-03 7.57039872e-02] [-9.59049939e-03 2.21103538e-03 9.99951566e-01 -1.30354323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.686502481 meters 0.12103676418614084 Centerline is valid? [False, False] Translation: X:4.02, Y:0.07, Z:-1.31 [[ 9.99948184e-01 -2.02120634e-03 9.97716552e-03 4.02217982e+00] [ 2.03383981e-03 9.99997143e-01 -1.25625382e-03 7.47358990e-02] [-9.97459787e-03 1.27648068e-03 9.99949438e-01 -1.30571070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.716502481 meters 0.12070662673693754 Centerline is valid? [False, False] Translation: X:4.02, Y:0.07, Z:-1.31 [[ 9.99945728e-01 -1.37888493e-03 1.03266956e-02 4.02319288e+00] [ 1.38131225e-03 9.99999020e-01 -2.27924705e-04 7.35879093e-02] [-1.03263712e-02 2.42176726e-04 9.99946652e-01 -1.30803301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.746502481 meters 0.12115281483948924 Centerline is valid? [False, False] Translation: X:4.03, Y:0.07, Z:-1.31 [[ 9.99938719e-01 -3.80534257e-03 1.03960737e-02 4.02660897e+00] [ 3.82779900e-03 9.99990382e-01 -2.14104373e-03 7.32239928e-02] [-1.03878263e-02 2.18070661e-03 9.99943667e-01 -1.31326270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.776502481 meters 0.1217763800975474 Centerline is valid? [False, False] Translation: X:4.03, Y:0.07, Z:-1.32 [[ 9.99938434e-01 -2.99218105e-03 1.06852924e-02 4.02791148e+00] [ 3.00162460e-03 9.99995119e-01 -8.67861882e-04 7.16880407e-02] [-1.06826434e-02 8.99881688e-04 9.99942534e-01 -1.31588857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.806502481 meters 0.12170388487935742 Centerline is valid? [False, False] Translation: X:4.03, Y:0.07, Z:-1.32 [[ 9.99935274e-01 -1.71245383e-03 1.12479185e-02 4.03024636e+00] [ 1.70164666e-03 9.99998081e-01 9.70314783e-04 7.08247952e-02] [-1.12495585e-02 -9.51111996e-04 9.99936269e-01 -1.32061944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.836502481 meters 0.12300212170324241 Centerline is valid? [False, False] Translation: X:4.03, Y:0.07, Z:-1.32 [[ 9.99937816e-01 -8.73252514e-04 1.11175917e-02 4.03218359e+00] [ 8.50565213e-04 9.99997547e-01 2.04523165e-03 7.03291624e-02] [-1.11193505e-02 -2.03564824e-03 9.99936106e-01 -1.32322282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.866502481 meters 0.12291505279097005 Centerline is valid? [False, False] Translation: X:4.04, Y:0.07, Z:-1.33 [[ 9.99939851e-01 -2.85760874e-03 1.05890879e-02 4.03635265e+00] [ 2.85913854e-03 9.99995904e-01 -1.29334143e-04 7.15904297e-02] [-1.05886749e-02 1.59602033e-04 9.99943926e-01 -1.32817684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.896502481 meters 0.12462613182931499 Centerline is valid? [False, False] Translation: X:4.04, Y:0.07, Z:-1.33 [[ 9.99941454e-01 -1.94981747e-03 1.06436230e-02 4.03824275e+00] [ 1.93849058e-03 9.99997544e-01 1.07440795e-03 7.10560511e-02] [-1.06456917e-02 -1.05371249e-03 9.99942778e-01 -1.33114071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.926502481 meters 0.1237735527883311 Centerline is valid? [False, False] Translation: X:4.04, Y:0.07, Z:-1.34 [[ 9.99940646e-01 -7.34617232e-04 1.08703723e-02 4.04108448e+00] [ 7.08987936e-04 9.99996961e-01 2.36138594e-03 7.16081477e-02] [-1.08720740e-02 -2.35353882e-03 9.99938128e-01 -1.33579447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.956502481 meters 0.1243309502262347 Centerline is valid? [False, False] Translation: X:4.04, Y:0.07, Z:-1.34 [[ 9.99939548e-01 -3.44778396e-04 1.09900934e-02 4.04207152e+00] [ 3.13968746e-04 9.99996017e-01 2.80500408e-03 7.17081987e-02] [-1.09910167e-02 -2.80138397e-03 9.99935673e-01 -1.33761546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.986502481 meters 0.1250344636923367 Centerline is valid? [False, False] Translation: X:4.05, Y:0.07, Z:-1.34 [[ 9.99948225e-01 -2.21702107e-03 9.93135598e-03 4.04525941e+00] [ 2.21203825e-03 9.99997422e-01 5.12682193e-04 7.43432971e-02] [-9.93246700e-03 -4.90687110e-04 9.99950551e-01 -1.34005241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01650248099997 meters 0.12629065187537708 Centerline is valid? [False, False] Translation: X:4.05, Y:0.07, Z:-1.34 [[ 9.99950124e-01 -1.01062686e-03 9.93615761e-03 4.04791018e+00] [ 9.90819137e-04 9.99997513e-01 1.99821933e-03 7.34815548e-02] [-9.93815235e-03 -1.98827473e-03 9.99948639e-01 -1.34399164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04650248099998 meters 0.12660418607075166 Centerline is valid? [False, False] Translation: X:4.05, Y:0.07, Z:-1.35 [[ 9.99952682e-01 -2.99940885e-03 9.25403391e-03 4.05239108e+00] [ 2.99952718e-03 9.99995501e-01 1.09304915e-06 7.40011425e-02] [-9.25399556e-03 2.66647288e-05 9.99957181e-01 -1.34897341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07650248099998 meters 0.12800157312328406 Centerline is valid? [False, False] Translation: X:4.05, Y:0.07, Z:-1.35 [[ 9.99955591e-01 -2.25019106e-03 9.15165046e-03 4.05403413e+00] [ 2.24068011e-03 9.99996939e-01 1.04938082e-03 7.29204813e-02] [-9.15398376e-03 -1.02882830e-03 9.99957572e-01 -1.35123928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10650248099998 meters 0.12673344527557331 Centerline is valid? [False, False] Translation: X:4.06, Y:0.07, Z:-1.35 [[ 9.99958299e-01 -1.54709248e-03 9.00042784e-03 4.05568195e+00] [ 1.52906035e-03 9.99996811e-01 2.01001057e-03 7.21151425e-02] [-9.00350880e-03 -1.99616455e-03 9.99957475e-01 -1.35339365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13650248099998 meters 0.1273373137019791 Centerline is valid? [False, False] Translation: X:4.06, Y:0.07, Z:-1.36 [[ 9.99959132e-01 -3.73961500e-03 8.23106656e-03 4.06027976e+00] [ 3.73977055e-03 9.99993007e-01 -3.50592103e-06 7.24399225e-02] [-8.23099589e-03 3.42880780e-05 9.99966124e-01 -1.35833568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16650248099998 meters 0.12875893619011092 Centerline is valid? [False, False] Translation: X:4.06, Y:0.07, Z:-1.36 [[ 9.99962681e-01 -2.79956553e-03 8.17311498e-03 4.06207689e+00] [ 2.78793930e-03 9.99995086e-01 1.43354406e-03 7.04380633e-02] [-8.17708812e-03 -1.41070441e-03 9.99965572e-01 -1.36095796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19650248099998 meters 0.12676942280729278 Centerline is valid? [False, False] Translation: X:4.07, Y:0.07, Z:-1.37 [[ 9.99952100e-01 -5.55279942e-03 8.05999077e-03 4.06525634e+00] [ 5.55884788e-03 9.99984284e-01 -7.28222671e-04 6.91106184e-02] [-8.05582042e-03 7.72992052e-04 9.99967253e-01 -1.36542448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22650248099998 meters 0.12676942280729278 Centerline is valid? [False, False] Translation: X:4.07, Y:0.07, Z:-1.37 [[ 9.99952100e-01 -5.55279942e-03 8.05999077e-03 4.06525634e+00] [ 5.55884788e-03 9.99984284e-01 -7.28222671e-04 6.91106184e-02] [-8.05582042e-03 7.72992052e-04 9.99967253e-01 -1.36542448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25650248099998 meters 0.12746354847211955 Centerline is valid? [False, False] Translation: X:4.07, Y:0.07, Z:-1.37 [[ 9.99956198e-01 -4.71439248e-03 8.08562581e-03 4.06679516e+00] [ 4.70949822e-03 9.99988715e-01 6.24236534e-04 6.72689922e-02] [-8.08847747e-03 -5.86129950e-04 9.99967116e-01 -1.36789041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28650248099999 meters 0.1253963699518719 Centerline is valid? [False, False] Translation: X:4.07, Y:0.07, Z:-1.37 [[ 9.99940464e-01 -7.51200421e-03 7.91441237e-03 4.06994478e+00] [ 7.52446655e-03 9.99970496e-01 -1.54604028e-03 6.57553976e-02] [-7.90256500e-03 1.60549997e-03 9.99967485e-01 -1.37218435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.316502481 meters 0.1295124894123247 Centerline is valid? [False, False] Translation: X:4.07, Y:0.06, Z:-1.38 [[ 9.99946710e-01 -6.54402350e-03 7.98453400e-03 4.07163489e+00] [ 6.54383658e-03 9.99978588e-01 4.95356450e-05 6.34842064e-02] [-7.98468720e-03 2.71648038e-06 9.99968122e-01 -1.37500169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.346502481 meters 0.13034318910680534 Centerline is valid? [False, False] Translation: X:4.07, Y:0.06, Z:-1.38 [[ 9.99953190e-01 -5.21584721e-03 8.14945504e-03 4.07404735e+00] [ 5.19634597e-03 9.99983589e-01 2.41229522e-03 6.01076121e-02] [-8.16190346e-03 -2.36983491e-03 9.99963883e-01 -1.37933297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.376502481 meters 0.1264260250199011 Centerline is valid? [False, False] Translation: X:4.08, Y:0.06, Z:-1.38 [[ 0.999959 -0.00412654 0.00806025 4.07630981] [ 0.00409278 0.9999828 0.00420064 0.05764244] [-0.00807744 -0.00416748 0.99995869 -1.38265025] [ 0. 0. 0. 1. ]] SLAMing on 142.406502481 meters 0.12467032037853523 Centerline is valid? [False, False] Translation: X:4.08, Y:0.06, Z:-1.38 [[ 9.99962951e-01 -3.43613674e-03 7.89236153e-03 4.07780257e+00] [ 3.39470155e-03 9.99980417e-01 5.25744621e-03 5.61579742e-02] [-7.91027228e-03 -5.23045921e-03 9.99955034e-01 -1.38453332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.436502481 meters 0.12648764884444955 Centerline is valid? [False, False] Translation: X:4.08, Y:0.06, Z:-1.39 [[ 9.99946712e-01 -7.18196462e-03 7.41572420e-03 4.07963853e+00] [ 7.17157237e-03 9.99973266e-01 1.42702278e-03 5.65994591e-02] [-7.42577477e-03 -1.37376434e-03 9.99971485e-01 -1.38602018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.466502481 meters 0.12537770165775317 Centerline is valid? [False, False] Translation: X:4.08, Y:0.05, Z:-1.39 [[ 9.99955509e-01 -5.88774187e-03 7.36983602e-03 4.08219185e+00] [ 5.86167470e-03 9.99976506e-01 3.55362441e-03 5.35521861e-02] [-7.39058570e-03 -3.51026673e-03 9.99966528e-01 -1.38992031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.496502481 meters 0.1253760229720283 Centerline is valid? [False, False] Translation: X:4.08, Y:0.05, Z:-1.39 [[ 0.99996167 -0.00509389 0.00712172 4.08390269] [ 0.0050601 0.9999759 0.00475433 0.05178548] [-0.00714576 -0.00471811 0.99996334 -1.39192825] [ 0. 0. 0. 1. ]] SLAMing on 142.526502481 meters 0.12613711246773124 Centerline is valid? [False, False] Translation: X:4.09, Y:0.05, Z:-1.40 [[ 9.99945210e-01 -8.23263719e-03 6.46537950e-03 4.08717725e+00] [ 8.22114129e-03 9.99964581e-01 1.80263924e-03 5.16975756e-02] [-6.47999098e-03 -1.74938768e-03 9.99977474e-01 -1.39507283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.556502481 meters 0.1264358555700468 Centerline is valid? [False, False] Translation: X:4.09, Y:0.05, Z:-1.40 [[ 9.99952290e-01 -7.63592057e-03 6.09179345e-03 4.08888100e+00] [ 7.62032398e-03 9.99967638e-01 2.57937913e-03 5.10605673e-02] [-6.11129224e-03 -2.53283463e-03 9.99978118e-01 -1.39668763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.586502481 meters 0.12618475529796636 Centerline is valid? [False, False] Translation: X:4.09, Y:0.05, Z:-1.40 [[ 9.99958526e-01 -7.11541566e-03 5.68483230e-03 4.09059646e+00] [ 7.09739293e-03 9.99969743e-01 3.18422790e-03 5.08285376e-02] [-5.70731741e-03 -3.14374835e-03 9.99978771e-01 -1.39819715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.616502481 meters 0.12659224902563618 Centerline is valid? [False, False] Translation: X:4.09, Y:0.05, Z:-1.40 [[ 0.99996991 -0.00596769 0.00495546 4.09367334] [ 0.00594492 0.99997176 0.00459681 0.04946119] [-0.00498275 -0.00456721 0.99997716 -1.40100816] [ 0. 0. 0. 1. ]] SLAMing on 142.646502481 meters 0.12657022178965718 Centerline is valid? [False, False] Translation: X:4.10, Y:0.05, Z:-1.40 [[ 9.99951454e-01 -8.97794332e-03 4.06026631e-03 4.09732827e+00] [ 8.97118789e-03 9.99958349e-01 1.67895479e-03 4.94470778e-02] [-4.07517075e-03 -1.64244787e-03 9.99990348e-01 -1.40410383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.676502481 meters 0.12627589318856455 Centerline is valid? [False, False] Translation: X:4.10, Y:0.05, Z:-1.41 [[ 9.99957726e-01 -8.40397391e-03 3.73099040e-03 4.09891710e+00] [ 8.39490841e-03 9.99961788e-01 2.43883203e-03 4.87350791e-02] [-3.75134371e-03 -2.40740760e-03 9.99990066e-01 -1.40561683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.706502481 meters 0.1264449006224736 Centerline is valid? [False, False] Translation: X:4.10, Y:0.05, Z:-1.41 [[ 9.99968283e-01 -7.37766454e-03 3.00057123e-03 4.10202397e+00] [ 7.36684731e-03 9.99966383e-01 3.60026993e-03 4.84961048e-02] [-3.02703194e-03 -3.57805099e-03 9.99989017e-01 -1.40834284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.736502481 meters 0.12660755592249034 Centerline is valid? [False, False] Translation: X:4.10, Y:0.05, Z:-1.41 [[ 9.99974174e-01 -6.72087911e-03 2.54595369e-03 4.10386311e+00] [ 6.70956023e-03 9.99967684e-01 4.42858682e-03 4.76200335e-02] [-2.57563541e-03 -4.41139022e-03 9.99986953e-01 -1.40991259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76650248099997 meters 0.12578590607296733 Centerline is valid? [False, False] Translation: X:4.11, Y:0.05, Z:-1.41 [[ 9.99981814e-01 -5.71465745e-03 1.92701442e-03 4.10650063e+00] [ 5.70358446e-03 9.99967469e-01 5.70354335e-03 4.61608957e-02] [-1.95954553e-03 -5.69244874e-03 9.99981878e-01 -1.41227489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79650248099998 meters 0.1261480480946107 Centerline is valid? [False, False] Translation: X:4.11, Y:0.05, Z:-1.41 [[ 9.99985159e-01 -5.20631173e-03 1.60522179e-03 4.10791407e+00] [ 5.19601002e-03 9.99966299e-01 6.35635897e-03 4.54581070e-02] [-1.63826088e-03 -6.34792388e-03 9.99978510e-01 -1.41355717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82650248099998 meters 0.12439859850161065 Centerline is valid? [False, False] Translation: X:4.11, Y:0.05, Z:-1.42 [[ 9.99963340e-01 -8.55104782e-03 4.45031155e-04 4.11132924e+00] [ 8.54975247e-03 9.99959430e-01 2.83545232e-03 4.71418485e-02] [-4.69259188e-04 -2.83154346e-03 9.99995881e-01 -1.41554195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85650248099998 meters 0.12421194360117943 Centerline is valid? [False, False] Translation: X:4.11, Y:0.05, Z:-1.42 [[ 9.99967426e-01 -8.07117381e-03 6.00436375e-05 4.11276385e+00] [ 8.07091978e-03 9.99961523e-01 3.43702889e-03 4.64909607e-02] [-8.77821848e-05 -3.43643232e-03 9.99994092e-01 -1.41669607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88650248099998 meters 0.12421462293471809 Centerline is valid? [False, False] Translation: X:4.12, Y:0.05, Z:-1.42 [[ 9.99972619e-01 -7.35055421e-03 -8.55090912e-04 4.11540884e+00] [ 7.35403985e-03 9.99964359e-01 4.14722674e-03 4.64251261e-02] [ 8.24576020e-04 -4.15340156e-03 9.99991035e-01 -1.41832320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91650248099998 meters 0.12420895612771675 Centerline is valid? [False, False] Translation: X:4.12, Y:0.05, Z:-1.42 [[ 9.99977758e-01 -6.46725901e-03 -1.63060447e-03 4.11813618e+00] [ 6.47547623e-03 9.99966102e-01 5.08548878e-03 4.59504556e-02] [ 1.59766002e-03 -5.09593461e-03 9.99985739e-01 -1.42046857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94650248099998 meters 0.123930356808717 Centerline is valid? [False, False] Translation: X:4.12, Y:0.05, Z:-1.42 [[ 9.99979922e-01 -5.99650245e-03 -2.04890075e-03 4.11972755e+00] [ 6.00790738e-03 9.99966237e-01 5.60630417e-03 4.57165188e-02] [ 2.01521336e-03 -5.61850121e-03 9.99982186e-01 -1.42174621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97650248099998 meters 0.12258218137512822 Centerline is valid? [False, False] Translation: X:4.12, Y:0.05, Z:-1.42 [[ 9.99980753e-01 -5.65481193e-03 -2.55281880e-03 4.12119951e+00] [ 5.66974570e-03 9.99966633e-01 5.88107854e-03 4.58873375e-02] [ 2.51947722e-03 -5.89543918e-03 9.99979448e-01 -1.42258561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00650248099998 meters 0.12201595235783701 Centerline is valid? [False, False] Translation: X:4.12, Y:0.05, Z:-1.42 [[ 9.99980048e-01 -5.32914945e-03 -3.39185058e-03 4.12317880e+00] [ 5.34890479e-03 9.99968629e-01 5.84218065e-03 4.71516121e-02] [ 3.36061032e-03 -5.86020677e-03 9.99977182e-01 -1.42337586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03650248099999 meters 0.12293325107337073 Centerline is valid? [False, False] Translation: X:4.12, Y:0.05, Z:-1.42 [[ 9.99979560e-01 -5.11656249e-03 -3.83415505e-03 4.12428398e+00] [ 5.13934483e-03 9.99969057e-01 5.95583989e-03 4.74272780e-02] [ 3.80356299e-03 -5.97542319e-03 9.99974913e-01 -1.42387173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.066502481 meters 0.1227464755477801 Centerline is valid? [False, False] Translation: X:4.13, Y:0.05, Z:-1.42 [[ 0.99997867 -0.00488318 -0.00433824 4.12565813] [ 0.00490918 0.99996993 0.00600259 0.0480362 ] [ 0.00430879 -0.00602376 0.99997257 -1.42463886] [ 0. 0. 0. 1. ]] SLAMing on 143.096502481 meters 0.12150517984064717 Centerline is valid? [False, False] Translation: X:4.13, Y:0.05, Z:-1.42 [[ 0.99997843 -0.00480144 -0.00448262 4.12612097] [ 0.00482854 0.99997001 0.00605455 0.04804578] [ 0.00445341 -0.00607607 0.99997162 -1.4249458 ] [ 0. 0. 0. 1. ]] SLAMing on 143.126502481 meters 0.12109887498595102 Centerline is valid? [False, False] Translation: X:4.13, Y:0.05, Z:-1.43 [[ 0.99997926 -0.00436297 -0.00473787 4.12734032] [ 0.00439447 0.99996818 0.00665735 0.04712954] [ 0.00470867 -0.00667804 0.99996662 -1.42615511] [ 0. 0. 0. 1. ]] SLAMing on 143.156502481 meters 0.12263939068597725 Centerline is valid? [False, False] Translation: X:4.13, Y:0.05, Z:-1.43 [[ 9.99948574e-01 -8.53513237e-03 -5.47733501e-03 4.12879599e+00] [ 8.54713377e-03 9.99961115e-01 2.17144723e-03 4.84854752e-02] [ 5.45858843e-03 -2.21815107e-03 9.99982642e-01 -1.42627500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.186502481 meters 0.12079470652239019 Centerline is valid? [False, False] Translation: X:4.13, Y:0.05, Z:-1.43 [[ 9.99952473e-01 -7.88464868e-03 -5.73454818e-03 4.13007172e+00] [ 7.90354857e-03 9.99963385e-01 3.28063318e-03 4.65580171e-02] [ 5.70847157e-03 -3.32580054e-03 9.99978176e-01 -1.42760569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.216502481 meters 0.12017394519582783 Centerline is valid? [False, False] Translation: X:4.13, Y:0.05, Z:-1.43 [[ 9.99954406e-01 -7.53230745e-03 -5.86937185e-03 4.13073887e+00] [ 7.55508339e-03 9.99963979e-01 3.86801189e-03 4.54108018e-02] [ 5.84002537e-03 -3.91217913e-03 9.99975294e-01 -1.42822940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.246502481 meters 0.11931538094121509 Centerline is valid? [False, False] Translation: X:4.13, Y:0.04, Z:-1.43 [[ 0.99995697 -0.00690678 -0.00619378 4.13200947] [ 0.00693731 0.99996382 0.00492205 0.0435468 ] [ 0.00615956 -0.0049648 0.9999687 -1.42933832] [ 0. 0. 0. 1. ]] SLAMing on 143.276502481 meters 0.11940091068343109 Centerline is valid? [False, False] Translation: X:4.13, Y:0.04, Z:-1.43 [[ 0.99995816 -0.00649068 -0.0064464 4.13292467] [ 0.00652661 0.9999632 0.00556874 0.04233723] [ 0.00641002 -0.00561058 0.99996372 -1.43002896] [ 0. 0. 0. 1. ]] SLAMing on 143.306502481 meters 0.11794113003675619 Centerline is valid? [False, False] Translation: X:4.13, Y:0.04, Z:-1.43 [[ 0.99996107 -0.00630259 -0.00617618 4.13275103] [ 0.00634162 0.99995992 0.00631998 0.03989236] [ 0.0061361 -0.00635891 0.99996096 -1.43046832] [ 0. 0. 0. 1. ]] SLAMing on 143.336502481 meters 0.11818795985644914 Centerline is valid? [False, False] Translation: X:4.13, Y:0.04, Z:-1.43 [[ 0.99996379 -0.00605243 -0.00598247 4.13285139] [ 0.00609399 0.99995727 0.00695182 0.03826035] [ 0.00594014 -0.00698803 0.99995794 -1.43114833] [ 0. 0. 0. 1. ]] SLAMing on 143.366502481 meters 0.1176724762871868 Centerline is valid? [False, False] Translation: X:4.13, Y:0.04, Z:-1.43 [[ 9.99929217e-01 -9.98288298e-03 -6.47330528e-03 4.13414909e+00] [ 1.00037774e-02 9.99944830e-01 3.20347862e-03 3.75597195e-02] [ 6.44096820e-03 -3.26800937e-03 9.99973917e-01 -1.43177225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.396502481 meters 0.11750570813619081 Centerline is valid? [False, False] Translation: X:4.14, Y:0.04, Z:-1.43 [[ 9.99932519e-01 -9.46389342e-03 -6.73733059e-03 4.13528229e+00] [ 9.49114371e-03 9.99946860e-01 4.02425369e-03 3.61514285e-02] [ 6.69888746e-03 -4.08792710e-03 9.99969206e-01 -1.43278451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.426502481 meters 0.11752377290344872 Centerline is valid? [False, False] Translation: X:4.14, Y:0.04, Z:-1.43 [[ 0.99993445 -0.00912816 -0.00691164 4.13600823] [ 0.00916005 0.99994749 0.00459553 0.03509462] [ 0.00686933 -0.00465854 0.99996555 -1.433411 ] [ 0. 0. 0. 1. ]] SLAMing on 143.456502481 meters 0.11841936067079031 Centerline is valid? [False, False] Translation: X:4.14, Y:0.03, Z:-1.43 [[ 0.99993951 -0.00857137 -0.00689194 4.13675956] [ 0.00861124 0.99994624 0.00577562 0.03254905] [ 0.00684206 -0.00583462 0.99995957 -1.43461177] [ 0. 0. 0. 1. ]] SLAMing on 143.486502481 meters 0.11793063178096322 Centerline is valid? [False, False] Translation: X:4.14, Y:0.03, Z:-1.43 [[ 9.99891223e-01 -1.26959347e-02 -7.50701532e-03 4.13814006e+00] [ 1.27082210e-02 9.99917981e-01 1.59120453e-03 3.31187164e-02] [ 7.48619778e-03 -1.68643225e-03 9.99970556e-01 -1.43489848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51650248099997 meters 0.11745968463297304 Centerline is valid? [False, False] Translation: X:4.13, Y:0.03, Z:-1.44 [[ 9.99982223e-01 -4.69849691e-03 -3.67129365e-03 4.13224755e+00] [ 4.69388959e-03 9.99988187e-01 -1.26256727e-03 3.15009180e-02] [ 3.67718245e-03 1.24531218e-03 9.99992464e-01 -1.43948830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54650248099998 meters 0.1179144158217696 Centerline is valid? [False, False] Translation: X:4.13, Y:0.03, Z:-1.44 [[ 9.99984161e-01 -4.27635498e-03 -3.65935806e-03 4.13301704e+00] [ 4.27479219e-03 9.99990769e-01 -4.34782972e-04 2.99730836e-02] [ 3.66118356e-03 4.19133090e-04 9.99993210e-01 -1.44068743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57650248099998 meters 0.11948632901296583 Centerline is valid? [False, False] Translation: X:4.13, Y:0.03, Z:-1.44 [[ 9.99985281e-01 -3.89626537e-03 -3.77572973e-03 4.13387541e+00] [ 3.89695231e-03 9.99992392e-01 1.74594814e-04 2.90525966e-02] [ 3.77502073e-03 -1.89306083e-04 9.99992857e-01 -1.44166397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60650248099998 meters 0.11843399225725273 Centerline is valid? [False, False] Translation: X:4.13, Y:0.03, Z:-1.44 [[ 9.99986387e-01 -3.52408177e-03 -3.84802337e-03 4.13466162e+00] [ 3.52710329e-03 9.99993477e-01 7.78711560e-04 2.81553868e-02] [ 3.84525403e-03 -7.92273335e-04 9.99992293e-01 -1.44264272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63650248099998 meters 0.11809419156863502 Centerline is valid? [False, False] Translation: X:4.14, Y:0.03, Z:-1.44 [[ 9.99987382e-01 -3.13827308e-03 -3.92261182e-03 4.13553530e+00] [ 3.14377036e-03 9.99994084e-01 1.39605495e-03 2.73097610e-02] [ 3.91820741e-03 -1.40836912e-03 9.99991332e-01 -1.44376853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66650248099998 meters 0.11819437898174007 Centerline is valid? [False, False] Translation: X:4.14, Y:0.03, Z:-1.44 [[ 9.99987417e-01 -2.85035354e-03 -4.12811564e-03 4.13660970e+00] [ 2.85741964e-03 9.99994461e-01 1.70681555e-03 2.74488502e-02] [ 4.12322775e-03 -1.71858984e-03 9.99990023e-01 -1.44479674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69650248099998 meters 0.11820165506712783 Centerline is valid? [False, False] Translation: X:4.14, Y:0.03, Z:-1.45 [[ 9.99986588e-01 -2.76601223e-03 -4.37880662e-03 4.13723888e+00] [ 2.77356735e-03 9.99994674e-01 1.72025088e-03 2.78473424e-02] [ 4.37402506e-03 -1.73237272e-03 9.99988933e-01 -1.44500158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72650248099998 meters 0.11767003952772526 Centerline is valid? [False, False] Translation: X:4.14, Y:0.03, Z:-1.44 [[ 9.99983732e-01 -2.99625115e-03 -4.85377750e-03 4.13763366e+00] [ 3.00154592e-03 9.99994908e-01 1.08393966e-03 2.95598481e-02] [ 4.85050503e-03 -1.09849086e-03 9.99987633e-01 -1.44418607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75650248099998 meters 0.11768536716973986 Centerline is valid? [False, False] Translation: X:4.14, Y:0.03, Z:-1.44 [[ 9.99982990e-01 -2.94837889e-03 -5.03247822e-03 4.13807526e+00] [ 2.95368818e-03 9.99995089e-01 1.04789828e-03 2.99442736e-02] [ 5.02936390e-03 -1.06274483e-03 9.99986788e-01 -1.44431673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78650248099999 meters 0.11741305680738488 Centerline is valid? [False, False] Translation: X:4.14, Y:0.03, Z:-1.44 [[ 9.99982357e-01 -2.81062707e-03 -5.23312064e-03 4.13871542e+00] [ 2.81660691e-03 9.99995388e-01 1.13567162e-03 3.01305904e-02] [ 5.22990456e-03 -1.15039123e-03 9.99985662e-01 -1.44470134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.816502481 meters 0.11751548424861676 Centerline is valid? [False, False] Translation: X:4.14, Y:0.03, Z:-1.45 [[ 9.99981857e-01 -2.37310305e-03 -5.53659750e-03 4.14029846e+00] [ 2.38167294e-03 9.99995975e-01 1.54178326e-03 3.04139931e-02] [ 5.53291640e-03 -1.55494165e-03 9.99983484e-01 -1.44629584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.846502481 meters 0.11685607537205502 Centerline is valid? [False, False] Translation: X:4.14, Y:0.03, Z:-1.45 [[ 9.99980908e-01 -2.33054447e-03 -5.72298361e-03 4.14109700e+00] [ 2.33833684e-03 9.99996348e-01 1.35527913e-03 3.15389416e-02] [ 5.71980417e-03 -1.36863552e-03 9.99982705e-01 -1.44699003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.876502481 meters 0.11633678574540633 Centerline is valid? [False, False] Translation: X:4.14, Y:0.03, Z:-1.45 [[ 9.99979125e-01 -2.33715436e-03 -6.02396356e-03 4.14181600e+00] [ 2.34400347e-03 9.99996614e-01 1.13016851e-03 3.26330544e-02] [ 6.02130179e-03 -1.14426510e-03 9.99981217e-01 -1.44718313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.906502481 meters 0.11549400738637924 Centerline is valid? [False, False] Translation: X:4.14, Y:0.04, Z:-1.45 [[ 9.99974284e-01 -2.34645676e-03 -6.77684582e-03 4.14325339e+00] [ 2.34974182e-03 9.99997126e-01 4.76826409e-04 3.53911669e-02] [ 6.77570749e-03 -4.92737985e-04 9.99976923e-01 -1.44726298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.936502481 meters 0.11558089038910899 Centerline is valid? [False, False] Translation: X:4.14, Y:0.04, Z:-1.45 [[ 9.99972512e-01 -2.26531017e-03 -7.06001511e-03 4.14403156e+00] [ 2.26788315e-03 9.99997365e-01 3.56460203e-04 3.63088056e-02] [ 7.05918901e-03 -3.72461694e-04 9.99975014e-01 -1.44762518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.966502481 meters 0.11421093441769542 Centerline is valid? [False, False] Translation: X:4.14, Y:0.04, Z:-1.45 [[ 9.99969676e-01 -2.27885890e-03 -7.44669782e-03 4.14481765e+00] [ 2.27804743e-03 9.99997398e-01 -1.17450715e-04 3.79362955e-02] [ 7.44694610e-03 1.00483223e-04 9.99972266e-01 -1.44776545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.996502481 meters 0.11406403922497531 Centerline is valid? [False, False] Translation: X:4.15, Y:0.04, Z:-1.45 [[ 9.99967889e-01 -2.16289824e-03 -7.71637114e-03 4.14561664e+00] [ 2.16166914e-03 9.99997650e-01 -1.67621371e-04 3.85762417e-02] [ 7.71671555e-03 1.50935748e-04 9.99970214e-01 -1.44820004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.026502481 meters 0.11313118887985386 Centerline is valid? [False, False] Translation: X:4.15, Y:0.04, Z:-1.45 [[ 9.99961878e-01 -2.11887538e-03 -8.47068854e-03 4.14698939e+00] [ 2.11195853e-03 9.99997429e-01 -8.25425252e-04 4.10767465e-02] [ 8.47241574e-03 8.07504043e-04 9.99963782e-01 -1.44825763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.056502481 meters 0.11251379265096492 Centerline is valid? [False, False] Translation: X:4.15, Y:0.04, Z:-1.45 [[ 9.99957752e-01 -2.15091263e-03 -8.93687864e-03 4.14779461e+00] [ 2.13938160e-03 9.99996867e-01 -1.29963427e-03 4.26755052e-02] [ 8.93964604e-03 1.28045997e-03 9.99959221e-01 -1.44816260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.086502481 meters 0.11164020359416972 Centerline is valid? [False, False] Translation: X:4.15, Y:0.05, Z:-1.45 [[ 9.99950578e-01 -2.14269405e-03 -9.70831588e-03 4.14922498e+00] [ 2.12095122e-03 9.99995221e-01 -2.24935178e-03 4.59293024e-02] [ 9.71308916e-03 2.22864974e-03 9.99950343e-01 -1.44831956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.116502481 meters 0.11164020359416972 Centerline is valid? [False, False] Translation: X:4.15, Y:0.05, Z:-1.45 [[ 9.99950578e-01 -2.14269405e-03 -9.70831588e-03 4.14922498e+00] [ 2.12095122e-03 9.99995221e-01 -2.24935178e-03 4.59293024e-02] [ 9.71308916e-03 2.22864974e-03 9.99950343e-01 -1.44831956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.146502481 meters 0.11127532193040623 Centerline is valid? [False, False] Translation: X:4.15, Y:0.05, Z:-1.45 [[ 9.99945260e-01 -1.96082058e-03 -1.02777861e-02 4.15053269e+00] [ 1.93574852e-03 9.99995128e-01 -2.44882224e-03 4.71953349e-02] [ 1.02825378e-02 2.42879299e-03 9.99944184e-01 -1.44877392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.176502481 meters 0.11183784766826714 Centerline is valid? [False, False] Translation: X:4.16, Y:0.05, Z:-1.45 [[ 9.99980612e-01 4.03158050e-03 -4.74567003e-03 4.16227951e+00] [-4.05448303e-03 9.99980134e-01 -4.82629732e-03 5.12628750e-02] [ 4.72611815e-03 4.84544499e-03 9.99977092e-01 -1.45211611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.206502481 meters 0.11185500268265523 Centerline is valid? [False, False] Translation: X:4.16, Y:0.05, Z:-1.45 [[ 9.99978262e-01 4.00724416e-03 -5.23612683e-03 4.16301953e+00] [-4.03509965e-03 9.99977707e-01 -5.32017445e-03 5.27938119e-02] [ 5.21469087e-03 5.34118710e-03 9.99972139e-01 -1.45184988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.236502481 meters 0.11261655684363187 Centerline is valid? [False, False] Translation: X:4.16, Y:0.06, Z:-1.45 [[ 9.99972803e-01 4.09720886e-03 -6.13234437e-03 4.16434352e+00] [-4.13495265e-03 9.99972509e-01 -6.15489933e-03 5.57850330e-02] [ 6.10695788e-03 6.18008889e-03 9.99962255e-01 -1.45143104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26650248099997 meters 0.11263047796541047 Centerline is valid? [False, False] Translation: X:4.16, Y:0.06, Z:-1.45 [[ 9.99970799e-01 4.04145639e-03 -6.48601840e-03 4.16479741e+00] [-4.08391256e-03 9.99970236e-01 -6.54595868e-03 5.68804386e-02] [ 6.45937014e-03 6.57225587e-03 9.99957540e-01 -1.45113305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29650248099998 meters 0.11371713134798311 Centerline is valid? [False, False] Translation: X:4.17, Y:0.06, Z:-1.45 [[ 9.99968054e-01 4.03806009e-03 -6.89820815e-03 4.16526568e+00] [-4.08620975e-03 9.99967289e-01 -6.98024815e-03 5.80529437e-02] [ 6.86979584e-03 7.00821269e-03 9.99951844e-01 -1.45077976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32650248099998 meters 0.11398234756675056 Centerline is valid? [False, False] Translation: X:4.17, Y:0.06, Z:-1.45 [[ 9.99966833e-01 4.01187108e-03 -7.08782434e-03 4.16548307e+00] [-4.06263564e-03 9.99966097e-01 -7.16240044e-03 5.84296764e-02] [ 7.05884942e-03 7.19095813e-03 9.99949230e-01 -1.45059524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35650248099998 meters 0.11410017945839399 Centerline is valid? [False, False] Translation: X:4.17, Y:0.06, Z:-1.45 [[ 0.99996545 0.00418605 -0.00718097 4.1658819 ] [-0.00423615 0.99996669 -0.00697612 0.05810007] [ 0.00715153 0.00700629 0.99994988 -1.45100188] [ 0. 0. 0. 1. ]] SLAMing on 144.38650248099998 meters 0.11465098357509299 Centerline is valid? [False, False] Translation: X:4.17, Y:0.06, Z:-1.45 [[ 0.99996399 0.00447796 -0.00720914 4.16622444] [-0.00452444 0.999969 -0.00644411 0.05695882] [ 0.00718006 0.0064765 0.99995325 -1.45149688] [ 0. 0. 0. 1. ]] SLAMing on 144.41650248099998 meters 0.11402823652171172 Centerline is valid? [False, False] Translation: X:4.17, Y:0.06, Z:-1.45 [[ 0.99996427 0.00452917 -0.00713813 4.1658292 ] [-0.00457263 0.99997104 -0.0060844 0.05552829] [ 0.00711037 0.00611682 0.99995601 -1.45114609] [ 0. 0. 0. 1. ]] SLAMing on 144.44650248099998 meters 0.11426384804403036 Centerline is valid? [False, False] Translation: X:4.17, Y:0.05, Z:-1.45 [[ 0.99996421 0.0046549 -0.00706524 4.1657112 ] [-0.00469512 0.9999728 -0.00568745 0.05432328] [ 0.00703857 0.00572042 0.99995887 -1.45118708] [ 0. 0. 0. 1. ]] SLAMing on 144.47650248099998 meters 0.11294996837267128 Centerline is valid? [False, False] Translation: X:4.17, Y:0.05, Z:-1.45 [[ 9.99954038e-01 -5.11578374e-03 -8.10870747e-03 4.17186750e+00] [ 5.10841902e-03 9.99986521e-01 -9.28699839e-04 5.19090541e-02] [ 8.11334920e-03 8.87234479e-04 9.99966693e-01 -1.44943832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50650248099998 meters 0.11236891396833813 Centerline is valid? [False, False] Translation: X:4.17, Y:0.05, Z:-1.45 [[ 9.99959649e-01 -4.38730281e-03 -7.83907869e-03 4.17239479e+00] [ 4.39410088e-03 9.99989984e-01 8.50189569e-04 4.79503933e-02] [ 7.83527014e-03 -8.84600966e-04 9.99968913e-01 -1.45115995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53650248099999 meters 0.11201218523830289 Centerline is valid? [False, False] Translation: X:4.17, Y:0.05, Z:-1.45 [[ 9.99962020e-01 -4.05033529e-03 -7.71703588e-03 4.17250609e+00] [ 4.06301282e-03 9.99990421e-01 1.62782923e-03 4.59947518e-02] [ 7.71036870e-03 -1.65912182e-03 9.99968898e-01 -1.45171214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.566502481 meters 0.11197280677073067 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-1.45 [[ 9.99963250e-01 -3.65771809e-03 -7.75366167e-03 4.17298952e+00] [ 3.67620368e-03 9.99990431e-01 2.37120104e-03 4.43859675e-02] [ 7.74491430e-03 -2.39961793e-03 9.99967129e-01 -1.45238577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.596502481 meters 0.11160370208837714 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-1.45 [[ 9.99966243e-01 -3.52376797e-03 -7.42272938e-03 4.17253133e+00] [ 3.54597880e-03 9.99989269e-01 2.98124021e-03 4.24078928e-02] [ 7.41214453e-03 -3.00746042e-03 9.99968007e-01 -1.45261711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.626502481 meters 0.11159585878433886 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-1.45 [[ 9.99966422e-01 -3.18437919e-03 -7.55073659e-03 4.17306187e+00] [ 3.21126167e-03 9.99988540e-01 3.55079910e-03 4.12248456e-02] [ 7.53934296e-03 -3.57492727e-03 9.99965188e-01 -1.45309546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.656502481 meters 0.111438665329564 Centerline is valid? [False, False] Translation: X:4.17, Y:0.04, Z:-1.45 [[ 9.99967387e-01 -3.13961945e-03 -7.44101540e-03 4.17280622e+00] [ 3.16817782e-03 9.99987650e-01 3.82929294e-03 4.01417169e-02] [ 7.42890098e-03 -3.85274252e-03 9.99964983e-01 -1.45302247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.686502481 meters 0.11113665945785856 Centerline is valid? [False, False] Translation: X:4.19, Y:0.04, Z:-1.45 [[ 9.99978952e-01 1.43841046e-03 -6.32659710e-03 4.18511569e+00] [-1.44313069e-03 9.99998684e-01 -7.41590554e-04 3.99264206e-02] [ 6.32552206e-03 7.50705051e-04 9.99979712e-01 -1.45190552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.716502481 meters 0.11109991701683729 Centerline is valid? [False, False] Translation: X:4.18, Y:0.04, Z:-1.45 [[ 9.99979169e-01 1.37308752e-03 -6.30679104e-03 4.18489768e+00] [-1.37802429e-03 9.99998747e-01 -7.78491089e-04 3.97068498e-02] [ 6.30571420e-03 7.87165784e-04 9.99979809e-01 -1.45164041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.746502481 meters 0.11115229723275391 Centerline is valid? [False, False] Translation: X:4.18, Y:0.04, Z:-1.45 [[ 9.99980017e-01 1.38196091e-03 -6.16889389e-03 4.18458320e+00] [-1.38585559e-03 9.99998843e-01 -6.27112510e-04 3.89920794e-02] [ 6.16802011e-03 6.35649175e-04 9.99980776e-01 -1.45156347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.776502481 meters 0.11095515614261647 Centerline is valid? [False, False] Translation: X:4.18, Y:0.04, Z:-1.45 [[ 9.99974321e-01 -3.01858979e-03 -6.49968848e-03 4.18481712e+00] [ 2.98485488e-03 9.99982058e-01 -5.19369622e-03 3.97891386e-02] [ 6.51524950e-03 5.17416222e-03 9.99965389e-01 -1.45103160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.806502481 meters 0.11096375765803536 Centerline is valid? [False, False] Translation: X:4.19, Y:0.04, Z:-1.45 [[ 9.99974346e-01 -2.67897329e-03 -6.64314316e-03 4.18542660e+00] [ 2.64804332e-03 9.99985634e-01 -4.66035691e-03 3.88119054e-02] [ 6.65553270e-03 4.64264602e-03 9.99967074e-01 -1.45159068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.836502481 meters 0.11072813730018374 Centerline is valid? [False, False] Translation: X:4.19, Y:0.04, Z:-1.45 [[ 9.99976297e-01 -2.32872594e-03 -6.47934115e-03 4.18561359e+00] [ 2.30322823e-03 9.99989586e-01 -3.93991482e-03 3.71748440e-02] [ 6.48844866e-03 3.92489803e-03 9.99971247e-01 -1.45234949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.866502481 meters 0.11076660025030759 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.45 [[ 9.99978296e-01 -1.74847777e-03 -6.35221821e-03 4.18626851e+00] [ 1.73047482e-03 9.99994474e-01 -2.83851143e-03 3.49715508e-02] [ 6.35714619e-03 2.82745747e-03 9.99975796e-01 -1.45378867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.896502481 meters 0.11062487448445486 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.45 [[ 9.99978405e-01 -1.35004284e-03 -6.43174106e-03 4.18686965e+00] [ 1.33618459e-03 9.99996778e-01 -2.15847542e-03 3.36473907e-02] [ 6.43463437e-03 2.14983482e-03 9.99976987e-01 -1.45451354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.926502481 meters 0.11069812317166013 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.46 [[ 9.99978728e-01 -1.00113700e-03 -6.44532866e-03 4.18730851e+00] [ 9.91307793e-04 9.99998341e-01 -1.52802713e-03 3.23724512e-02] [ 6.44684773e-03 1.52160532e-03 9.99978061e-01 -1.45517758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.956502481 meters 0.11055362157622578 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.46 [[ 9.99979455e-01 -6.87886637e-04 -6.37302282e-03 4.18736171e+00] [ 6.82933935e-04 9.99999463e-01 -7.79278963e-04 3.03863210e-02] [ 6.37355545e-03 7.74910599e-04 9.99979388e-01 -1.45551996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.986502481 meters 0.11052386131703151 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.46 [[ 9.99979338e-01 -3.94293904e-04 -6.41621626e-03 4.18783167e+00] [ 3.92451480e-04 9.99999881e-01 -2.88407722e-04 2.94859660e-02] [ 6.41632921e-03 2.85883709e-04 9.99979374e-01 -1.45612464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01650248099997 meters 0.11017982052985797 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.46 [[ 0.99996603 -0.00430531 -0.00702893 4.18932282] [ 0.00427541 0.99998178 -0.00426264 0.02963082] [ 0.00704715 0.00423244 0.99996621 -1.45674388] [ 0. 0. 0. 1. ]] SLAMing on 145.04650248099998 meters 0.11011061487594286 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.46 [[ 9.99966937e-01 -3.91877649e-03 -7.12511304e-03 4.19001424e+00] [ 3.89278562e-03 9.99985733e-01 -3.65800079e-03 2.86062963e-02] [ 7.13934627e-03 3.63014331e-03 9.99967925e-01 -1.45756724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07650248099998 meters 0.11012408863561969 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.46 [[ 9.99966302e-01 -3.65869224e-03 -7.34906564e-03 4.19074173e+00] [ 3.63418918e-03 9.99987803e-01 -3.34476617e-03 2.82383900e-02] [ 7.36121347e-03 3.31794556e-03 9.99967401e-01 -1.45807601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10650248099998 meters 0.11006671620994367 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.46 [[ 9.99964327e-01 -3.49568471e-03 -7.68932438e-03 4.19152186e+00] [ 3.47082742e-03 9.99988716e-01 -3.24367357e-03 2.84704150e-02] [ 7.70057647e-03 3.21686954e-03 9.99965176e-01 -1.45831411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13650248099998 meters 0.10994056609011188 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.46 [[ 9.99963563e-01 -3.36804281e-03 -7.84409579e-03 4.19195862e+00] [ 3.34369972e-03 9.99989560e-01 -3.11441480e-03 2.83810426e-02] [ 7.85450338e-03 3.08807302e-03 9.99964385e-01 -1.45854183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16650248099998 meters 0.10995160356757974 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.46 [[ 9.99963575e-01 -3.10171976e-03 -7.95161397e-03 4.19255560e+00] [ 3.08018866e-03 9.99991561e-01 -2.71858351e-03 2.78313587e-02] [ 7.95997915e-03 2.69399202e-03 9.99964690e-01 -1.45916567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19650248099998 meters 0.10996770287552547 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.46 [[ 9.99964147e-01 -2.89388193e-03 -7.95806243e-03 4.19265773e+00] [ 2.87599163e-03 9.99993314e-01 -2.25859784e-03 2.65166349e-02] [ 7.96454534e-03 2.23562954e-03 9.99965783e-01 -1.45932649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22650248099998 meters 0.11008425411712269 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.46 [[ 9.99963898e-01 -2.77172172e-03 -8.03243955e-03 4.19283528e+00] [ 2.75517739e-03 9.99994062e-01 -2.07002292e-03 2.61055412e-02] [ 8.03812938e-03 2.04781739e-03 9.99965597e-01 -1.45937900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25650248099998 meters 0.11002743177182102 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.46 [[ 9.99960755e-01 -2.65321606e-03 -8.45269365e-03 4.19362355e+00] [ 2.63586010e-03 9.99994397e-01 -2.06378424e-03 2.65259632e-02] [ 8.45812195e-03 2.04142313e-03 9.99962146e-01 -1.45938432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28650248099999 meters 0.10996242459989182 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.46 [[ 9.99960272e-01 -2.51369250e-03 -8.55192958e-03 4.19387193e+00] [ 2.49781187e-03 9.99995137e-01 -1.86713886e-03 2.60914404e-02] [ 8.55658140e-03 1.84570357e-03 9.99961688e-01 -1.45945449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.316502481 meters 0.11014906690005773 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.46 [[ 9.99959032e-01 -2.28078494e-03 -8.75971528e-03 4.19439625e+00] [ 2.26725828e-03 9.99996223e-01 -1.55380935e-03 2.55137499e-02] [ 8.76322609e-03 1.53388516e-03 9.99960426e-01 -1.45967601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.346502481 meters 0.11006398113524775 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.46 [[ 9.99958083e-01 -2.16746027e-03 -8.89570007e-03 4.19462820e+00] [ 2.15504350e-03 9.99996691e-01 -1.40516614e-03 2.51490173e-02] [ 8.89871627e-03 1.38593662e-03 9.99959445e-01 -1.45965452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.376502481 meters 0.11005879184565977 Centerline is valid? [False, False] Translation: X:4.20, Y:0.03, Z:-1.46 [[ 9.99955335e-01 -2.07060696e-03 -9.22178188e-03 4.19516219e+00] [ 2.05777262e-03 9.99996901e-01 -1.40101278e-03 2.54144252e-02] [ 9.22465426e-03 1.38197388e-03 9.99956497e-01 -1.45954882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.406502481 meters 0.10990104152653629 Centerline is valid? [False, False] Translation: X:4.20, Y:0.03, Z:-1.46 [[ 9.99951498e-01 -2.02869108e-03 -9.63771020e-03 4.19568369e+00] [ 2.01385873e-03 9.99996773e-01 -1.54844687e-03 2.59151014e-02] [ 9.64082042e-03 1.52896279e-03 9.99952357e-01 -1.45915434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.436502481 meters 0.10987591572583709 Centerline is valid? [False, False] Translation: X:4.20, Y:0.03, Z:-1.46 [[ 9.99949593e-01 -1.77994979e-03 -9.88150730e-03 4.19637033e+00] [ 1.76750633e-03 9.99997634e-01 -1.26785793e-03 2.55928944e-02] [ 9.88374064e-03 1.25032839e-03 9.99950373e-01 -1.45953420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.466502481 meters 0.10976717311968202 Centerline is valid? [False, False] Translation: X:4.20, Y:0.02, Z:-1.46 [[ 9.99948000e-01 -1.34984044e-03 -1.01081570e-02 4.19735286e+00] [ 1.34239099e-03 9.99998822e-01 -7.43721810e-04 2.48750535e-02] [ 1.01091490e-02 7.30114038e-04 9.99948635e-01 -1.46045733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.496502481 meters 0.10958710388261546 Centerline is valid? [False, False] Translation: X:4.20, Y:0.02, Z:-1.46 [[ 9.99947682e-01 -1.13682779e-03 -1.01656341e-02 4.19781190e+00] [ 1.13233282e-03 9.99999259e-01 -4.47917823e-04 2.44279219e-02] [ 1.01661358e-02 4.36383508e-04 9.99948228e-01 -1.46101573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.526502481 meters 0.10947763326544216 Centerline is valid? [False, False] Translation: X:4.20, Y:0.02, Z:-1.46 [[ 9.99945408e-01 -9.27202658e-04 -1.04077627e-02 4.19842670e+00] [ 9.24651711e-04 9.99999541e-01 -2.49909678e-04 2.42706494e-02] [ 1.04079896e-02 2.40272479e-04 9.99945807e-01 -1.46132199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.556502481 meters 0.10953020011318891 Centerline is valid? [False, False] Translation: X:4.20, Y:0.02, Z:-1.46 [[ 9.99942970e-01 -6.39121375e-04 -1.06605733e-02 4.19927131e+00] [ 6.40241363e-04 9.99999790e-01 1.01646493e-04 2.39372143e-02] [ 1.06605061e-02 -1.08466037e-04 9.99943169e-01 -1.46192396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.586502481 meters 0.10927948857312358 Centerline is valid? [False, False] Translation: X:4.20, Y:0.02, Z:-1.46 [[ 9.99943136e-01 -4.02872716e-04 -1.06565841e-02 4.19960134e+00] [ 4.08037532e-04 9.99999800e-01 4.82489882e-04 2.30831843e-02] [ 1.06563876e-02 -4.86810732e-04 9.99943101e-01 -1.46247444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.616502481 meters 0.10936646648592262 Centerline is valid? [False, False] Translation: X:4.20, Y:0.02, Z:-1.46 [[ 9.99942589e-01 -7.83935832e-05 -1.07150614e-02 4.20012050e+00] [ 8.92224393e-05 9.99999486e-01 1.01014579e-03 2.21611738e-02] [ 1.07149767e-02 -1.01104382e-03 9.99942082e-01 -1.46311825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.646502481 meters 0.10899130051077166 Centerline is valid? [False, False] Translation: X:4.20, Y:0.02, Z:-1.46 [[ 9.99943235e-01 -2.87250333e-04 -1.06510652e-02 4.19945460e+00] [ 2.96138169e-04 9.99999609e-01 8.32887372e-04 2.19258079e-02] [ 1.06508218e-02 -8.35994280e-04 9.99942929e-01 -1.46227472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.676502481 meters 0.10907038062999236 Centerline is valid? [False, False] Translation: X:4.21, Y:0.02, Z:-1.46 [[ 9.99995639e-01 1.92255301e-03 -2.24197851e-03 4.20664549e+00] [-1.93069279e-03 9.99991533e-01 -3.63413017e-03 2.29960281e-02] [ 2.23497272e-03 3.63844289e-03 9.99990883e-01 -1.46487070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.706502481 meters 0.10894910889726091 Centerline is valid? [False, False] Translation: X:4.21, Y:0.02, Z:-1.46 [[ 9.99995007e-01 2.09020293e-03 -2.37008079e-03 4.20657433e+00] [-2.09770320e-03 9.99992786e-01 -3.16650461e-03 2.15110711e-02] [ 2.36344506e-03 3.17146052e-03 9.99992178e-01 -1.46441359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.736502481 meters 0.10901162531399942 Centerline is valid? [False, False] Translation: X:4.21, Y:0.02, Z:-1.46 [[ 9.99994719e-01 2.16133958e-03 -2.42721367e-03 4.20656854e+00] [-2.16848017e-03 9.99993318e-01 -2.94312006e-03 2.07125935e-02] [ 2.42083636e-03 2.94836788e-03 9.99992723e-01 -1.46426641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76650248099997 meters 0.10893577978616786 Centerline is valid? [False, False] Translation: X:4.21, Y:0.02, Z:-1.46 [[ 9.99993268e-01 -2.12178849e-03 -2.99352047e-03 4.20734230e+00] [ 2.09924404e-03 9.99969564e-01 -7.51423101e-03 2.17303482e-02] [ 3.00937297e-03 7.50789630e-03 9.99967287e-01 -1.46387038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79650248099998 meters 0.1088094701876077 Centerline is valid? [False, False] Translation: X:4.21, Y:0.02, Z:-1.46 [[ 9.99994086e-01 -1.73791707e-03 -2.96777007e-03 4.20752644e+00] [ 1.71826535e-03 9.99976668e-01 -6.61147307e-03 1.93436341e-02] [ 2.97919102e-03 6.60633455e-03 9.99973740e-01 -1.46427675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82650248099998 meters 0.10865165254548041 Centerline is valid? [False, False] Translation: X:4.21, Y:0.02, Z:-1.46 [[ 9.99994156e-01 -1.39548992e-03 -3.12100153e-03 4.20820660e+00] [ 1.37648059e-03 9.99980541e-01 -6.08465438e-03 1.84478084e-02] [ 3.12943187e-03 6.08032282e-03 9.99976618e-01 -1.46491210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85650248099998 meters 0.10870703665994852 Centerline is valid? [False, False] Translation: X:4.21, Y:0.02, Z:-1.47 [[ 9.99993687e-01 -9.76944582e-04 -3.41647664e-03 4.20917513e+00] [ 9.58299025e-04 9.99984663e-01 -5.45492474e-03 1.74988213e-02] [ 3.42175340e-03 5.45161630e-03 9.99979286e-01 -1.46562540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88650248099998 meters 0.10862195374942411 Centerline is valid? [False, False] Translation: X:4.21, Y:0.02, Z:-1.47 [[ 9.99992805e-01 -7.13109722e-04 -3.72568670e-03 4.21001558e+00] [ 6.93822758e-04 9.99986366e-01 -5.17548425e-03 1.72953812e-02] [ 3.72932660e-03 5.17286205e-03 9.99979667e-01 -1.46602709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91650248099998 meters 0.10866631614495621 Centerline is valid? [False, False] Translation: X:4.21, Y:0.02, Z:-1.47 [[ 9.99990578e-01 -6.71741050e-04 -4.28873396e-03 4.21056537e+00] [ 6.48914208e-04 9.99985629e-01 -5.32168764e-03 1.77579160e-02] [ 4.29224713e-03 5.31885448e-03 9.99976643e-01 -1.46529267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94650248099998 meters 0.10877086356410648 Centerline is valid? [False, False] Translation: X:4.21, Y:0.02, Z:-1.47 [[ 9.99989640e-01 -5.94699301e-04 -4.51283732e-03 4.21087174e+00] [ 5.70849939e-04 9.99985875e-01 -5.28423137e-03 1.77337994e-02] [ 4.51591611e-03 5.28160047e-03 9.99975855e-01 -1.46513231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97650248099998 meters 0.10887317355421948 Centerline is valid? [False, False] Translation: X:4.21, Y:0.02, Z:-1.46 [[ 9.99987764e-01 -5.22331940e-04 -4.91929506e-03 4.21131367e+00] [ 4.96015125e-04 9.99985569e-01 -5.34941398e-03 1.79211827e-02] [ 4.92201824e-03 5.34690848e-03 9.99973592e-01 -1.46467738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00650248099998 meters 0.10886023238473601 Centerline is valid? [False, False] Translation: X:4.21, Y:0.02, Z:-1.46 [[ 9.99986441e-01 -4.78492091e-04 -5.18539165e-03 4.21165672e+00] [ 4.50598652e-04 9.99985431e-01 -5.37906874e-03 1.80930936e-02] [ 5.18788995e-03 5.37665928e-03 9.99972088e-01 -1.46443262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03650248099999 meters 0.10886023238473601 Centerline is valid? [False, False] Translation: X:4.21, Y:0.02, Z:-1.46 [[ 9.99986441e-01 -4.78492091e-04 -5.18539165e-03 4.21165672e+00] [ 4.50598652e-04 9.99985431e-01 -5.37906874e-03 1.80930936e-02] [ 5.18788995e-03 5.37665928e-03 9.99972088e-01 -1.46443262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.066502481 meters 0.10891004553739124 Centerline is valid? [False, False] Translation: X:4.21, Y:0.02, Z:-1.46 [[ 9.99985822e-01 -3.18573904e-04 -5.31538731e-03 4.21186060e+00] [ 2.91219093e-04 9.99986715e-01 -5.14632446e-03 1.75798819e-02] [ 5.31695618e-03 5.14470355e-03 9.99972631e-01 -1.46436515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.096502481 meters 0.10873622527353738 Centerline is valid? [False, False] Translation: X:4.21, Y:0.02, Z:-1.47 [[ 9.99985448e-01 8.71242835e-05 -5.39416553e-03 4.21251635e+00] [-1.11323730e-04 9.99989931e-01 -4.48608844e-03 1.63792032e-02] [ 5.39372037e-03 4.48662365e-03 9.99975389e-01 -1.46517990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.126502481 meters 0.10853318941665985 Centerline is valid? [False, False] Translation: X:4.21, Y:0.01, Z:-1.47 [[ 9.99985505e-01 6.04551501e-04 -5.35015250e-03 4.21308616e+00] [-6.23321304e-04 9.99993655e-01 -3.50730260e-03 1.43501412e-02] [ 5.34799821e-03 3.51058662e-03 9.99979537e-01 -1.46623624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.156502481 meters 0.10852265113891066 Centerline is valid? [False, False] Translation: X:4.21, Y:0.01, Z:-1.47 [[ 9.99985377e-01 8.17398442e-04 -5.34572341e-03 4.21325020e+00] [-8.33979891e-04 9.99994846e-01 -3.10032259e-03 1.33901986e-02] [ 5.34316166e-03 3.10473548e-03 9.99980905e-01 -1.46649895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.186502481 meters 0.10824944699865045 Centerline is valid? [False, False] Translation: X:4.21, Y:0.01, Z:-1.47 [[ 9.99985370e-01 1.19150976e-03 -5.27628968e-03 4.21345119e+00] [-1.20375310e-03 9.99996589e-01 -2.31787581e-03 1.15962225e-02] [ 5.27350991e-03 2.32419325e-03 9.99983394e-01 -1.46701233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.216502481 meters 0.1082851715647157 Centerline is valid? [False, False] Translation: X:4.21, Y:0.01, Z:-1.47 [[ 9.99985268e-01 1.47876693e-03 -5.22268805e-03 4.21369065e+00] [-1.48794700e-03 9.99997354e-01 -1.75428213e-03 1.03277795e-02] [ 5.22008005e-03 1.76202737e-03 9.99984823e-01 -1.46753146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.246502481 meters 0.10817395213067836 Centerline is valid? [False, False] Translation: X:4.21, Y:0.01, Z:-1.47 [[ 9.99979723e-01 -2.65427753e-03 -5.78856535e-03 4.21454479e+00] [ 2.61936959e-03 9.99978390e-01 -6.02976618e-03 1.09151260e-02] [ 5.80444493e-03 6.01448152e-03 9.99965067e-01 -1.46731816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.276502481 meters 0.10809184863569014 Centerline is valid? [False, False] Translation: X:4.21, Y:0.01, Z:-1.47 [[ 9.99979881e-01 -2.46583017e-03 -5.84437686e-03 4.21483169e+00] [ 2.43245731e-03 9.99980737e-01 -5.71049605e-03 1.02690131e-02] [ 5.85834539e-03 5.69616497e-03 9.99966616e-01 -1.46760328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.306502481 meters 0.10813253292846463 Centerline is valid? [False, False] Translation: X:4.22, Y:0.01, Z:-1.47 [[ 9.99980363e-01 -2.11098191e-03 -5.90067989e-03 4.21539328e+00] [ 2.08075619e-03 9.99984708e-01 -5.12386678e-03 9.24593366e-03] [ 5.91140605e-03 5.11148829e-03 9.99969464e-01 -1.46833116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.336502481 meters 0.10801904198574717 Centerline is valid? [False, False] Translation: X:4.22, Y:0.01, Z:-1.47 [[ 9.99982062e-01 -1.60552012e-03 -5.77043440e-03 4.21600364e+00] [ 1.58138065e-03 9.99989991e-01 -4.18543334e-03 7.46368719e-03] [ 5.77709644e-03 4.17623301e-03 9.99974592e-01 -1.46967277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.366502481 meters 0.10792730931829377 Centerline is valid? [False, False] Translation: X:4.22, Y:0.01, Z:-1.47 [[ 9.99982162e-01 -1.15204341e-03 -5.86078318e-03 4.21677215e+00] [ 1.13182575e-03 9.99993402e-01 -3.45180082e-03 6.27529423e-03] [ 5.86472113e-03 3.44510586e-03 9.99976868e-01 -1.47064447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.396502481 meters 0.10787809479657726 Centerline is valid? [False, False] Translation: X:4.22, Y:0.01, Z:-1.47 [[ 9.99982088e-01 -9.76704447e-04 -5.90505414e-03 4.21707326e+00] [ 9.57924212e-04 9.99994477e-01 -3.18235844e-03 5.76148000e-03] [ 5.90812975e-03 3.17664484e-03 9.99977501e-01 -1.47096553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.426502481 meters 0.10804725169387726 Centerline is valid? [False, False] Translation: X:4.22, Y:0.01, Z:-1.47 [[ 9.99981635e-01 -7.67477889e-04 -6.01177532e-03 4.21748902e+00] [ 7.50251895e-04 9.99995608e-01 -2.86710684e-03 5.25238406e-03] [ 6.01394936e-03 2.86254384e-03 9.99977819e-01 -1.47131411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.456502481 meters 0.10833650452998261 Centerline is valid? [False, False] Translation: X:4.22, Y:0.00, Z:-1.47 [[ 9.99981190e-01 -7.28982213e-04 -6.08996177e-03 4.21738942e+00] [ 7.11950475e-04 9.99995831e-01 -2.79839042e-03 4.90550873e-03] [ 6.09197636e-03 2.79400203e-03 9.99977540e-01 -1.47094107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.486502481 meters 0.10844437330577637 Centerline is valid? [False, False] Translation: X:4.22, Y:0.00, Z:-1.47 [[ 9.99980509e-01 -8.04806219e-04 -6.19147225e-03 4.21706266e+00] [ 7.86589702e-04 9.99995357e-01 -2.94406742e-03 4.79453742e-03] [ 6.19381291e-03 2.93913988e-03 9.99976499e-01 -1.47014456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51650248099997 meters 0.10858280000976515 Centerline is valid? [False, False] Translation: X:4.22, Y:0.00, Z:-1.47 [[ 9.99979759e-01 -6.16160257e-04 -6.33256462e-03 4.21747966e+00] [ 5.99078138e-04 9.99996178e-01 -2.69904699e-03 4.40129933e-03] [ 6.33420346e-03 2.69519865e-03 9.99976307e-01 -1.47042224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54650248099998 meters 0.10850541196565648 Centerline is valid? [False, False] Translation: X:4.22, Y:0.00, Z:-1.47 [[ 9.99978684e-01 -4.39304590e-04 -6.51441540e-03 4.21792959e+00] [ 4.23182282e-04 9.99996845e-01 -2.47603828e-03 4.01814827e-03] [ 6.51548258e-03 2.47322872e-03 9.99975716e-01 -1.47062328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57650248099998 meters 0.10865260055850551 Centerline is valid? [False, False] Translation: X:4.22, Y:0.00, Z:-1.47 [[ 9.99977005e-01 -9.80537138e-05 -6.78087021e-03 4.21871629e+00] [ 8.37896334e-05 9.99997783e-01 -2.10382877e-03 3.62303014e-03] [ 6.78106147e-03 2.10321223e-03 9.99974797e-01 -1.47114707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60650248099998 meters 0.10874378254266179 Centerline is valid? [False, False] Translation: X:4.22, Y:0.00, Z:-1.47 [[ 9.99975656e-01 2.12058654e-04 -6.97437242e-03 4.21945320e+00] [-2.23950893e-04 9.99998522e-01 -1.70439707e-03 3.11290273e-03] [ 6.97400069e-03 1.70591749e-03 9.99974226e-01 -1.47176157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63650248099998 meters 0.10865045650646417 Centerline is valid? [False, False] Translation: X:4.22, Y:0.00, Z:-1.47 [[ 9.99975294e-01 4.02488952e-04 -7.01783355e-03 4.21971238e+00] [-4.12565556e-04 9.99998886e-01 -1.43446836e-03 2.49448314e-03] [ 7.01724837e-03 1.43732824e-03 9.99974346e-01 -1.47207712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66650248099998 meters 0.10869694311379556 Centerline is valid? [False, False] Translation: X:4.22, Y:0.00, Z:-1.47 [[ 9.99974340e-01 5.96072446e-04 -7.13892509e-03 4.21993751e+00] [-6.04083230e-04 9.99999190e-01 -1.12002375e-03 1.66451886e-03] [ 7.13825169e-03 1.12430752e-03 9.99973890e-01 -1.47210578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69650248099998 meters 0.10906553295879035 Centerline is valid? [False, False] Translation: X:4.22, Y:0.00, Z:-1.47 [[ 9.99974865e-01 6.94093704e-04 -7.05606691e-03 4.21955685e+00] [-6.99771759e-04 9.99999433e-01 -8.02268330e-04 4.44769665e-04] [ 7.05550606e-03 8.07185802e-04 9.99974784e-01 -1.47179624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72650248099998 meters 0.10907191702890043 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.00, Z:-1.47 [[ 9.99975393e-01 7.48106811e-04 -6.97522617e-03 4.21927460e+00] [-7.52070400e-04 9.99999557e-01 -5.65632532e-04 -4.91374327e-04] [ 6.97479993e-03 5.70864475e-04 9.99975513e-01 -1.47162697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75650248099998 meters 0.10929456168131003 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.00, Z:-1.47 [[ 9.99976739e-01 7.44618389e-04 -6.77984733e-03 4.21857876e+00] [-7.46420333e-04 9.99999687e-01 -2.63253104e-04 -2.04217554e-03] [ 6.77964918e-03 2.68307596e-04 9.99976982e-01 -1.47118385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78650248099999 meters 0.10931028933757976 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.00, Z:-1.47 [[ 9.99969110e-01 -3.25734484e-03 -7.15321310e-03 4.21947189e+00] [ 3.22723390e-03 9.99985901e-01 -4.21694376e-03 -2.42447371e-03] [ 7.16684828e-03 4.19372841e-03 9.99965524e-01 -1.47156293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.816502481 meters 0.1091924800959742 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.00, Z:-1.47 [[ 9.99970031e-01 -2.74444408e-03 -7.23915080e-03 4.22023228e+00] [ 2.72044941e-03 9.99990781e-01 -3.32233676e-03 -4.23698486e-03] [ 7.24820203e-03 3.30254345e-03 9.99968278e-01 -1.47256321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.846502481 meters 0.10902567978649567 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.01, Z:-1.47 [[ 9.99971055e-01 -2.20462950e-03 -7.28207344e-03 4.22112345e+00] [ 2.18698336e-03 9.99994655e-01 -2.43030589e-03 -5.78555095e-03] [ 7.28739244e-03 2.41430977e-03 9.99970532e-01 -1.47383329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.876502481 meters 0.10911507989449154 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.01, Z:-1.48 [[ 9.99972681e-01 -1.60627156e-03 -7.21509790e-03 4.22182273e+00] [ 1.59681677e-03 9.99997859e-01 -1.31598661e-03 -7.97472165e-03] [ 7.21719628e-03 1.30442947e-03 9.99973105e-01 -1.47513564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.906502481 meters 0.10962557309394062 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.01, Z:-1.48 [[ 9.99973710e-01 -1.35808037e-03 -7.12288984e-03 4.22178070e+00] [ 1.35278999e-03 9.99998806e-01 -7.47494397e-04 -9.42141087e-03] [ 7.12389649e-03 7.37838971e-04 9.99974353e-01 -1.47532181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.936502481 meters 0.10985793695510998 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.01, Z:-1.48 [[ 9.99973139e-01 -1.12197359e-03 -7.24315549e-03 4.22201215e+00] [ 1.11954224e-03 9.99999316e-01 -3.39720497e-04 -1.04536361e-02] [ 7.24353169e-03 3.31602353e-04 9.99973710e-01 -1.47534966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.966502481 meters 0.10991382916719732 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.01, Z:-1.48 [[ 9.99973660e-01 -1.08460689e-03 -7.17651765e-03 4.22169502e+00] [ 1.08368429e-03 9.99999404e-01 -1.32444748e-04 -1.14038997e-02] [ 7.17665702e-03 1.24664180e-04 9.99974240e-01 -1.47505340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.996502481 meters 0.11011971484458465 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.01, Z:-1.47 [[ 9.99975051e-01 -1.29589616e-03 -6.94388623e-03 4.22066049e+00] [ 1.29494807e-03 9.99999152e-01 -1.41029564e-04 -1.24633038e-02] [ 6.94406310e-03 1.32034074e-04 9.99975881e-01 -1.47413421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.026502481 meters 0.1101899776793222 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.01, Z:-1.47 [[ 9.99974135e-01 -1.03058422e-03 -7.11815627e-03 4.22119501e+00] [ 1.03249954e-03 9.99999432e-01 2.65405942e-04 -1.31980665e-02] [ 7.11787870e-03 -2.72748570e-04 9.99974630e-01 -1.47446850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.056502481 meters 0.11034750464522924 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.01, Z:-1.48 [[ 9.99974017e-01 -5.75387135e-04 -7.18567837e-03 4.22195202e+00] [ 5.83081312e-04 9.99999259e-01 1.06871651e-03 -1.46747632e-02] [ 7.18505812e-03 -1.07287858e-03 9.99973612e-01 -1.47547107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.086502481 meters 0.11030395312397062 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.02, Z:-1.48 [[ 9.99973847e-01 -1.83647716e-04 -7.22995974e-03 4.22269656e+00] [ 1.95848488e-04 9.99998558e-01 1.68685796e-03 -1.56343798e-02] [ 7.22963953e-03 -1.68822982e-03 9.99972441e-01 -1.47651443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.116502481 meters 0.11023676083382761 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.01, Z:-1.48 [[ 9.99960189e-01 -4.07565798e-03 -7.93788062e-03 4.22453918e+00] [ 4.05654045e-03 9.99988837e-01 -2.42300492e-03 -1.48344001e-02] [ 7.94766735e-03 2.39070813e-03 9.99965559e-01 -1.47744924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.146502481 meters 0.1102289997144464 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.02, Z:-1.48 [[ 9.99960213e-01 -3.72513684e-03 -8.10533625e-03 4.22521903e+00] [ 3.70983259e-03 9.99991309e-01 -1.90238552e-03 -1.57950233e-02] [ 8.11235245e-03 1.87224039e-03 9.99965342e-01 -1.47804735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.176502481 meters 0.11061363744137984 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.02, Z:-1.48 [[ 9.99958720e-01 -3.65105011e-03 -8.32034481e-03 4.22537802e+00] [ 3.63587048e-03 9.99991700e-01 -1.83879520e-03 -1.60100965e-02] [ 8.32698928e-03 1.80846760e-03 9.99963695e-01 -1.47768345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.206502481 meters 0.11085220225581247 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.02, Z:-1.48 [[ 9.99955761e-01 -3.65838026e-03 -8.66561888e-03 4.22566115e+00] [ 3.64173008e-03 9.99991494e-01 -1.93640768e-03 -1.57095304e-02] [ 8.67262929e-03 1.90476417e-03 9.99960578e-01 -1.47717807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.236502481 meters 0.11091872897866227 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.02, Z:-1.48 [[ 9.99954042e-01 -3.81122567e-03 -8.79710498e-03 4.22535491e+00] [ 3.79243814e-03 9.99990495e-01 -2.15134472e-03 -1.56363808e-02] [ 8.80522062e-03 2.11788338e-03 9.99958990e-01 -1.47633893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26650248099997 meters 0.11096047907087338 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.02, Z:-1.48 [[ 9.99954760e-01 -3.44286612e-03 -8.86705247e-03 4.22582751e+00] [ 3.42955877e-03 9.99992971e-01 -1.51553210e-03 -1.68997901e-02] [ 8.87220792e-03 1.48505346e-03 9.99959538e-01 -1.47688112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29650248099998 meters 0.11116943053377856 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.02, Z:-1.48 [[ 9.99956970e-01 -3.14173527e-03 -8.72858420e-03 4.22589600e+00] [ 3.13452825e-03 9.99994735e-01 -8.39237818e-04 -1.86273138e-02] [ 8.73117491e-03 8.11841712e-04 9.99961553e-01 -1.47739404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32650248099998 meters 0.11130603155905068 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.02, Z:-1.48 [[ 9.99956963e-01 -2.82201394e-03 -8.83790795e-03 4.22649079e+00] [ 2.81924310e-03 9.99995973e-01 -3.25959284e-04 -1.94964208e-02] [ 8.83879222e-03 3.01029044e-04 9.99960892e-01 -1.47801318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35650248099998 meters 0.11135738695814373 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.02, Z:-1.48 [[ 9.99956753e-01 -2.48007624e-03 -8.96331601e-03 4.22718226e+00] [ 2.48196935e-03 9.99996900e-01 2.00089912e-04 -2.03211384e-02] [ 8.96279199e-03 -2.22327934e-04 9.99959809e-01 -1.47872748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38650248099998 meters 0.11161729061036098 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.48 [[ 9.99980450e-01 2.88294702e-03 -5.54869357e-03 4.23755733e+00] [-2.89858778e-03 9.99991843e-01 -2.81284477e-03 -2.01581220e-02] [ 5.54053902e-03 2.82887316e-03 9.99980650e-01 -1.47961428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41650248099998 meters 0.11182337913830016 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.48 [[ 9.99980063e-01 2.69521821e-03 -5.71052455e-03 4.23745896e+00] [-2.71327023e-03 9.99991340e-01 -3.15579892e-03 -1.96108639e-02] [ 5.70196952e-03 3.17123020e-03 9.99978715e-01 -1.47898965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44650248099998 meters 0.11222211474967449 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.48 [[ 9.99978488e-01 2.91699473e-03 -5.87485631e-03 4.23804164e+00] [-2.93393891e-03 9.99991556e-01 -2.87763631e-03 -1.99425233e-02] [ 5.86641265e-03 2.89481088e-03 9.99978602e-01 -1.47944770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47650248099998 meters 0.11284161662538113 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.48 [[ 9.99978446e-01 2.92975428e-03 -5.87570583e-03 4.23813450e+00] [-2.94669003e-03 9.99991523e-01 -2.87575196e-03 -1.99239378e-02] [ 5.86723078e-03 2.89300386e-03 9.99978603e-01 -1.47957200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50650248099998 meters 0.11356373724137085 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.48 [[ 9.99976649e-01 2.92965941e-03 -6.17395618e-03 4.23874773e+00] [-2.94888477e-03 9.99990825e-01 -3.10714650e-03 -1.88787800e-02] [ 6.16479666e-03 3.12528023e-03 9.99976114e-01 -1.47964773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53650248099999 meters 0.11417176993774379 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.48 [[ 9.99975524e-01 3.02433008e-03 -6.30906642e-03 4.23909255e+00] [-3.04365627e-03 9.99990699e-01 -3.05589254e-03 -1.87325975e-02] [ 6.29976572e-03 3.07502038e-03 9.99975428e-01 -1.47976575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.566502481 meters 0.11476622497764906 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.48 [[ 9.99974064e-01 3.02096185e-03 -6.53794640e-03 4.23959680e+00] [-3.04233807e-03 9.99990051e-01 -3.26208944e-03 -1.78954841e-02] [ 6.52802671e-03 3.28189548e-03 9.99973307e-01 -1.47986034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.596502481 meters 0.11520280125912317 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.48 [[ 9.99973008e-01 -1.14925084e-03 -7.25693525e-03 4.24107520e+00] [ 1.09170052e-03 9.99967966e-01 -7.92937617e-03 -1.58119340e-02] [ 7.26581562e-03 7.92123974e-03 9.99942229e-01 -1.48018319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.626502481 meters 0.11579199361134361 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.48 [[ 9.99972225e-01 -8.14161897e-04 -7.40849877e-03 4.24195778e+00] [ 7.58394369e-04 9.99971383e-01 -7.52720557e-03 -1.60998873e-02] [ 7.41441512e-03 7.52137794e-03 9.99944226e-01 -1.48110536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.656502481 meters 0.11627990813651455 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.48 [[ 9.99972925e-01 -6.14685966e-04 -7.33290749e-03 4.24212367e+00] [ 5.62140070e-04 9.99974168e-01 -7.16567569e-03 -1.68311072e-02] [ 7.33712271e-03 7.16135956e-03 9.99947439e-01 -1.48155010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.686502481 meters 0.11710703840898443 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.48 [[ 9.99972558e-01 -5.48495174e-04 -7.38795339e-03 4.24247771e+00] [ 4.95929257e-04 9.99974565e-01 -7.11503872e-03 -1.65231992e-02] [ 7.39166804e-03 7.11117957e-03 9.99947396e-01 -1.48187770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.716502481 meters 0.11755815603286925 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.48 [[ 9.99972738e-01 -3.83871952e-04 -7.37405592e-03 4.24276847e+00] [ 3.33003509e-04 9.99976151e-01 -6.89828869e-03 -1.67488458e-02] [ 7.37652812e-03 6.89564504e-03 9.99949017e-01 -1.48231755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.746502481 meters 0.11805822549051273 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.48 [[ 9.99972893e-01 -1.89458990e-04 -7.36054801e-03 4.24297783e+00] [ 1.40916833e-04 9.99978244e-01 -6.59486958e-03 -1.73259500e-02] [ 7.36163733e-03 6.59365359e-03 9.99951164e-01 -1.48263811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.776502481 meters 0.11968904828642986 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.48 [[ 9.99974337e-01 -5.06207661e-05 -7.16403500e-03 4.24269356e+00] [ 5.99795536e-06 9.99980602e-01 -6.22861038e-03 -1.84111437e-02] [ 7.16421133e-03 6.22840756e-03 9.99954939e-01 -1.48272532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.806502481 meters 0.12131263175812887 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.48 [[ 9.99974678e-01 2.08238104e-04 -7.11339433e-03 4.24313090e+00] [-2.49876713e-04 9.99982839e-01 -5.85316287e-03 -1.88595994e-02] [ 7.11205340e-03 5.85479213e-03 9.99957569e-01 -1.48345220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.836502481 meters 0.12177376632043106 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.48 [[ 9.99974348e-01 5.16592313e-04 -7.14403282e-03 4.24361871e+00] [-5.55178345e-04 9.99985265e-01 -5.40022741e-03 -1.96021230e-02] [ 7.14113783e-03 5.40405509e-03 9.99959899e-01 -1.48409111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.866502481 meters 0.12251368358246685 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.49 [[ 9.99973709e-01 9.29066654e-04 -7.19158763e-03 4.24432463e+00] [-9.63554223e-04 9.99988047e-01 -4.79356489e-03 -2.06042434e-02] [ 7.18704813e-03 4.80036834e-03 9.99962651e-01 -1.48501070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.896502481 meters 0.12384314147718248 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.02, Z:-1.49 [[ 9.99972430e-01 1.58001392e-03 -7.25558550e-03 4.24565493e+00] [-1.60821375e-03 9.99991170e-01 -3.88245009e-03 -2.19405243e-02] [ 7.24938711e-03 3.89401158e-03 9.99966141e-01 -1.48678100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.926502481 meters 0.12384314147718248 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.02, Z:-1.49 [[ 9.99972430e-01 1.58001392e-03 -7.25558550e-03 4.24565493e+00] [-1.60821375e-03 9.99991170e-01 -3.88245009e-03 -2.19405243e-02] [ 7.24938711e-03 3.89401158e-03 9.99966141e-01 -1.48678100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.956502481 meters 0.124128169896252 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.02, Z:-1.50 [[ 9.99968391e-01 -2.30759624e-04 7.94761310e-03 4.24829708e+00] [ 2.40334733e-04 9.99999246e-01 -1.20384390e-03 -2.31035371e-02] [-7.94732931e-03 1.20571593e-03 9.99967693e-01 -1.49652882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.986502481 meters 0.1257851628817295 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.02, Z:-1.50 [[ 9.99969201e-01 -1.66903303e-04 7.84660321e-03 4.24863633e+00] [ 1.76421484e-04 9.99999250e-01 -1.21235560e-03 -2.27162164e-02] [-7.84639497e-03 1.21370257e-03 9.99968480e-01 -1.49672949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01650248099997 meters 0.127334231259303 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.02, Z:-1.50 [[ 9.99972166e-01 -1.53548372e-04 7.45950423e-03 4.24945250e+00] [ 1.64938770e-04 9.99998821e-01 -1.52637332e-03 -2.10336471e-02] [-7.45926107e-03 1.52756120e-03 9.99971013e-01 -1.49683977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04650248099998 meters 0.12779174943677513 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.02, Z:-1.50 [[ 9.99973692e-01 5.72792460e-05 7.25345948e-03 4.25029049e+00] [-4.73075817e-05 9.99999054e-01 -1.37491011e-03 -2.06927667e-02] [-7.25353137e-03 1.37453079e-03 9.99972748e-01 -1.49751546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07650248099998 meters 0.12832522627349235 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.02, Z:-1.50 [[ 9.99975415e-01 2.27997124e-04 7.00838332e-03 4.25110800e+00] [-2.18866644e-04 9.99999126e-01 -1.30353335e-03 -2.02465081e-02] [-7.00867439e-03 1.30196741e-03 9.99974591e-01 -1.49808552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10650248099998 meters 0.1290216912101233 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.02, Z:-1.50 [[ 9.99978603e-01 2.75418552e-04 6.53591834e-03 4.25225263e+00] [-2.63603955e-04 9.99998330e-01 -1.80843415e-03 -1.79692381e-02] [-6.53640550e-03 1.80667256e-03 9.99977005e-01 -1.49847759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13650248099998 meters 0.12995040906580343 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.02, Z:-1.50 [[ 9.99982959e-01 2.83936321e-04 5.83107752e-03 4.25350616e+00] [-2.69078055e-04 9.99996716e-01 -2.54874313e-03 -1.50941794e-02] [-5.83178205e-03 2.54713068e-03 9.99979751e-01 -1.49841171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16650248099998 meters 0.13065384183823658 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.01, Z:-1.50 [[ 9.99984639e-01 4.58951605e-04 5.52375003e-03 4.25444658e+00] [-4.44946956e-04 9.99996685e-01 -2.53631368e-03 -1.43757237e-02] [-5.52489576e-03 2.53381694e-03 9.99981527e-01 -1.49898654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19650248099998 meters 0.12826198154929708 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.01, Z:-1.50 [[ 9.99985851e-01 6.28436356e-04 5.28233020e-03 4.25523055e+00] [-6.15282905e-04 9.99996707e-01 -2.49134124e-03 -1.38563741e-02] [-5.28387845e-03 2.48805586e-03 9.99982945e-01 -1.49947370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22650248099998 meters 0.13256483082809237 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.01, Z:-1.50 [[ 9.99987335e-01 8.59378630e-04 4.95904382e-03 4.25626406e+00] [-8.47249288e-04 9.99996646e-01 -2.44748602e-03 -1.30607978e-02] [-4.96113050e-03 2.44325347e-03 9.99984709e-01 -1.50011033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25650248099998 meters 0.1285569998836173 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.01, Z:-1.50 [[ 9.99987764e-01 1.04925960e-03 4.83431572e-03 4.25678886e+00] [-1.03851190e-03 9.99996985e-01 -2.22518481e-03 -1.32440610e-02] [-4.83663594e-03 2.22013709e-03 9.99985839e-01 -1.50055755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28650248099999 meters 0.12929896677514588 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.01, Z:-1.50 [[ 9.99988427e-01 1.37054410e-03 4.61161861e-03 4.25759394e+00] [-1.36235647e-03 9.99997491e-01 -1.77810768e-03 -1.38573230e-02] [-4.61404401e-03 1.77180444e-03 9.99987786e-01 -1.50116750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.316502481 meters 0.12940160146253366 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.01, Z:-1.50 [[ 9.99988630e-01 1.67198695e-03 4.46583688e-03 4.25835726e+00] [-1.66594927e-03 9.99997694e-01 -1.35534851e-03 -1.43024393e-02] [-4.46809270e-03 1.34789325e-03 9.99989110e-01 -1.50190620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.346502481 meters 0.13005009196040226 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.02, Z:-1.50 [[ 9.99988293e-01 1.93465544e-03 4.43514059e-03 4.25859630e+00] [-1.93100201e-03 9.99997793e-01 -8.27879142e-04 -1.58021706e-02] [-4.43673246e-03 8.19305185e-04 9.99989822e-01 -1.50219483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.376502481 meters 0.13132837231079966 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.01, Z:-1.50 [[ 9.99990334e-01 -2.13246880e-03 3.84514649e-03 4.25995528e+00] [ 2.15261806e-03 9.99983935e-01 -5.24367735e-03 -1.42810928e-02] [-3.83390274e-03 5.25190379e-03 9.99978859e-01 -1.50259858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.406502481 meters 0.130544391050037 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.02, Z:-1.50 [[ 9.99991523e-01 -1.78538650e-03 3.71036327e-03 4.26067114e+00] [ 1.80278382e-03 9.99987373e-01 -4.69080224e-03 -1.51746671e-02] [-3.70194152e-03 4.69745146e-03 9.99982115e-01 -1.50332904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.436502481 meters 0.13029057661292776 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.02, Z:-1.50 [[ 9.99993125e-01 -1.23978755e-03 3.49477161e-03 4.26157953e+00] [ 1.25287978e-03 9.99992197e-01 -3.74653597e-03 -1.70668824e-02] [-3.49009944e-03 3.75088874e-03 9.99986875e-01 -1.50415956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.466502481 meters 0.13025018749248968 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.02, Z:-1.50 [[ 9.99993781e-01 -9.14727045e-04 3.40594725e-03 4.26211124e+00] [ 9.25529819e-04 9.99994542e-01 -3.17151436e-03 -1.82698560e-02] [-3.40302759e-03 3.17464694e-03 9.99989170e-01 -1.50473152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.496502481 meters 0.13051798371929735 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.02, Z:-1.50 [[ 9.99993991e-01 -6.82233052e-04 3.39898326e-03 4.26209346e+00] [ 6.90613118e-04 9.99996724e-01 -2.46489906e-03 -2.04349764e-02] [-3.39729049e-03 2.46723163e-03 9.99991186e-01 -1.50471720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.526502481 meters 0.13092753320222825 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.02, Z:-1.50 [[ 9.99984598e-01 -4.79063983e-03 2.80254500e-03 4.26335243e+00] [ 4.80974722e-03 9.99964962e-01 -6.85133037e-03 -1.91068931e-02] [-2.76962455e-03 6.86470438e-03 9.99972602e-01 -1.50491354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.556502481 meters 0.12772383549047428 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.02, Z:-1.50 [[ 9.99984400e-01 -4.73228823e-03 2.96720522e-03 4.26291443e+00] [ 4.75132157e-03 9.99967971e-01 -6.44067058e-03 -2.05881947e-02] [-2.93663108e-03 6.45466825e-03 9.99974856e-01 -1.50470705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.586502481 meters 0.12844768610134996 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.02, Z:-1.51 [[ 9.99986035e-01 -4.45357728e-03 2.84529383e-03 4.26345876e+00] [ 4.47047983e-03 9.99972234e-01 -5.96204808e-03 -2.13810554e-02] [-2.81866238e-03 5.97468465e-03 9.99978179e-01 -1.50519203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.616502481 meters 0.12744744106137865 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.02, Z:-1.51 [[ 9.99987533e-01 -4.22894369e-03 2.65520474e-03 4.26396751e+00] [ 4.24379823e-03 9.99975236e-01 -5.61401230e-03 -2.19197302e-02] [-2.63139764e-03 5.62521046e-03 9.99980716e-01 -1.50543888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.646502481 meters 0.12765925108565812 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.02, Z:-1.51 [[ 9.99988796e-01 -4.05062817e-03 2.44955681e-03 4.26445257e+00] [ 4.06379748e-03 9.99977188e-01 -5.39533797e-03 -2.22491780e-02] [-2.42764642e-03 5.40523202e-03 9.99982445e-01 -1.50559496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.676502481 meters 0.13019590936659423 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.02, Z:-1.51 [[ 9.99990994e-01 -3.65533811e-03 2.15648766e-03 4.26522151e+00] [ 3.66582063e-03 9.99981387e-01 -4.87716093e-03 -2.33313935e-02] [-2.13861985e-03 4.88502230e-03 9.99985781e-01 -1.50599639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.706502481 meters 0.12691416950453385 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.02, Z:-1.51 [[ 9.99992969e-01 -3.21328792e-03 1.93327573e-03 4.26609347e+00] [ 3.22143222e-03 9.99985888e-01 -4.22443643e-03 -2.45057482e-02] [-1.91967412e-03 4.23063465e-03 9.99989208e-01 -1.50678801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.736502481 meters 0.12558127748192238 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.03, Z:-1.51 [[ 9.99994265e-01 -2.87602175e-03 1.78859867e-03 4.26668149e+00] [ 2.88270020e-03 9.99988841e-01 -3.74260142e-03 -2.53319872e-02] [-1.77781491e-03 3.74773595e-03 9.99991397e-01 -1.50733249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76650248099997 meters 0.1253806865893355 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.03, Z:-1.51 [[ 9.99995357e-01 -2.62011495e-03 1.55608398e-03 4.26728187e+00] [ 2.62538820e-03 9.99990786e-01 -3.39647565e-03 -2.58435395e-02] [-1.54717048e-03 3.40054520e-03 9.99993021e-01 -1.50761863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79650248099998 meters 0.12596409483913779 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.03, Z:-1.51 [[ 9.99996397e-01 -2.30412618e-03 1.37703778e-03 4.26790315e+00] [ 2.30823992e-03 9.99992856e-01 -2.99329352e-03 -2.64455845e-02] [-1.37013101e-03 2.99646127e-03 9.99994572e-01 -1.50814566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82650248099998 meters 0.12559339446174878 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.03, Z:-1.51 [[ 9.99997301e-01 -1.97633037e-03 1.22140128e-03 4.26860971e+00] [ 1.97943114e-03 9.99994808e-01 -2.54272539e-03 -2.71260466e-02] [-1.21636967e-03 2.54513621e-03 9.99996021e-01 -1.50881831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85650248099998 meters 0.1269109575750736 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.03, Z:-1.51 [[ 9.99998110e-01 -1.50676791e-03 1.22899373e-03 4.26895974e+00] [ 1.50887598e-03 9.99997389e-01 -1.71616324e-03 -2.90339024e-02] [-1.22640466e-03 1.71801439e-03 9.99997772e-01 -1.50944224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88650248099998 meters 0.12492980686331134 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.03, Z:-1.51 [[ 9.99998643e-01 -1.14993127e-03 1.17977165e-03 4.26932313e+00] [ 1.15119035e-03 9.99998768e-01 -1.06709846e-03 -3.06431891e-02] [-1.17854311e-03 1.06845516e-03 9.99998735e-01 -1.50994415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91650248099998 meters 0.12458968466870805 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.03, Z:-1.51 [[ 9.99987802e-01 -4.88362144e-03 7.38926381e-04 4.27083545e+00] [ 4.88703809e-03 9.99977037e-01 -4.69488443e-03 -3.12455599e-02] [-7.15981375e-04 4.69843832e-03 9.99988706e-01 -1.51109822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94650248099998 meters 0.12457695808339982 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.03, Z:-1.51 [[ 9.99989865e-01 -4.45923649e-03 6.19882639e-04 4.27152209e+00] [ 4.46166319e-03 9.99982166e-01 -3.97013434e-03 -3.26757047e-02] [-6.02167816e-04 3.97285982e-03 9.99991927e-01 -1.51187612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97650248099998 meters 0.1236556152979179 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.03, Z:-1.51 [[ 9.99991180e-01 -4.17028536e-03 4.99471077e-04 4.27205934e+00] [ 4.17199975e-03 9.99985235e-01 -3.48199841e-03 -3.35456801e-02] [-4.84942776e-04 3.48405149e-03 9.99993813e-01 -1.51236808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00650248099998 meters 0.1236991611615482 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.03, Z:-1.51 [[ 9.99992255e-01 -3.90356775e-03 5.02283572e-04 4.27233846e+00] [ 3.90499075e-03 9.99988274e-01 -2.86396998e-03 -3.47441530e-02] [-4.91097982e-04 2.86590921e-03 9.99995773e-01 -1.51276248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03650248099999 meters 0.12364719252709436 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.04, Z:-1.51 [[ 9.99993632e-01 -3.46820242e-03 8.41012581e-04 4.27240576e+00] [ 3.46949496e-03 9.99992795e-01 -1.54032837e-03 -3.80997934e-02] [-8.35664351e-04 1.54323645e-03 9.99998460e-01 -1.51388225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.066502481 meters 0.12352428408108473 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.04, Z:-1.51 [[ 9.99994740e-01 -3.09582792e-03 9.67266525e-04 4.27254541e+00] [ 3.09643788e-03 9.99995008e-01 -6.29744934e-04 -4.03350305e-02] [-9.65312114e-04 6.32736702e-04 9.99999334e-01 -1.51449227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.096502481 meters 0.12542277250347802 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.04, Z:-1.51 [[ 9.99994302e-01 -3.05253086e-03 1.44143218e-03 4.27177912e+00] [ 3.05232835e-03 9.99995331e-01 1.42672493e-04 -4.27915325e-02] [-1.44186096e-03 -1.38271956e-04 9.99998951e-01 -1.51455448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.126502481 meters 0.126042333699949 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.04, Z:-1.51 [[ 9.99994824e-01 -2.84397500e-03 1.50475630e-03 4.27184714e+00] [ 2.84290581e-03 9.99995705e-01 7.12199675e-04 -4.42078339e-02] [-1.50677531e-03 -7.07918108e-04 9.99998614e-01 -1.51480376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.156502481 meters 0.12449877150472581 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.05, Z:-1.52 [[ 9.99995368e-01 -2.57768014e-03 1.61820501e-03 4.27184630e+00] [ 2.57541753e-03 9.99995705e-01 1.39874936e-03 -4.60302388e-02] [-1.62180358e-03 -1.39457533e-03 9.99997712e-01 -1.51513754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.186502481 meters 0.12808970808344877 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.05, Z:-1.51 [[ 9.99994162e-01 -2.70400850e-03 2.08896598e-03 4.27079220e+00] [ 2.70022706e-03 9.99994715e-01 1.81089877e-03 -4.80563657e-02] [-2.09385163e-03 -1.80524752e-03 9.99996178e-01 -1.51471799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.216502481 meters 0.129037366468722 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.05, Z:-1.51 [[ 9.99994420e-01 -2.57861679e-03 2.12361434e-03 4.27085278e+00] [ 2.57398180e-03 9.99994306e-01 2.18244549e-03 -4.88562368e-02] [-2.12922994e-03 -2.17696717e-03 9.99995364e-01 -1.51481179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.246502481 meters 0.1259871647140922 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.05, Z:-1.52 [[ 9.99995019e-01 -2.39013196e-03 2.06134535e-03 4.27124753e+00] [ 2.38496076e-03 9.99994012e-01 2.50747479e-03 -4.94143726e-02] [-2.06732621e-03 -2.50254607e-03 9.99994732e-01 -1.51522471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.276502481 meters 0.12791685882392287 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.05, Z:-1.52 [[ 9.99978849e-01 -6.35645918e-03 1.37710153e-03 4.27303481e+00] [ 6.35881071e-03 9.99978320e-01 -1.70999437e-03 -4.80276297e-02] [-1.36620217e-03 1.71871493e-03 9.99997590e-01 -1.51593962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.306502481 meters 0.12633154415353093 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.05, Z:-1.52 [[ 9.99980686e-01 -6.07996347e-03 1.28932676e-03 4.27361122e+00] [ 6.08160120e-03 9.99980700e-01 -1.27013348e-03 -4.87155148e-02] [-1.28157951e-03 1.27795012e-03 9.99998362e-01 -1.51657675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.336502481 meters 0.12506553997955136 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.05, Z:-1.52 [[ 9.99982203e-01 -5.81188068e-03 1.34779370e-03 4.27380230e+00] [ 5.81286031e-03 9.99982843e-01 -7.24069307e-04 -4.99577681e-02] [-1.34356237e-03 7.31890957e-04 9.99998830e-01 -1.51705302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.366502481 meters 0.12609692230455102 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.05, Z:-1.52 [[ 9.99983643e-01 -5.59336348e-03 1.19527845e-03 4.27432768e+00] [ 5.59387740e-03 9.99984263e-01 -4.27052420e-04 -5.03948669e-02] [-1.19287098e-03 4.33731675e-04 9.99999194e-01 -1.51742986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.396502481 meters 0.1283424081603804 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.05, Z:-1.52 [[ 9.99984882e-01 -5.42644389e-03 8.88336267e-04 4.27507016e+00] [ 5.42671398e-03 9.99985230e-01 -3.01917629e-04 -5.03058986e-02] [-8.86684807e-04 3.06733812e-04 9.99999560e-01 -1.51765944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.426502481 meters 0.12557165299936954 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.05, Z:-1.52 [[ 9.99986768e-01 -5.12758001e-03 4.13269045e-04 4.27655001e+00] [ 5.12766124e-03 9.99986834e-01 -1.95744561e-04 -4.93602260e-02] [-4.12259908e-04 1.97861074e-04 9.99999895e-01 -1.51854825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.456502481 meters 0.12357195264853234 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.05, Z:-1.52 [[ 9.99989584e-01 -4.55628603e-03 -2.69418301e-04 4.27889669e+00] [ 4.55631126e-03 9.99989616e-01 9.30798856e-05 -4.81559524e-02] [ 2.68991404e-04 -9.43064697e-05 9.99999959e-01 -1.52023549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.486502481 meters 0.12331946105412361 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.05, Z:-1.52 [[ 9.99990501e-01 -4.31844317e-03 -5.90597235e-04 4.27995060e+00] [ 4.31856771e-03 9.99990653e-01 2.09766199e-04 -4.77063833e-02] [ 5.89685852e-04 -2.12314740e-04 9.99999804e-01 -1.52091312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51650248099997 meters 0.12261003239847969 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.05, Z:-1.52 [[ 9.99991195e-01 -4.10463795e-03 -8.73178892e-04 4.28081281e+00] [ 4.10493880e-03 9.99991516e-01 3.43033859e-04 -4.74925647e-02] [ 8.71763454e-04 -3.46615185e-04 9.99999560e-01 -1.52143450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54650248099998 meters 0.12191985981853995 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.05, Z:-1.52 [[ 9.99991004e-01 -4.07295508e-03 -1.18487806e-03 4.28153219e+00] [ 4.07308510e-03 9.99991699e-01 1.07333082e-04 -4.64289932e-02] [ 1.18443106e-03 -1.12158225e-04 9.99999292e-01 -1.52163072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57650248099998 meters 0.12108547867679006 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.04, Z:-1.52 [[ 9.99989367e-01 -4.27535868e-03 -1.72831651e-03 4.28234909e+00] [ 4.27421214e-03 9.99990643e-01 -6.66535301e-04 -4.38044820e-02] [ 1.73115002e-03 6.59141022e-04 9.99998284e-01 -1.52127836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60650248099998 meters 0.12073849119457199 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.04, Z:-1.52 [[ 9.99988551e-01 -4.33644328e-03 -2.02335290e-03 4.28286021e+00] [ 4.33445033e-03 9.99990118e-01 -9.88325118e-04 -4.26813336e-02] [ 2.02761872e-03 9.79543679e-04 9.99997465e-01 -1.52115387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63650248099998 meters 0.12011524097469442 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.04, Z:-1.52 [[ 9.99987387e-01 -4.34362922e-03 -2.52163617e-03 4.28389983e+00] [ 4.33991048e-03 9.99989490e-01 -1.47833589e-03 -4.07584432e-02] [ 2.52803102e-03 1.46737357e-03 9.99995728e-01 -1.52131408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66650248099998 meters 0.12033571053249395 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.04, Z:-1.52 [[ 9.99987058e-01 -4.18201950e-03 -2.89741166e-03 4.28504743e+00] [ 4.17771580e-03 9.99990164e-01 -1.48982317e-03 -3.99233568e-02] [ 2.90361363e-03 1.47769933e-03 9.99994693e-01 -1.52195753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69650248099998 meters 0.11938430537302355 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.04, Z:-1.52 [[ 9.99986508e-01 -4.07534380e-03 -3.22110078e-03 4.28595359e+00] [ 4.07023096e-03 9.99990449e-01 -1.59226037e-03 -3.90512891e-02] [ 3.22755903e-03 1.57912827e-03 9.99993545e-01 -1.52237619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72650248099998 meters 0.11869151193019524 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.04, Z:-1.52 [[ 9.99984319e-01 -4.13872809e-03 -3.77262356e-03 4.28701197e+00] [ 4.13034682e-03 9.99988991e-01 -2.22669277e-03 -3.66217934e-02] [ 3.78179770e-03 2.21107561e-03 9.99990405e-01 -1.52236316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75650248099998 meters 0.11751288944020115 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.03, Z:-1.52 [[ 9.99981427e-01 -4.35886313e-03 -4.25984671e-03 4.28787762e+00] [ 4.34577091e-03 9.99985820e-01 -3.07784080e-03 -3.37218953e-02] [ 4.27320219e-03 3.05927131e-03 9.99986190e-01 -1.52217345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78650248099999 meters 0.11737679834075367 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.03, Z:-1.52 [[ 9.99980459e-01 -4.39792603e-03 -4.44293884e-03 4.28830496e+00] [ 4.38322374e-03 9.99984904e-01 -3.31347209e-03 -3.27769041e-02] [ 4.45744418e-03 3.29393295e-03 9.99984640e-01 -1.52224208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.816502481 meters 0.1174583407488512 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.03, Z:-1.52 [[ 9.99980477e-01 -4.21684880e-03 -4.61117617e-03 4.28889989e+00] [ 4.20240812e-03 9.99986250e-01 -3.13688609e-03 -3.28330970e-02] [ 4.62434054e-03 3.11744681e-03 9.99984448e-01 -1.52264578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.846502481 meters 0.1174583407488512 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.03, Z:-1.52 [[ 9.99980477e-01 -4.21684880e-03 -4.61117617e-03 4.28889989e+00] [ 4.20240812e-03 9.99986250e-01 -3.13688609e-03 -3.28330970e-02] [ 4.62434054e-03 3.11744681e-03 9.99984448e-01 -1.52264578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.876502481 meters 0.1171626335708237 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.03, Z:-1.52 [[ 9.99979405e-01 -4.20121871e-03 -4.85167493e-03 4.28951538e+00] [ 4.18506889e-03 9.99985684e-01 -3.33407913e-03 -3.18533702e-02] [ 4.86561267e-03 3.31370587e-03 9.99982672e-01 -1.52283996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.906502481 meters 0.11662423469467617 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.03, Z:-1.52 [[ 9.99978937e-01 -4.01684872e-03 -5.09809083e-03 4.29036260e+00] [ 4.00052963e-03 9.99986855e-01 -3.20718962e-03 -3.15829506e-02] [ 5.11090661e-03 3.18672701e-03 9.99981862e-01 -1.52336342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.936502481 meters 0.11682908367379226 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.03, Z:-1.52 [[ 9.99977914e-01 -4.00668038e-03 -5.30263984e-03 4.29106003e+00] [ 3.98884720e-03 9.99986368e-01 -3.36938813e-03 -3.04412551e-02] [ 5.31606762e-03 3.34816229e-03 9.99980264e-01 -1.52374446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.966502481 meters 0.11676626341090439 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.03, Z:-1.52 [[ 9.99977546e-01 -3.83080251e-03 -5.49842009e-03 4.29167188e+00] [ 3.81326897e-03 9.99987623e-01 -3.19578061e-03 -3.04886398e-02] [ 5.51059444e-03 3.17474190e-03 9.99979777e-01 -1.52408174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.996502481 meters 0.11747720929979763 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.03, Z:-1.52 [[ 9.99978751e-01 -3.54389251e-03 -5.47153084e-03 4.29198476e+00] [ 3.52919489e-03 9.99990145e-01 -2.69352148e-03 -3.15028474e-02] [ 5.48102247e-03 2.67415415e-03 9.99981403e-01 -1.52464948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.026502481 meters 0.11778185955704384 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.03, Z:-1.53 [[ 9.99979531e-01 -3.20301183e-03 -5.53888619e-03 4.29251369e+00] [ 3.19117983e-03 9.99992610e-01 -2.14369018e-03 -3.26322247e-02] [ 5.54571153e-03 2.12597072e-03 9.99982363e-01 -1.52530713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.056502481 meters 0.11778583728131818 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.03, Z:-1.53 [[ 9.99979449e-01 -3.04453314e-03 -5.64202728e-03 4.29298420e+00] [ 3.03348842e-03 9.99993468e-01 -1.96510392e-03 -3.28091443e-02] [ 5.64797325e-03 1.94794851e-03 9.99982153e-01 -1.52574268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.086502481 meters 0.11813693642117759 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.03, Z:-1.53 [[ 9.99978365e-01 -3.05132835e-03 -5.82743744e-03 4.29338195e+00] [ 3.03914063e-03 9.99993179e-01 -2.09914933e-03 -3.21697594e-02] [ 5.83380288e-03 2.08139351e-03 9.99980817e-01 -1.52576375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.116502481 meters 0.1181779495495092 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.03, Z:-1.53 [[ 9.99974680e-01 -3.22840819e-03 -6.34165251e-03 4.29413884e+00] [ 3.21044585e-03 9.99990812e-01 -2.84057911e-03 -2.95874367e-02] [ 6.35076479e-03 2.82014766e-03 9.99975857e-01 -1.52536237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.146502481 meters 0.11742559670758766 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.03, Z:-1.53 [[ 9.99973075e-01 -3.11683666e-03 -6.64333544e-03 4.29492476e+00] [ 3.09767271e-03 9.99991017e-01 -2.89302806e-03 -2.88975370e-02] [ 6.65229287e-03 2.87237129e-03 9.99973748e-01 -1.52566849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.176502481 meters 0.11607226192445974 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.03, Z:-1.53 [[ 9.99970213e-01 -2.94824205e-03 -7.13305966e-03 4.29606862e+00] [ 2.92583255e-03 9.99990758e-01 -3.15003732e-03 -2.76756242e-02] [ 7.14228081e-03 3.12907335e-03 9.99969598e-01 -1.52605644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.206502481 meters 0.11540346239702348 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.03, Z:-1.53 [[ 9.99968673e-01 -2.81177380e-03 -7.39906464e-03 4.29685880e+00] [ 2.78844857e-03 9.99991117e-01 -3.16088627e-03 -2.71691126e-02] [ 7.40788661e-03 3.14015534e-03 9.99967631e-01 -1.52651520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.236502481 meters 0.1148691927229349 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.03, Z:-1.53 [[ 9.99964275e-01 -2.56803055e-03 -8.05321735e-03 4.29849352e+00] [ 2.54077494e-03 9.99991016e-01 -3.39284407e-03 -2.56243079e-02] [ 8.06185794e-03 3.37226144e-03 9.99961816e-01 -1.52715381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26650248099997 meters 0.11448475691709467 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.03, Z:-1.53 [[ 9.99962426e-01 -2.38924980e-03 -8.33289307e-03 4.29938934e+00] [ 2.36134912e-03 9.99991579e-01 -3.35649164e-03 -2.50962075e-02] [ 8.34084239e-03 3.33668865e-03 9.99959648e-01 -1.52769434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29650248099998 meters 0.11417100362268777 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.02, Z:-1.53 [[ 9.99958575e-01 -2.38491366e-03 -8.78415180e-03 4.30035043e+00] [ 2.35150468e-03 9.99989971e-01 -3.81169130e-03 -2.32360391e-02] [ 8.79315426e-03 3.79087742e-03 9.99954154e-01 -1.52784242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32650248099998 meters 0.11402702023366879 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.02, Z:-1.53 [[ 9.99956524e-01 -2.26946037e-03 -9.04436075e-03 4.30113660e+00] [ 2.23462772e-03 9.99990055e-01 -3.85955705e-03 -2.25360385e-02] [ 9.05302992e-03 3.83917847e-03 9.99951651e-01 -1.52823674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35650248099998 meters 0.11373955495536463 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.02, Z:-1.53 [[ 9.99955192e-01 -1.99752561e-03 -9.25335932e-03 4.30188186e+00] [ 1.96414081e-03 9.99991535e-01 -3.61554140e-03 -2.27203032e-02] [ 9.26050313e-03 3.59720450e-03 9.99950650e-01 -1.52879119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38650248099998 meters 0.11356659017937018 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.02, Z:-1.53 [[ 9.99954557e-01 -1.81717784e-03 -9.35848915e-03 4.30220574e+00] [ 1.78589994e-03 9.99992796e-01 -3.34946885e-03 -2.32872661e-02] [ 9.36450831e-03 3.33260332e-03 9.99950599e-01 -1.52901464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41650248099998 meters 0.11442340383803383 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.02, Z:-1.53 [[ 9.99953486e-01 -1.73094165e-03 -9.48843837e-03 4.30240064e+00] [ 1.70017874e-03 9.99993276e-01 -3.24925447e-03 -2.34767908e-02] [ 9.49399884e-03 3.23297130e-03 9.99949705e-01 -1.52891086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44650248099998 meters 0.11428697519028692 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.03, Z:-1.53 [[ 9.99983572e-01 4.12119181e-03 -3.98397392e-03 4.31134322e+00] [-4.14191347e-03 9.99977865e-01 -5.20707077e-03 -2.52702928e-02] [ 3.96242639e-03 5.22348650e-03 9.99978507e-01 -1.53101672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47650248099998 meters 0.11474213816599706 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.03, Z:-1.53 [[ 9.99983546e-01 4.25159898e-03 -3.85126890e-03 4.31115077e+00] [-4.27009137e-03 9.99979333e-01 -4.80620721e-03 -2.65413779e-02] [ 3.83075524e-03 4.82257340e-03 9.99981034e-01 -1.53116140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50650248099998 meters 0.11495613220332536 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.03, Z:-1.53 [[ 9.99956481e-01 -3.70115523e-03 -8.56372184e-03 4.31989686e+00] [ 3.68995205e-03 9.99992316e-01 -1.32364454e-03 -2.77074033e-02] [ 8.56855505e-03 1.29198721e-03 9.99962455e-01 -1.52759381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53650248099999 meters 0.11505260981803757 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.03, Z:-1.53 [[ 9.99957660e-01 -3.23815492e-03 -8.61351076e-03 4.32055757e+00] [ 3.23358051e-03 9.99994623e-01 -5.44947593e-04 -2.92371801e-02] [ 8.61522907e-03 5.17072039e-04 9.99962755e-01 -1.52849680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.566502481 meters 0.11495312326704574 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.03, Z:-1.53 [[ 9.99959959e-01 -3.04384990e-03 -8.41523665e-03 4.32045216e+00] [ 3.04394643e-03 9.99995367e-01 -1.33714487e-06 -3.07516741e-02] [ 8.41520173e-03 -2.42784382e-05 9.99964591e-01 -1.52896280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.596502481 meters 0.11490460769997982 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.03, Z:-1.53 [[ 9.99959820e-01 -2.77276372e-03 -8.52470042e-03 4.32095631e+00] [ 2.77655931e-03 9.99996051e-01 4.33444401e-04 -3.15500065e-02] [ 8.52346492e-03 -4.57096321e-04 9.99963570e-01 -1.52942543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.626502481 meters 0.11474937340062667 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.03, Z:-1.53 [[ 9.99959861e-01 -2.39855074e-03 -8.63269856e-03 4.32157076e+00] [ 2.40775923e-03 9.99996543e-01 1.05646392e-03 -3.27002455e-02] [ 8.63013474e-03 -1.07720697e-03 9.99962179e-01 -1.53006471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.656502481 meters 0.11434510070815848 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.03, Z:-1.53 [[ 9.99958837e-01 -2.22621117e-03 -8.79590629e-03 4.32212644e+00] [ 2.23746821e-03 9.99996690e-01 1.27017098e-03 -3.28596990e-02] [ 8.79304951e-03 -1.28979925e-03 9.99960509e-01 -1.53041807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.686502481 meters 0.1138831655519593 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.03, Z:-1.53 [[ 9.99956749e-01 -2.18717595e-03 -9.03968056e-03 4.32253270e+00] [ 2.19805802e-03 9.99996871e-01 1.19405170e-03 -3.24548084e-02] [ 9.03704068e-03 -1.21386979e-03 9.99958428e-01 -1.53032847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.716502481 meters 0.11347861681027939 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.03, Z:-1.53 [[ 9.99954187e-01 -2.00952761e-03 -9.35876626e-03 4.32337445e+00] [ 2.02165664e-03 9.99997129e-01 1.28672703e-03 -3.21790584e-02] [ 9.35615368e-03 -1.30558829e-03 9.99955378e-01 -1.53066450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.746502481 meters 0.11303896518745424 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.03, Z:-1.53 [[ 9.99996541e-01 1.76799790e-03 -1.94755746e-03 4.33193305e+00] [-1.77293730e-03 9.99995209e-01 -2.53740259e-03 -3.05425333e-02] [ 1.94306200e-03 2.54084671e-03 9.99994884e-01 -1.53409664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.776502481 meters 0.11201018244779756 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.03, Z:-1.53 [[ 9.99995857e-01 1.42656997e-03 -2.50025578e-03 4.33266469e+00] [-1.43577035e-03 9.99992191e-01 -3.68184948e-03 -2.72658144e-02] [ 2.49498384e-03 3.68542402e-03 9.99990096e-01 -1.53350819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.806502481 meters 0.11137752640836156 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.02, Z:-1.53 [[ 9.99994384e-01 1.25282204e-03 -3.10834396e-03 4.33374713e+00] [-1.26712237e-03 9.99988604e-01 -4.60293160e-03 -2.40912400e-02] [ 3.10254188e-03 4.60684440e-03 9.99984575e-01 -1.53325607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.836502481 meters 0.11139378852195018 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.02, Z:-1.53 [[ 9.99993344e-01 1.40753259e-03 -3.36619665e-03 4.33457238e+00] [-1.42293609e-03 9.99988509e-01 -4.57792709e-03 -2.35576001e-02] [ 3.35971438e-03 4.58268650e-03 9.99983856e-01 -1.53371399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.866502481 meters 0.11114993245040525 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.02, Z:-1.53 [[ 9.99992243e-01 1.64802618e-03 -3.57754169e-03 4.33543832e+00] [-1.66358940e-03 9.99989148e-01 -4.35164817e-03 -2.35385547e-02] [ 3.57033123e-03 4.35756597e-03 9.99984132e-01 -1.53440409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.896502481 meters 0.11105263235635347 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.02, Z:-1.54 [[ 9.99998466e-01 -3.59399185e-05 1.75117042e-03 4.35039533e+00] [ 3.42634206e-05 9.99999541e-01 9.57379103e-04 -2.37346281e-02] [-1.75120403e-03 -9.57317633e-04 9.99998008e-01 -1.53645359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.926502481 meters 0.11127825803020171 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.02, Z:-1.54 [[ 9.99999520e-01 -2.05734666e-04 9.57458937e-04 4.35168573e+00] [ 2.05656802e-04 9.99999976e-01 8.14214714e-05 -2.02318467e-02] [-9.57475665e-04 -8.12245244e-05 9.99999538e-01 -1.53600747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.956502481 meters 0.11127487791627728 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.02, Z:-1.54 [[ 9.99999762e-01 -9.08291549e-05 6.84193791e-04 4.35242944e+00] [ 9.07795112e-05 9.99999993e-01 7.25885955e-05 -1.96916419e-02] [-6.84200379e-04 -7.25264674e-05 9.99999763e-01 -1.53628436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.986502481 meters 0.11206488224569881 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.02, Z:-1.54 [[ 9.99999876e-01 8.63185309e-05 4.89671204e-04 4.35302052e+00] [-8.64315374e-05 9.99999970e-01 2.30763919e-04 -1.97356514e-02] [-4.89651270e-04 -2.30806213e-04 9.99999853e-01 -1.53658870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01650248099997 meters 0.11245563561639059 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.02, Z:-1.54 [[ 9.99999869e-01 2.33883306e-04 4.56253368e-04 4.35332673e+00] [-2.34091691e-04 9.99999868e-01 4.56730452e-04 -2.00745576e-02] [-4.56146486e-04 -4.56837197e-04 9.99999792e-01 -1.53693696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04650248099998 meters 0.11290235022462713 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.02, Z:-1.54 [[ 9.99992462e-01 -3.86704116e-03 -3.48628555e-04 4.35516245e+00] [ 3.86558248e-03 9.99984157e-01 -4.09189607e-03 -1.79402261e-02] [ 3.64446562e-04 4.09051757e-03 9.99991567e-01 -1.53733961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07650248099998 meters 0.11440389113463818 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.02, Z:-1.54 [[ 9.99993652e-01 -3.55221492e-03 -2.77079851e-04 4.35562781e+00] [ 3.55123978e-03 9.99987764e-01 -3.44383629e-03 -1.90462023e-02] [ 2.89309707e-04 3.44283046e-03 9.99994032e-01 -1.53820696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10650248099998 meters 0.11655169206376573 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.02, Z:-1.54 [[ 9.99994493e-01 -3.31864461e-03 7.79579085e-06 4.35561375e+00] [ 3.31865348e-03 9.99990662e-01 -2.76802474e-03 -2.05091098e-02] [ 1.39037232e-06 2.76803536e-03 9.99996169e-01 -1.53896109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13650248099998 meters 0.11813529475930815 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.02, Z:-1.54 [[ 9.99995370e-01 -3.04232106e-03 7.21263557e-05 4.35579962e+00] [ 3.04247111e-03 9.99992994e-01 -2.18064330e-03 -2.19293903e-02] [-6.54916334e-05 2.18085265e-03 9.99997620e-01 -1.53943746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16650248099998 meters 0.11957933231792213 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.02, Z:-1.54 [[ 9.99995966e-01 -2.83598611e-03 1.58862874e-04 4.35594792e+00] [ 2.83625795e-03 9.99994468e-01 -1.73788364e-03 -2.28911621e-02] [-1.53933382e-04 1.73832721e-03 9.99998477e-01 -1.53988977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19650248099998 meters 0.11731797057669587 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.02, Z:-1.54 [[ 9.99996291e-01 -2.71885455e-03 1.61297234e-04 4.35608060e+00] [ 2.71907344e-03 9.99995361e-01 -1.37274092e-03 -2.36828300e-02] [-1.57564202e-04 1.37317441e-03 9.99999045e-01 -1.54004892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22650248099998 meters 0.11811991094938394 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.02, Z:-1.54 [[ 9.99996514e-01 -2.64040665e-03 2.93453991e-05 4.35627217e+00] [ 2.64044108e-03 9.99995742e-01 -1.24261202e-03 -2.40169724e-02] [-2.60642731e-05 1.24268517e-03 9.99999228e-01 -1.53991059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25650248099998 meters 0.11975293201845101 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.02, Z:-1.54 [[ 9.99996669e-01 -2.57856886e-03 -1.10914355e-04 4.35656327e+00] [ 2.57844554e-03 9.99996073e-01 -1.09801404e-03 -2.42159716e-02] [ 1.13745224e-04 1.09772440e-03 9.99999391e-01 -1.53989322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28650248099999 meters 0.12040327548379726 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.03, Z:-1.54 [[ 9.99997463e-01 -2.25093469e-03 -7.98397929e-05 4.35703064e+00] [ 2.25089561e-03 9.99997349e-01 -4.86210323e-04 -2.54852785e-02] [ 8.09340088e-05 4.86029378e-04 9.99999879e-01 -1.54068333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.316502481 meters 0.12102870184774801 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.03, Z:-1.54 [[ 9.99998105e-01 -1.94267749e-03 -1.25760787e-04 4.35761850e+00] [ 1.94267723e-03 9.99998113e-01 -2.19493543e-06 -2.62957088e-02] [ 1.25764814e-04 1.95061865e-06 9.99999992e-01 -1.54144628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.346502481 meters 0.12150676975958946 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.03, Z:-1.54 [[ 9.99998400e-01 -1.76401272e-03 -2.98236087e-04 4.35824314e+00] [ 1.76407197e-03 9.99998424e-01 1.98508295e-04 -2.64262335e-02] [ 2.97885446e-04 -1.99034087e-04 9.99999936e-01 -1.54188553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.376502481 meters 0.12123314282554427 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.02, Z:-1.54 [[ 9.99997899e-01 -1.88217090e-03 -8.11766774e-04 4.35910853e+00] [ 1.88189839e-03 9.99998173e-01 -3.36330366e-04 -2.44260515e-02] [ 8.12398322e-04 3.34801996e-04 9.99999614e-01 -1.54162027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.406502481 meters 0.12195525942296494 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.02, Z:-1.54 [[ 9.99997316e-01 -1.95821892e-03 -1.23803324e-03 4.35976012e+00] [ 1.95730213e-03 9.99997810e-01 -7.41294406e-04 -2.30250676e-02] [ 1.23948215e-03 7.38869212e-04 9.99998959e-01 -1.54131985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.436502481 meters 0.12149484080184043 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.02, Z:-1.54 [[ 9.99994953e-01 -2.08926193e-03 -2.39341704e-03 4.36101075e+00] [ 2.08465072e-03 9.99995969e-01 -1.92749937e-03 -1.93877503e-02] [ 2.39743444e-03 1.92250020e-03 9.99995278e-01 -1.53990570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.466502481 meters 0.12036281877464891 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.02, Z:-1.54 [[ 9.99994073e-01 -2.03164131e-03 -2.77965021e-03 4.36175071e+00] [ 2.02555687e-03 9.99995551e-01 -2.18999017e-03 -1.84098457e-02] [ 2.78408712e-03 2.18434685e-03 9.99993739e-01 -1.53986708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.496502481 meters 0.12040086905285724 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.02, Z:-1.54 [[ 9.99991998e-01 -1.62418882e-03 -3.65585126e-03 4.36375175e+00] [ 1.61564210e-03 9.99995958e-01 -2.33955989e-03 -1.69207765e-02] [ 3.65963637e-03 2.33363462e-03 9.99990581e-01 -1.54046703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.526502481 meters 0.120748398515253 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.02, Z:-1.54 [[ 9.99990144e-01 -1.66977228e-03 -4.11379188e-03 4.36447656e+00] [ 1.65831902e-03 9.99994744e-01 -2.78595280e-03 -1.55562111e-02] [ 4.11842216e-03 2.77910337e-03 9.99987658e-01 -1.54024241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.556502481 meters 0.12037928190138653 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.01, Z:-1.54 [[ 9.99984790e-01 -1.48601767e-03 -5.31149634e-03 4.36650502e+00] [ 1.46678578e-03 9.99992362e-01 -3.62286830e-03 -1.16416995e-02] [ 5.31683941e-03 3.61502237e-03 9.99979331e-01 -1.53998925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.586502481 meters 0.11921287088231179 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.01, Z:-1.54 [[ 9.99981146e-01 -1.48195424e-03 -5.95914062e-03 4.36757863e+00] [ 1.45740520e-03 9.99990443e-01 -4.12179541e-03 -9.66446334e-03] [ 5.96519198e-03 4.11303281e-03 9.99973749e-01 -1.53972655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.616502481 meters 0.11952995274427035 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.01, Z:-1.54 [[ 9.99976563e-01 -1.45408342e-03 -6.69019127e-03 4.36880288e+00] [ 1.42183570e-03 9.99987361e-01 -4.82238371e-03 -7.14424825e-03] [ 6.69711886e-03 4.81275833e-03 9.99965992e-01 -1.53944457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.646502481 meters 0.11897860342887369 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.01, Z:-1.54 [[ 9.99974773e-01 -1.37544122e-03 -6.96858413e-03 4.36941008e+00] [ 1.34116820e-03 9.99986995e-01 -4.92050699e-03 -6.59580663e-03] [ 6.97526137e-03 4.91103682e-03 9.99963613e-01 -1.53954524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.676502481 meters 0.11863621071612876 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.01, Z:-1.54 [[ 9.99971532e-01 -1.30768004e-03 -7.43139480e-03 4.37043820e+00] [ 1.26848046e-03 9.99985271e-01 -5.27712875e-03 -5.07497252e-03] [ 7.43818615e-03 5.26755194e-03 9.99958462e-01 -1.53976532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.706502481 meters 0.11961500680243355 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.00, Z:-1.54 [[ 9.99965295e-01 -1.40455674e-03 -8.21199820e-03 4.37160274e+00] [ 1.35458766e-03 9.99980555e-01 -6.08728537e-03 -2.30482413e-03] [ 8.22038846e-03 6.07595024e-03 9.99947753e-01 -1.53924437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.736502481 meters 0.11961500680243355 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.00, Z:-1.54 [[ 9.99965295e-01 -1.40455674e-03 -8.21199820e-03 4.37160274e+00] [ 1.35458766e-03 9.99980555e-01 -6.08728537e-03 -2.30482413e-03] [ 8.22038846e-03 6.07595024e-03 9.99947753e-01 -1.53924437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76650248099997 meters 0.12012467471478623 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.00, Z:-1.54 [[ 9.99962412e-01 -1.45669818e-03 -8.54707780e-03 4.37208380e+00] [ 1.40162607e-03 9.99978243e-01 -6.44583980e-03 -1.15260110e-03] [ 8.55628149e-03 6.43361771e-03 9.99942698e-01 -1.53895568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79650248099998 meters 0.12005542381057961 Centerline is valid? [False, False] Translation: X:4.37, Y:0.00, Z:-1.54 [[ 9.99958607e-01 -1.48555369e-03 -8.97646512e-03 4.37285001e+00] [ 1.42390193e-03 9.99975383e-01 -6.87064726e-03 4.94788022e-04] [ 8.98645086e-03 6.85758126e-03 9.99936107e-01 -1.53882760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82650248099998 meters 0.11904136016307358 Centerline is valid? [False, False] Translation: X:4.37, Y:0.00, Z:-1.54 [[ 9.99956906e-01 -1.36679039e-03 -9.18243653e-03 4.37336784e+00] [ 1.30445443e-03 9.99976089e-01 -6.79117063e-03 6.29615143e-04] [ 9.19149907e-03 6.77889991e-03 9.99934779e-01 -1.53899070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85650248099998 meters 0.11849791526264804 Centerline is valid? [False, False] Translation: X:4.37, Y:0.00, Z:-1.54 [[ 9.99958273e-01 -1.25070658e-03 -9.04915805e-03 4.37337918e+00] [ 1.19167562e-03 9.99977997e-01 -6.52581877e-03 4.10902971e-06] [ 9.05712082e-03 6.51476280e-03 9.99937761e-01 -1.53937707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88650248099998 meters 0.1181639497016846 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.00, Z:-1.54 [[ 9.99958943e-01 -1.02207576e-03 -9.00379427e-03 4.37368800e+00] [ 9.67154857e-04 9.99980915e-01 -6.10199468e-03 -7.65302551e-04] [ 9.00985914e-03 6.09303609e-03 9.99940847e-01 -1.53997612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91650248099998 meters 0.11812909951276428 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.00, Z:-1.54 [[ 9.99960981e-01 -7.87739361e-04 -8.79865411e-03 4.37367925e+00] [ 7.39369350e-04 9.99984605e-01 -5.49933357e-03 -2.14000782e-03] [ 8.80285070e-03 5.49261354e-03 9.99946169e-01 -1.54054180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94650248099998 meters 0.11764258538646098 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.00, Z:-1.54 [[ 9.99961670e-01 -6.12983912e-04 -8.73402520e-03 4.37377450e+00] [ 5.68094009e-04 9.99986623e-01 -5.14121232e-03 -2.94048922e-03] [ 8.73705984e-03 5.13605351e-03 9.99948641e-01 -1.54086379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97650248099998 meters 0.1174391247645495 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.00, Z:-1.55 [[ 9.99961621e-01 -3.61694852e-03 7.97961178e-03 4.37185584e+00] [ 3.64072332e-03 9.99988971e-01 -2.96693197e-03 -4.57347936e-03] [-7.96879254e-03 2.99586966e-03 9.99963761e-01 -1.54707070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00650248099998 meters 0.11735443978473076 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.01, Z:-1.55 [[ 9.99962084e-01 -3.24071848e-03 8.08255243e-03 4.37213742e+00] [ 3.25822374e-03 9.99992373e-01 -2.15358196e-03 -6.47007327e-03] [-8.07551163e-03 2.17983507e-03 9.99965017e-01 -1.54786900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03650248099999 meters 0.11736409594803002 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.01, Z:-1.55 [[ 9.99956422e-01 -3.11955287e-03 8.79900508e-03 4.37120521e+00] [ 3.13057369e-03 9.99994332e-01 -1.23901314e-03 -9.71834715e-03] [-8.79509004e-03 1.26650508e-03 9.99960520e-01 -1.54847822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.066502481 meters 0.11692398270936658 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.01, Z:-1.55 [[ 9.99957249e-01 -2.84333153e-03 8.79856065e-03 4.37142728e+00] [ 2.84936774e-03 9.99995714e-01 -6.73585821e-04 -1.10920661e-02] [-8.79660771e-03 6.98627359e-04 9.99961065e-01 -1.54886933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.096502481 meters 0.11691998730006867 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.01, Z:-1.55 [[ 9.99956516e-01 -2.78210187e-03 8.90094196e-03 4.37106512e+00] [ 2.78468530e-03 9.99996084e-01 -2.77861614e-04 -1.25349533e-02] [-8.90013407e-03 3.02635853e-04 9.99960347e-01 -1.54861078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.126502481 meters 0.11697924024258657 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.01, Z:-1.55 [[ 9.99958068e-01 -2.53594521e-03 8.79954759e-03 4.37157202e+00] [ 2.53513511e-03 9.99996781e-01 1.03214755e-04 -1.31646990e-02] [-8.79978101e-03 -8.09023854e-05 9.99961278e-01 -1.54914866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.156502481 meters 0.11622983355168631 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.01, Z:-1.55 [[ 9.99961776e-01 -2.15890138e-03 8.47264267e-03 4.37253087e+00] [ 2.15402646e-03 9.99997509e-01 5.84454735e-04 -1.38237484e-02] [-8.47388334e-03 -5.66182099e-04 9.99963936e-01 -1.54978159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.186502481 meters 0.11586539806610624 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.01, Z:-1.55 [[ 9.99962509e-01 -2.12436421e-03 8.39448629e-03 4.37266535e+00] [ 2.11939158e-03 9.99997573e-01 6.01220403e-04 -1.39396734e-02] [-8.39574313e-03 -5.83406659e-04 9.99964585e-01 -1.54979986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.216502481 meters 0.11597276294207844 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.01, Z:-1.55 [[ 9.99964745e-01 -1.91956839e-03 8.17460111e-03 4.37310436e+00] [ 1.91258432e-03 9.99997799e-01 8.62094560e-04 -1.45703411e-02] [-8.17623797e-03 -8.46429553e-04 9.99966216e-01 -1.54991674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.246502481 meters 0.1152826385485507 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.01, Z:-1.55 [[ 9.99964801e-01 -2.11864110e-03 8.11834122e-03 4.37261594e+00] [ 2.11423013e-03 9.99997613e-01 5.51877819e-04 -1.46491991e-02] [-8.11949107e-03 -5.34694352e-04 9.99966893e-01 -1.54898005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.276502481 meters 0.11534952057511326 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.01, Z:-1.55 [[ 9.99967581e-01 -2.07746364e-03 7.77954367e-03 4.37291134e+00] [ 2.07383459e-03 9.99997737e-01 4.74524157e-04 -1.46703446e-02] [-7.78051187e-03 -4.58375287e-04 9.99969626e-01 -1.54850674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.306502481 meters 0.1154937640333779 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.02, Z:-1.55 [[ 9.99969779e-01 -1.78478444e-03 7.56677271e-03 4.37369902e+00] [ 1.77841027e-03 9.99998058e-01 8.49034242e-04 -1.51219330e-02] [-7.56827336e-03 -8.35551757e-04 9.99971011e-01 -1.54919313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.336502481 meters 0.11478162407126274 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.02, Z:-1.55 [[ 9.99971984e-01 -1.47409896e-03 7.33885651e-03 4.37443519e+00] [ 1.46538861e-03 9.99998216e-01 1.19211626e-03 -1.59369327e-02] [-7.34060071e-03 -1.18132859e-03 9.99972360e-01 -1.54975619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.366502481 meters 0.11455846690268685 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.02, Z:-1.55 [[ 9.99973924e-01 -1.27075699e-03 7.10894326e-03 4.37497567e+00] [ 1.26053438e-03 9.99998165e-01 1.44228794e-03 -1.64066316e-02] [-7.11076302e-03 -1.43328927e-03 9.99973691e-01 -1.54998318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.396502481 meters 0.11474168724683428 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.02, Z:-1.55 [[ 9.99975343e-01 -1.20970103e-03 6.91742169e-03 4.37521550e+00] [ 1.19946809e-03 9.99998181e-01 1.48325633e-03 -1.65937655e-02] [-6.91920340e-03 -1.47492253e-03 9.99974974e-01 -1.54983686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.426502481 meters 0.11428850738409056 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.02, Z:-1.55 [[ 9.99976908e-01 -1.22186943e-03 6.68505169e-03 4.37528300e+00] [ 1.21244417e-03 9.99998266e-01 1.41377143e-03 -1.67544465e-02] [-6.68676754e-03 -1.40563354e-03 9.99976655e-01 -1.54926903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.456502481 meters 0.11419829366205601 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.02, Z:-1.55 [[ 9.99976236e-01 -1.19544591e-03 6.78955637e-03 4.37479811e+00] [ 1.18403851e-03 9.99997881e-01 1.68391013e-03 -1.82135261e-02] [-6.79155501e-03 -1.67583102e-03 9.99975533e-01 -1.54884461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.486502481 meters 0.11413407137330292 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.02, Z:-1.55 [[ 9.99974882e-01 -1.25882352e-03 6.97507467e-03 4.37420564e+00] [ 1.24635696e-03 9.99997619e-01 1.79136011e-03 -1.91231222e-02] [-6.97731307e-03 -1.78262168e-03 9.99974069e-01 -1.54844951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51650248099997 meters 0.11403490859585538 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.02, Z:-1.55 [[ 9.99965093e-01 -5.33350306e-03 6.43172389e-03 4.37488058e+00] [ 5.34868681e-03 9.99982944e-01 -2.34587309e-03 -1.92518739e-02] [-6.41910247e-03 2.38019248e-03 9.99976565e-01 -1.54808500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54650248099998 meters 0.11375807151586628 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.02, Z:-1.55 [[ 9.99967146e-01 -4.95519589e-03 6.41500407e-03 4.37532146e+00] [ 4.96580762e-03 9.99986327e-01 -1.63933427e-03 -2.08523613e-02] [-6.40679313e-03 1.67113609e-03 9.99978080e-01 -1.54878529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57650248099998 meters 0.113790976807648 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.02, Z:-1.55 [[ 9.99970049e-01 -4.50044470e-03 6.29653595e-03 4.37598921e+00] [ 4.50565598e-03 9.99989518e-01 -8.13702682e-04 -2.26074265e-02] [-6.29280793e-03 8.42048336e-04 9.99979846e-01 -1.54960623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60650248099998 meters 0.11370305943675804 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.03, Z:-1.55 [[ 9.99970900e-01 -4.01291223e-03 6.48809269e-03 4.37620294e+00] [ 4.01091165e-03 9.99991905e-01 3.21329223e-04 -2.53805327e-02] [-6.48932963e-03 -2.95296706e-04 9.99978900e-01 -1.55054276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63650248099998 meters 0.11359493732774009 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.03, Z:-1.55 [[ 9.99970394e-01 -3.61946319e-03 6.79051096e-03 4.37609935e+00] [ 3.61010430e-03 9.99992518e-01 1.38998249e-03 -2.83044516e-02] [-6.79549114e-03 -1.36542689e-03 9.99975978e-01 -1.55128721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66650248099998 meters 0.11344916546442417 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.03, Z:-1.55 [[ 9.99971908e-01 -3.25865965e-03 6.75020796e-03 4.37655107e+00] [ 3.24462749e-03 9.99992555e-01 2.08868331e-03 -2.97935120e-02] [-6.75696401e-03 -2.06672273e-03 9.99975036e-01 -1.55194777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69650248099998 meters 0.11365311398321998 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.03, Z:-1.55 [[ 9.99975240e-01 -3.04581151e-03 6.34370394e-03 4.37706500e+00] [ 3.03069451e-03 9.99992548e-01 2.39124365e-03 -3.06059179e-02] [-6.35093995e-03 -2.37195861e-03 9.99977019e-01 -1.55169414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72650248099998 meters 0.113665822634139 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.03, Z:-1.55 [[ 9.99976017e-01 -3.11214887e-03 6.18701730e-03 4.37714828e+00] [ 3.09840127e-03 9.99992713e-01 2.23035298e-03 -3.03811452e-02] [-6.19391341e-03 -2.21112963e-03 9.99978373e-01 -1.55137838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75650248099998 meters 0.11349198173591862 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.03, Z:-1.55 [[ 9.99979019e-01 -2.87794607e-03 5.80330645e-03 4.37785104e+00] [ 2.86409203e-03 9.99993032e-01 2.39416503e-03 -3.04788207e-02] [-5.81015629e-03 -2.37749359e-03 9.99980295e-01 -1.55146210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78650248099999 meters 0.11365668082829229 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.03, Z:-1.55 [[ 9.99980628e-01 -2.74199053e-03 5.58785668e-03 4.37822589e+00] [ 2.72773030e-03 9.99993008e-01 2.55802921e-03 -3.08795287e-02] [-5.59483170e-03 -2.54273749e-03 9.99981116e-01 -1.55150124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.816502481 meters 0.11354264345956787 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.03, Z:-1.55 [[ 9.99983132e-01 -2.38392430e-03 5.29643616e-03 4.37903083e+00] [ 2.36779405e-03 9.99992546e-01 3.04967780e-03 -3.17847701e-02] [-5.30366689e-03 -3.03708549e-03 9.99981323e-01 -1.55203079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.846502481 meters 0.11360238017096144 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.03, Z:-1.55 [[ 9.99984125e-01 -2.23920249e-03 5.17073343e-03 4.37947084e+00] [ 2.22264016e-03 9.99992389e-01 3.20662064e-03 -3.19762830e-02] [-5.17787435e-03 -3.19507705e-03 9.99981490e-01 -1.55239063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.876502481 meters 0.11357207430661533 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.03, Z:-1.55 [[ 9.99986134e-01 -2.04116089e-03 4.85451945e-03 4.38024505e+00] [ 2.02491339e-03 9.99992340e-01 3.34944587e-03 -3.17790538e-02] [-4.86131903e-03 -3.33956944e-03 9.99982607e-01 -1.55277152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.906502481 meters 0.11357819604238724 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.03, Z:-1.55 [[ 9.99984121e-01 -4.67373032e-03 3.14872550e-03 4.38359293e+00] [ 4.67233195e-03 9.99988983e-01 4.51316356e-04 -2.90326032e-02] [-3.15080014e-03 -4.36597299e-04 9.99994941e-01 -1.55385063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.936502481 meters 0.113521246349299 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.03, Z:-1.55 [[ 9.99985679e-01 -4.47981002e-03 2.92803754e-03 4.38426945e+00] [ 4.47790056e-03 9.99989757e-01 6.58358795e-04 -2.90774680e-02] [-2.93095688e-03 -6.45237906e-04 9.99995497e-01 -1.55427942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.966502481 meters 0.1136497826585033 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.03, Z:-1.55 [[ 9.99987269e-01 -4.31561376e-03 2.61463531e-03 4.38492534e+00] [ 4.31361778e-03 9.99990401e-01 7.68547462e-04 -2.89039704e-02] [-2.61792697e-03 -7.57259140e-04 9.99996287e-01 -1.55441379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.996502481 meters 0.11367814740510117 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-1.55 [[ 9.99988935e-01 -4.06343047e-03 2.37011376e-03 4.38556276e+00] [ 4.06076762e-03 9.99991120e-01 1.12724514e-03 -2.93766034e-02] [-2.37467319e-03 -1.11760819e-03 9.99996556e-01 -1.55468963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.026502481 meters 0.11375900434417996 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-1.55 [[ 9.99989720e-01 -3.89016090e-03 2.32956582e-03 4.38567107e+00] [ 3.88670463e-03 9.99991342e-01 1.48634624e-03 -3.03995256e-02] [-2.33532777e-03 -1.47727662e-03 9.99996182e-01 -1.55473707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.056502481 meters 0.11377069262052564 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-1.56 [[ 9.99990597e-01 -3.57397760e-03 2.45608790e-03 4.38569804e+00] [ 3.56819442e-03 9.99990861e-01 2.35498950e-03 -3.26546325e-02] [-2.46448214e-03 -2.34620356e-03 9.99994211e-01 -1.55508584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.086502481 meters 0.11378621464607466 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-1.56 [[ 9.99991830e-01 -3.21968470e-03 2.44394469e-03 4.38616447e+00] [ 3.21238635e-03 9.99990387e-01 2.98437227e-03 -3.39010108e-02] [-2.45352993e-03 -2.97649699e-03 9.99992560e-01 -1.55575953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.116502481 meters 0.11387407852596192 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-1.56 [[ 9.99971176e-01 -7.34613903e-03 1.91855028e-03 4.38729407e+00] [ 7.34858500e-03 9.99972191e-01 -1.27098451e-03 -3.31686631e-02] [-1.90916010e-03 1.28504650e-03 9.99997352e-01 -1.55597016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.146502481 meters 0.11393989736229361 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-1.56 [[ 9.99973072e-01 -7.09128526e-03 1.88909272e-03 4.38770987e+00] [ 7.09287104e-03 9.99974497e-01 -8.34062571e-04 -3.39429516e-02] [-1.88312997e-03 8.47439202e-04 9.99997868e-01 -1.55648881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.176502481 meters 0.11404327492468212 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-1.56 [[ 9.99974304e-01 -6.92342012e-03 1.85938022e-03 4.38801896e+00] [ 6.92442531e-03 9.99975883e-01 -5.34713674e-04 -3.44150982e-02] [-1.85563333e-03 5.47575073e-04 9.99998128e-01 -1.55680935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.206502481 meters 0.11402256127990394 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.04, Z:-1.56 [[ 9.99975851e-01 -6.71444091e-03 1.79245603e-03 4.38835757e+00] [ 6.71480237e-03 9.99977436e-01 -1.95712320e-04 -3.51080945e-02] [-1.79110149e-03 2.07743582e-04 9.99998374e-01 -1.55711984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.236502481 meters 0.11410967010698962 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.04, Z:-1.56 [[ 9.99977458e-01 -6.43967753e-03 1.90122657e-03 4.38869276e+00] [ 6.43911186e-03 9.99979223e-01 3.03502067e-04 -3.60980819e-02] [-1.90314153e-03 -2.91253015e-04 9.99998147e-01 -1.55787572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26650248099997 meters 0.11393962283751531 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.04, Z:-1.56 [[ 9.99978296e-01 -6.36106599e-03 1.71563008e-03 4.38946651e+00] [ 6.36071809e-03 9.99979749e-01 2.08161189e-04 -3.50285051e-02] [-1.71691946e-03 -1.97244032e-04 9.99998507e-01 -1.55846318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29650248099998 meters 0.11395594621467164 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-1.56 [[ 9.99978987e-01 -6.28456797e-03 1.59058698e-03 4.38999114e+00] [ 6.28428868e-03 9.99980237e-01 1.80531650e-04 -3.44879719e-02] [-1.59169011e-03 -1.70532149e-04 9.99998719e-01 -1.55888343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32650248099998 meters 0.11348617818817137 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-1.56 [[ 9.99980031e-01 -6.15861605e-03 1.41770876e-03 4.39057918e+00] [ 6.15828747e-03 9.99981010e-01 2.36018770e-04 -3.41357002e-02] [-1.41913539e-03 -2.27283399e-04 9.99998967e-01 -1.55927214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35650248099998 meters 0.11324021261417351 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-1.56 [[ 9.99980790e-01 -6.06271244e-03 1.28987914e-03 4.39116272e+00] [ 6.06256117e-03 9.99981615e-01 1.21151944e-04 -3.32050835e-02] [-1.29058993e-03 -1.13329646e-04 9.99999161e-01 -1.55978717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38650248099998 meters 0.11292873637206144 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-1.56 [[ 9.99981727e-01 -5.94732238e-03 1.08444575e-03 4.39183095e+00] [ 5.94720726e-03 9.99982309e-01 1.09347179e-04 -3.26056117e-02] [-1.08507689e-03 -1.02895757e-04 9.99999406e-01 -1.56020722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41650248099998 meters 0.11271887113879706 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-1.56 [[ 9.99982080e-01 -5.93987112e-03 7.46764575e-04 4.39265429e+00] [ 5.94007126e-03 9.99982322e-01 -2.66079115e-04 -3.07187064e-02] [-7.45170898e-04 2.70510182e-04 9.99999686e-01 -1.56050872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44650248099998 meters 0.1126332164238632 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-1.56 [[ 9.99982833e-01 -5.83944060e-03 4.84148608e-04 4.39342104e+00] [ 5.83964355e-03 9.99982861e-01 -4.18855851e-04 -2.95025020e-02] [-4.81694427e-04 4.21675916e-04 9.99999795e-01 -1.56095768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47650248099998 meters 0.11241719073987257 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-1.56 [[ 9.99983638e-01 -5.71052452e-03 3.37861859e-04 4.39400971e+00] [ 5.71064790e-03 9.99983627e-01 -3.65363740e-04 -2.91326182e-02] [-3.35769909e-04 3.67287172e-04 9.99999876e-01 -1.56144829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50650248099998 meters 0.1123167148345377 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.03, Z:-1.56 [[ 9.99984916e-01 -5.48605275e-03 2.65876231e-04 4.39463447e+00] [ 5.48607799e-03 9.99984947e-01 -9.43153044e-05 -2.92053198e-02] [-2.65354810e-04 9.57724995e-05 9.99999960e-01 -1.56222375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53650248099999 meters 0.11228281825782724 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.03, Z:-1.56 [[ 9.99987098e-01 -5.07201806e-03 2.78810711e-04 4.39541534e+00] [ 5.07187955e-03 9.99987015e-01 4.95261055e-04 -2.98804506e-02] [-2.81319064e-04 -4.93840571e-04 9.99999838e-01 -1.56351547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.566502481 meters 0.11218267944413646 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.03, Z:-1.56 [[ 9.99988269e-01 -4.83206550e-03 3.36606138e-04 4.39571045e+00] [ 4.83176082e-03 9.99987922e-01 9.00175022e-04 -3.06105351e-02] [-3.40951777e-04 -8.98538062e-04 9.99999538e-01 -1.56416807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.596502481 meters 0.11225945618008719 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.03, Z:-1.57 [[ 9.99989862e-01 -4.48659005e-03 3.82449596e-04 4.39631839e+00] [ 4.48602272e-03 9.99988855e-01 1.47158090e-03 -3.13731951e-02] [-3.89047714e-04 -1.46985030e-03 9.99998844e-01 -1.56528395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.626502481 meters 0.11221580248592251 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.03, Z:-1.57 [[ 9.99991377e-01 -4.14625335e-03 2.33382814e-04 4.39705288e+00] [ 4.14579374e-03 9.99989531e-01 1.93653131e-03 -3.19996152e-02] [-2.41409720e-04 -1.93554705e-03 9.99998098e-01 -1.56604229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.656502481 meters 0.11221580248592251 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.03, Z:-1.57 [[ 9.99991377e-01 -4.14625335e-03 2.33382814e-04 4.39705288e+00] [ 4.14579374e-03 9.99989531e-01 1.93653131e-03 -3.19996152e-02] [-2.41409720e-04 -1.93554705e-03 9.99998098e-01 -1.56604229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.686502481 meters 0.11231734463746863 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.03, Z:-1.57 [[ 9.99991999e-01 -4.00027007e-03 1.49193176e-07 4.39757232e+00] [ 4.00026111e-03 9.99989835e-01 2.08019233e-03 -3.20818884e-02] [-8.47052276e-06 -2.08017508e-03 9.99997836e-01 -1.56617856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.716502481 meters 0.11248075775600694 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.03, Z:-1.57 [[ 9.99992573e-01 -3.85403217e-03 -8.17293087e-06 4.39772417e+00] [ 3.85404069e-03 9.99989711e-01 2.39253650e-03 -3.28136735e-02] [-1.04806587e-06 -2.39255023e-03 9.99997138e-01 -1.56641669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.746502481 meters 0.11243163809458122 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.03, Z:-1.57 [[ 9.99993735e-01 -3.53930372e-03 4.97868108e-05 4.39800493e+00] [ 3.53913823e-03 9.99989227e-01 3.00343195e-03 -3.41662939e-02] [-6.04163323e-05 -3.00323693e-03 9.99995488e-01 -1.56705098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.776502481 meters 0.11249109146517734 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.04, Z:-1.57 [[ 9.99993933e-01 -3.48072485e-03 1.39620746e-04 4.39778968e+00] [ 3.48025278e-03 9.99988664e-01 3.24966657e-03 -3.50680815e-02] [-1.50930358e-04 -3.24916093e-03 9.99994710e-01 -1.56702057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.806502481 meters 0.11281774525817403 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.04, Z:-1.57 [[ 9.99994862e-01 -3.19458803e-03 2.66859946e-04 4.39792004e+00] [ 3.19352265e-03 9.99987289e-01 3.90162457e-03 -3.65949655e-02] [-2.79320637e-04 -3.90075230e-03 9.99992353e-01 -1.56763167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.836502481 meters 0.11291639359960892 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.04, Z:-1.57 [[ 9.99974263e-01 -7.15943588e-03 -4.64982663e-04 4.39971011e+00] [ 7.15927537e-03 9.99974312e-01 -3.45954675e-04 -3.53825522e-02] [ 4.67447559e-04 3.42616832e-04 9.99999832e-01 -1.56835500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.866502481 meters 0.11302370790822269 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.04, Z:-1.57 [[ 9.99976490e-01 -6.83608484e-03 -5.36718335e-04 4.40037139e+00] [ 6.83617006e-03 9.99976621e-01 1.57107780e-04 -3.60955679e-02] [ 5.35631784e-04 -1.60773184e-04 9.99999844e-01 -1.56920764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.896502481 meters 0.11324899513666584 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.04, Z:-1.57 [[ 9.99979115e-01 -6.43206458e-03 -6.30300323e-04 4.40100603e+00] [ 6.43260113e-03 9.99978947e-01 8.52960391e-04 -3.73946972e-02] [ 6.24800757e-04 -8.56997048e-04 9.99999438e-01 -1.57000084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.926502481 meters 0.11318569965553285 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.04, Z:-1.57 [[ 9.99980583e-01 -6.18935377e-03 -7.25506347e-04 4.40143255e+00] [ 6.19025926e-03 9.99980056e-01 1.25255368e-03 -3.81784579e-02] [ 7.17739379e-04 -1.25702043e-03 9.99998952e-01 -1.57042182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.956502481 meters 0.11317393351890996 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.04, Z:-1.57 [[ 9.99982777e-01 -5.80966380e-03 -8.33278961e-04 4.40185972e+00] [ 5.81130091e-03 9.99981162e-01 1.97588220e-03 -3.97774658e-02] [ 8.21784053e-04 -1.98069060e-03 9.99997701e-01 -1.57086689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.986502481 meters 0.11324630013799802 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.04, Z:-1.57 [[ 9.99983880e-01 -5.59269369e-03 -9.80436871e-04 4.40214154e+00] [ 5.59497047e-03 9.99981622e-01 2.33505397e-03 -4.07186779e-02] [ 9.67359611e-04 -2.34050184e-03 9.99996793e-01 -1.57090897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01650248099997 meters 0.11343997637030138 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.04, Z:-1.57 [[ 9.99984582e-01 -5.43788427e-03 -1.12458201e-03 4.40229522e+00] [ 5.44079754e-03 9.99981809e-01 2.60390974e-03 -4.16102961e-02] [ 1.11040180e-03 -2.60998822e-03 9.99995977e-01 -1.57076018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04650248099998 meters 0.11342191932545216 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.04, Z:-1.57 [[ 9.99986323e-01 -5.05341179e-03 -1.34777234e-03 4.40288708e+00] [ 5.05770899e-03 9.99982076e-01 3.20424903e-03 -4.30222067e-02] [ 1.33155579e-03 -3.21102184e-03 9.99993958e-01 -1.57112529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07650248099998 meters 0.11283260519653082 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.04, Z:-1.57 [[ 9.99987787e-01 -4.74099910e-03 -1.39630851e-03 4.40342920e+00] [ 4.74609240e-03 9.99982013e-01 3.66725249e-03 -4.39571459e-02] [ 1.37889695e-03 -3.67383471e-03 9.99992301e-01 -1.57190013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10650248099998 meters 0.11261360822140253 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.04, Z:-1.57 [[ 9.99988944e-01 -4.39593450e-03 -1.66975198e-03 4.40437606e+00] [ 4.40273459e-03 9.99981940e-01 4.09090472e-03 -4.44490945e-02] [ 1.65173848e-03 -4.09821097e-03 9.99990238e-01 -1.57266452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13650248099998 meters 0.11213383978846543 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.04, Z:-1.57 [[ 9.99989444e-01 -4.06296498e-03 -2.14589540e-03 4.40575299e+00] [ 4.07189168e-03 9.99983007e-01 4.17203607e-03 -4.38451195e-02] [ 2.12890810e-03 -4.18072988e-03 9.99988995e-01 -1.57362174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16650248099998 meters 0.11199068602050086 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.04, Z:-1.57 [[ 9.99998249e-01 7.08569012e-04 -1.73193968e-03 4.41830797e+00] [-7.08141231e-04 9.99999719e-01 2.47596110e-04 -4.34354973e-02] [ 1.73211463e-03 -2.46369218e-04 9.99998470e-01 -1.57330454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19650248099998 meters 0.1116422039330338 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.04, Z:-1.57 [[ 9.99997545e-01 7.07179775e-04 -2.09994182e-03 4.41880437e+00] [-7.07569357e-04 9.99999733e-01 -1.84783319e-04 -4.22272533e-02] [ 2.09981059e-03 1.86268720e-04 9.99997778e-01 -1.57304619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22650248099998 meters 0.11191063477259429 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.04, Z:-1.57 [[ 9.99996359e-01 5.81952902e-04 -2.63511565e-03 4.41903700e+00] [-5.84188840e-04 9.99999470e-01 -8.47825679e-04 -4.07663164e-02] [ 2.63462086e-03 8.49361997e-04 9.99996169e-01 -1.57190042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25650248099998 meters 0.11204607688195395 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.04, Z:-1.57 [[ 9.99995659e-01 6.41792986e-04 -2.87565773e-03 4.41934468e+00] [-6.44290432e-04 9.99999416e-01 -8.67635790e-04 -4.07424136e-02] [ 2.87509921e-03 8.69484783e-04 9.99995489e-01 -1.57171025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28650248099999 meters 0.11177092612531946 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.04, Z:-1.57 [[ 9.99995561e-01 6.10835853e-04 -2.91624383e-03 4.41928740e+00] [-6.13524245e-04 9.99999388e-01 -9.21062345e-04 -4.08708767e-02] [ 2.91567943e-03 9.22847443e-04 9.99995324e-01 -1.57153123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.316502481 meters 0.1117116019776055 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.04, Z:-1.57 [[ 9.99994595e-01 1.02025217e-03 -3.12559641e-03 4.42036518e+00] [-1.02153475e-03 9.99999395e-01 -4.08778017e-04 -4.13358007e-02] [ 3.12517746e-03 4.11968712e-04 9.99995032e-01 -1.57263741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.346502481 meters 0.11147226603487313 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.04, Z:-1.57 [[ 9.99994440e-01 1.16030400e-03 -3.12633170e-03 4.42061399e+00] [-1.16079631e-03 9.99999314e-01 -1.55662011e-04 -4.18306952e-02] [ 3.12614894e-03 1.59290180e-04 9.99995101e-01 -1.57303053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.376502481 meters 0.11142314069699828 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.04, Z:-1.57 [[ 9.99990013e-01 -2.58757891e-03 -3.64397116e-03 4.42219866e+00] [ 2.57358863e-03 9.99989320e-01 -3.83876642e-03 -4.22893490e-02] [ 3.65386535e-03 3.82935000e-03 9.99985993e-01 -1.57408923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.406502481 meters 0.11130223211343265 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.04, Z:-1.57 [[ 9.99991020e-01 -2.16397146e-03 -3.64376654e-03 4.42263643e+00] [ 2.15291196e-03 9.99993073e-01 -3.03637335e-03 -4.40791800e-02] [ 3.65031193e-03 3.02850137e-03 9.99988752e-01 -1.57482194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.436502481 meters 0.11112532894768132 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.05, Z:-1.58 [[ 9.99992360e-01 -1.70951955e-03 -3.51540408e-03 4.42281314e+00] [ 1.70243070e-03 9.99996514e-01 -2.01851627e-03 -4.65905713e-02] [ 3.51884252e-03 2.01251611e-03 9.99991784e-01 -1.57548841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.466502481 meters 0.11158398366029622 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.05, Z:-1.58 [[ 9.99993757e-01 -1.26824858e-03 -3.29824160e-03 4.42282582e+00] [ 1.26526576e-03 9.99998789e-01 -9.06296187e-04 -4.94222560e-02] [ 3.29938701e-03 9.02117377e-04 9.99994150e-01 -1.57616640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.496502481 meters 0.11130711139936791 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.05, Z:-1.58 [[ 9.99994400e-01 -9.23241020e-04 -3.21667532e-03 4.42297602e+00] [ 9.22660628e-04 9.99999558e-01 -1.81911547e-04 -5.12049220e-02] [ 3.21684184e-03 1.78942629e-04 9.99994810e-01 -1.57666409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.526502481 meters 0.11135571390669947 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.05, Z:-1.58 [[ 9.99981919e-01 -4.92503354e-03 -3.45043306e-03 4.42361051e+00] [ 4.91125422e-03 9.99979977e-01 -3.99065821e-03 -5.22039254e-02] [ 3.47001810e-03 3.97364010e-03 9.99986084e-01 -1.57696735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.556502481 meters 0.11154048377731363 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.05, Z:-1.58 [[ 9.99984392e-01 -4.45310802e-03 -3.37423058e-03 4.42390250e+00] [ 4.44284611e-03 9.99985502e-01 -3.04267515e-03 -5.44994827e-02] [ 3.38773102e-03 3.02763648e-03 9.99989678e-01 -1.57769904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.586502481 meters 0.11158361298775435 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.06, Z:-1.58 [[ 9.99987588e-01 -3.96911885e-03 -3.01151627e-03 4.42375857e+00] [ 3.96398037e-03 9.99990681e-01 -1.71033002e-03 -5.82491759e-02] [ 3.01827671e-03 1.69837120e-03 9.99994003e-01 -1.57856515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.616502481 meters 0.1116005681647994 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.06, Z:-1.58 [[ 9.99988754e-01 -3.60997552e-03 -3.07584470e-03 4.42424587e+00] [ 3.60673140e-03 9.99992934e-01 -1.05960529e-03 -5.96140704e-02] [ 3.07964812e-03 1.04849963e-03 9.99994708e-01 -1.57915649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.646502481 meters 0.11159259631827276 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.06, Z:-1.58 [[ 9.99990470e-01 -3.11240751e-03 -3.06134556e-03 4.42457708e+00] [ 3.11246357e-03 9.99995156e-01 1.35478981e-05 -6.21591698e-02] [ 3.06128856e-03 -2.30760956e-05 9.99995314e-01 -1.57976514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.676502481 meters 0.11207569187124278 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.06, Z:-1.58 [[ 9.99991379e-01 -2.71439938e-03 -3.14241289e-03 4.42497128e+00] [ 2.71675226e-03 9.99996032e-01 7.44724977e-04 -6.39036544e-02] [ 3.14037894e-03 -7.53255714e-04 9.99994785e-01 -1.58018135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.706502481 meters 0.11215831176722335 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.07, Z:-1.58 [[ 9.99992760e-01 -2.40010944e-03 -2.95274880e-03 4.42487102e+00] [ 2.40472735e-03 9.99995890e-01 1.56138172e-03 -6.62019236e-02] [ 2.94898917e-03 -1.56847098e-03 9.99994422e-01 -1.58056361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.736502481 meters 0.11228887980152866 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.07, Z:-1.58 [[ 9.99993328e-01 -2.19211054e-03 -2.92194421e-03 4.42495804e+00] [ 2.19795693e-03 9.99995586e-01 1.99914711e-03 -6.73486968e-02] [ 2.91754896e-03 -2.00555608e-03 9.99993733e-01 -1.58078776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76650248099997 meters 0.11280984587389419 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.07, Z:-1.58 [[ 9.99974230e-01 -6.38884625e-03 -3.27441902e-03 4.42548944e+00] [ 6.38172342e-03 9.99977258e-01 -2.18114793e-03 -6.74781953e-02] [ 3.28827957e-03 2.16019529e-03 9.99992260e-01 -1.58062397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79650248099998 meters 0.11315292741928887 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.07, Z:-1.58 [[ 9.99975960e-01 -6.09755127e-03 -3.30126261e-03 4.42570716e+00] [ 6.09227101e-03 9.99980150e-01 -1.60716967e-03 -6.88618797e-02] [ 3.31099688e-03 1.58701885e-03 9.99993259e-01 -1.58091481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82650248099998 meters 0.11324220219659918 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.07, Z:-1.58 [[ 9.99977777e-01 -5.80658247e-03 -3.27562091e-03 4.42588011e+00] [ 5.80341421e-03 9.99982684e-01 -9.75900100e-04 -7.04751399e-02] [ 3.28123084e-03 9.56868628e-04 9.99994159e-01 -1.58126360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85650248099998 meters 0.113391470259988 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.07, Z:-1.58 [[ 9.99978801e-01 -5.53811184e-03 -3.42447593e-03 4.42635732e+00] [ 5.53627153e-03 9.99984525e-01 -5.46645128e-04 -7.12938401e-02] [ 3.42745032e-03 5.27674711e-04 9.99993987e-01 -1.58160347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88650248099998 meters 0.1136446318286395 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.07, Z:-1.58 [[ 9.99980454e-01 -5.21642749e-03 -3.44669677e-03 4.42662558e+00] [ 5.21690305e-03 9.99986384e-01 1.29000653e-04 -7.29459484e-02] [ 3.44597692e-03 -1.46979215e-04 9.99994052e-01 -1.58196520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91650248099998 meters 0.1135270980690463 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.07, Z:-1.58 [[ 9.99981699e-01 -4.92478782e-03 -3.51412504e-03 4.42706417e+00] [ 4.92704646e-03 9.99987661e-01 6.34365256e-04 -7.39378279e-02] [ 3.51095757e-03 -6.51667904e-04 9.99993624e-01 -1.58245834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94650248099998 meters 0.11389679408044491 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.08, Z:-1.58 [[ 9.99983326e-01 -4.50027959e-03 -3.61879909e-03 4.42754113e+00] [ 4.50548224e-03 9.99988827e-01 1.43080895e-03 -7.57407724e-02] [ 3.61231961e-03 -1.44708953e-03 9.99992429e-01 -1.58292848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97650248099998 meters 0.1139765230736818 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.08, Z:-1.58 [[ 9.99984754e-01 -4.22557158e-03 -3.55477371e-03 4.42764169e+00] [ 4.23265691e-03 9.99989066e-01 1.98803131e-03 -7.72059339e-02] [ 3.54633427e-03 -2.00304714e-03 9.99991706e-01 -1.58328540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00650248099998 meters 0.11422992385231867 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.08, Z:-1.58 [[ 9.99986760e-01 -3.78807453e-03 -3.48291368e-03 4.42780816e+00] [ 3.79820125e-03 9.99988566e-01 2.90553899e-03 -7.96400320e-02] [ 3.47186746e-03 -2.91872933e-03 9.99989714e-01 -1.58377747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03650248099999 meters 0.11414322437189274 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.08, Z:-1.58 [[ 9.99986954e-01 -3.71166031e-03 -3.50944572e-03 4.42781173e+00] [ 3.72248703e-03 9.99988317e-01 3.08354033e-03 -8.02659387e-02] [ 3.49795967e-03 -3.09656397e-03 9.99989088e-01 -1.58370789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.066502481 meters 0.11357134510368258 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.08, Z:-1.58 [[ 9.99995417e-01 2.72772591e-04 -3.01532688e-03 4.43931397e+00] [-2.77333435e-04 9.99998818e-01 -1.51223906e-03 -8.21488639e-02] [ 3.01491082e-03 1.51306838e-03 9.99994310e-01 -1.58282195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.096502481 meters 0.11352478465298652 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.08, Z:-1.58 [[ 9.99994816e-01 5.95537076e-04 -3.16432981e-03 4.43984941e+00] [-5.98661604e-04 9.99999334e-01 -9.86566149e-04 -8.32845138e-02] [ 3.16374016e-03 9.88455397e-04 9.99994507e-01 -1.58326483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.126502481 meters 0.11328971904271182 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.08, Z:-1.58 [[ 9.99994179e-01 8.30405211e-04 -3.30935854e-03 4.44043138e+00] [-8.32581929e-04 9.99999438e-01 -6.56422650e-04 -8.39126515e-02] [ 3.30881159e-03 6.59174141e-04 9.99994309e-01 -1.58377218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.156502481 meters 0.11295694927472938 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.08, Z:-1.58 [[ 9.99993242e-01 9.90851500e-04 -3.54046224e-03 4.44108909e+00] [-9.92657200e-04 9.99999378e-01 -5.08297487e-04 -8.38931599e-02] [ 3.53995639e-03 5.11808517e-04 9.99993603e-01 -1.58413189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.186502481 meters 0.1122316473317158 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.08, Z:-1.58 [[ 9.99992040e-01 1.05439802e-03 -3.84812764e-03 4.44160982e+00] [-1.05650149e-03 9.99999294e-01 -5.44630278e-04 -8.35777632e-02] [ 3.84755066e-03 5.48691496e-04 9.99992448e-01 -1.58408452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.216502481 meters 0.11237339961134435 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.08, Z:-1.58 [[ 9.99983570e-01 -3.29940419e-03 -4.68751647e-03 4.44269702e+00] [ 3.27342407e-03 9.99979300e-01 -5.53930990e-03 -8.09837141e-02] [ 4.70569586e-03 5.52387466e-03 9.99973671e-01 -1.58353916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.246502481 meters 0.11199432848198267 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.08, Z:-1.58 [[ 9.99982039e-01 -3.17121968e-03 -5.08581439e-03 4.44324297e+00] [ 3.14337223e-03 9.99980076e-01 -5.47419311e-03 -8.10301765e-02] [ 5.10307293e-03 5.45810818e-03 9.99972083e-01 -1.58328603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.276502481 meters 0.11168626230816187 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.08, Z:-1.58 [[ 9.99980841e-01 -2.97005260e-03 -5.43115234e-03 4.44387477e+00] [ 2.94136611e-03 9.99981723e-01 -5.28222390e-03 -8.12865028e-02] [ 5.44674156e-03 5.26614769e-03 9.99971300e-01 -1.58332851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.306502481 meters 0.11168415230428945 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.08, Z:-1.58 [[ 9.99980007e-01 -2.86805694e-03 -5.63561764e-03 4.44424890e+00] [ 2.83879084e-03 9.99982481e-01 -5.19421591e-03 -8.13614712e-02] [ 5.65041621e-03 5.17811372e-03 9.99970630e-01 -1.58332791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.336502481 meters 0.11146676469799743 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.08, Z:-1.58 [[ 9.99979094e-01 -2.64949228e-03 -5.89846495e-03 4.44476901e+00] [ 2.62052399e-03 9.99984495e-01 -4.91348217e-03 -8.19219382e-02] [ 5.91139173e-03 4.89792238e-03 9.99970532e-01 -1.58340307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.366502481 meters 0.11149927069932886 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.08, Z:-1.58 [[ 9.99979115e-01 -2.33995590e-03 -6.02442897e-03 4.44531063e+00] [ 2.31327685e-03 9.99987505e-01 -4.43164392e-03 -8.28500127e-02] [ 6.03472354e-03 4.41761519e-03 9.99972033e-01 -1.58387935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.396502481 meters 0.11130764933420548 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.09, Z:-1.58 [[ 9.99980158e-01 -1.75603402e-03 -6.04977079e-03 4.44588447e+00] [ 1.73556995e-03 9.99992761e-01 -3.38620964e-03 -8.52315631e-02] [ 6.05567329e-03 3.37564265e-03 9.99975967e-01 -1.58472173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.426502481 meters 0.11138787474341683 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.09, Z:-1.59 [[ 9.99980439e-01 -1.26708739e-03 -6.12510731e-03 4.44646580e+00] [ 1.25150357e-03 9.99995972e-01 -2.54741636e-03 -8.70379797e-02] [ 6.12831044e-03 2.53970094e-03 9.99977997e-01 -1.58541193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.456502481 meters 0.11137389946057663 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.09, Z:-1.59 [[ 9.99981633e-01 -1.04711712e-03 -5.96961593e-03 4.44606899e+00] [ 1.03573746e-03 9.99997641e-01 -1.90903563e-03 -8.92141918e-02] [ 5.97160083e-03 1.90281761e-03 9.99980359e-01 -1.58528472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.486502481 meters 0.1110717268764125 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.09, Z:-1.59 [[ 9.99982077e-01 -6.15167553e-04 -5.95545302e-03 4.44612647e+00] [ 6.09015375e-04 9.99999279e-01 -1.03479119e-03 -9.16204276e-02] [ 5.95608530e-03 1.03114569e-03 9.99981731e-01 -1.58541866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51650248099997 meters 0.11119264401233867 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.09, Z:-1.59 [[ 9.99982400e-01 -4.47274866e-04 -5.91598485e-03 4.44605296e+00] [ 4.43307967e-04 9.99999676e-01 -6.71833334e-04 -9.27258042e-02] [ 5.91628343e-03 6.69198906e-04 9.99982275e-01 -1.58540605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54650248099998 meters 0.11119264401233867 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.09, Z:-1.59 [[ 9.99982400e-01 -4.47274866e-04 -5.91598485e-03 4.44605296e+00] [ 4.43307967e-04 9.99999676e-01 -6.71833334e-04 -9.27258042e-02] [ 5.91628343e-03 6.69198906e-04 9.99982275e-01 -1.58540605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57650248099998 meters 0.11131551049094156 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.09, Z:-1.59 [[ 9.99982390e-01 -2.10701487e-04 -5.93089876e-03 4.44603664e+00] [ 2.09805635e-04 9.99999966e-01 -1.51670034e-04 -9.43808902e-02] [ 5.93093052e-03 1.50423027e-04 9.99982401e-01 -1.58533465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60650248099998 meters 0.11129654712632245 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.10, Z:-1.59 [[ 9.99982426e-01 1.51638197e-04 -5.92669106e-03 4.44638766e+00] [-1.48785051e-04 9.99999873e-01 4.81844039e-04 -9.58284761e-02] [ 5.92676337e-03 -4.80953768e-04 9.99982321e-01 -1.58587569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63650248099998 meters 0.11149764823212284 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.10, Z:-1.59 [[ 9.99983475e-01 2.27461835e-04 -5.74446291e-03 4.44601920e+00] [-2.22784378e-04 9.99999643e-01 8.14881686e-04 -9.71405416e-02] [ 5.74464622e-03 -8.13588443e-04 9.99983168e-01 -1.58582910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66650248099998 meters 0.11174124496198723 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.10, Z:-1.59 [[ 9.99982793e-01 4.07929398e-04 -5.85206212e-03 4.44647221e+00] [-4.01584997e-04 9.99999330e-01 1.08526501e-03 -9.75054817e-02] [ 5.85250092e-03 -1.08289624e-03 9.99982288e-01 -1.58619641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69650248099998 meters 0.11191873965102221 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.10, Z:-1.59 [[ 9.99982516e-01 4.63038621e-04 -5.89519788e-03 4.44660302e+00] [-4.56049380e-04 9.99999192e-01 1.18687119e-03 -9.75915362e-02] [ 5.89574269e-03 -1.18416194e-03 9.99981919e-01 -1.58623899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72650248099998 meters 0.11236775009369898 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.10, Z:-1.59 [[ 9.99981894e-01 6.07788184e-04 -5.98685036e-03 4.44698008e+00] [-5.99441241e-04 9.99998846e-01 1.39590841e-03 -9.78544645e-02] [ 5.98769187e-03 -1.39229437e-03 9.99981104e-01 -1.58652493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75650248099998 meters 0.11290800532316647 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.10, Z:-1.59 [[ 9.99972366e-01 -3.71899387e-03 -6.43715776e-03 4.44791164e+00] [ 3.69842989e-03 9.99988029e-01 -3.20353541e-03 -9.62622040e-02] [ 6.44899463e-03 3.17963951e-03 9.99974150e-01 -1.58667965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78650248099999 meters 0.1129277878030751 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.10, Z:-1.59 [[ 9.99973431e-01 -3.42490654e-03 -6.43491173e-03 4.44842428e+00] [ 3.40727538e-03 9.99990417e-01 -2.74889164e-03 -9.69882540e-02] [ 6.44426476e-03 2.72689308e-03 9.99975517e-01 -1.58743473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.816502481 meters 0.1133005195446628 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.10, Z:-1.59 [[ 9.99975083e-01 -3.07051891e-03 -6.35656872e-03 4.44904994e+00] [ 3.05667437e-03 9.99992938e-01 -2.18655990e-03 -9.77617822e-02] [ 6.36323771e-03 2.16707545e-03 9.99977406e-01 -1.58855558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.846502481 meters 0.11356713622287996 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.10, Z:-1.59 [[ 9.99975194e-01 -2.83213022e-03 -6.44900545e-03 4.44965366e+00] [ 2.82009319e-03 9.99994266e-01 -1.87482239e-03 -9.80062896e-02] [ 6.45427822e-03 1.85658909e-03 9.99977447e-01 -1.58916629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.876502481 meters 0.11405237848677653 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.10, Z:-1.59 [[ 9.99974028e-01 -2.89714676e-03 -6.59926573e-03 4.45018773e+00] [ 2.88311292e-03 9.99993564e-01 -2.13509702e-03 -9.65756492e-02] [ 6.60540895e-03 2.11601514e-03 9.99975945e-01 -1.58946525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.906502481 meters 0.11441148418605232 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.10, Z:-1.59 [[ 9.99973427e-01 -2.98967989e-03 -6.64880193e-03 4.45023908e+00] [ 2.97434953e-03 9.99992898e-01 -2.31442622e-03 -9.59902097e-02] [ 6.65567411e-03 2.29458886e-03 9.99975218e-01 -1.58934676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.936502481 meters 0.11539860134358862 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.10, Z:-1.59 [[ 9.99973302e-01 -3.01438725e-03 -6.65648493e-03 4.45031404e+00] [ 2.99869975e-03 9.99992706e-01 -2.36544917e-03 -9.56353459e-02] [ 6.66356676e-03 2.34542522e-03 9.99975048e-01 -1.58935805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.966502481 meters 0.11607660056998897 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.10, Z:-1.59 [[ 9.99973662e-01 -2.84272852e-03 -6.67794031e-03 4.45068474e+00] [ 2.82858545e-03 9.99993739e-01 -2.12637037e-03 -9.58945467e-02] [ 6.68394319e-03 2.10742524e-03 9.99975442e-01 -1.58983238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.996502481 meters 0.11661443928227719 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.09, Z:-1.59 [[ 9.99999367e-01 9.94956264e-04 -5.25703944e-04 4.46061276e+00] [-9.97939716e-04 9.99983224e-01 -5.70570456e-03 -9.44706106e-02] [ 5.20018199e-04 5.70622557e-03 9.99983584e-01 -1.59358386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.026502481 meters 0.11715558775969888 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.09, Z:-1.59 [[ 9.99999329e-01 1.01413678e-03 -5.59192575e-04 4.46093723e+00] [-1.01733658e-03 9.99982940e-01 -5.75191431e-03 -9.39460902e-02] [ 5.53349808e-04 5.75247934e-03 9.99983301e-01 -1.59391402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.056502481 meters 0.11719997367506493 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.09, Z:-1.59 [[ 9.99998957e-01 1.10900865e-03 -9.24797993e-04 4.46229046e+00] [-1.11448613e-03 9.99981716e-01 -5.94355778e-03 -9.20008026e-02] [ 9.18189627e-04 5.94458226e-03 9.99981909e-01 -1.59483534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.086502481 meters 0.11503131836791572 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.09, Z:-1.60 [[ 9.99998203e-01 1.19870856e-03 -1.46867629e-03 4.46380069e+00] [-1.20792738e-03 9.99979474e-01 -6.29223154e-03 -8.96737540e-02] [ 1.46110360e-03 6.29399429e-03 9.99979125e-01 -1.59557530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.116502481 meters 0.1156745143689664 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.09, Z:-1.60 [[ 9.99997721e-01 1.25289024e-03 -1.72886468e-03 4.46449504e+00] [-1.26399674e-03 9.99978476e-01 -6.43808932e-03 -8.87271945e-02] [ 1.72076125e-03 6.44025992e-03 9.99977781e-01 -1.59588312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.146502481 meters 0.11610655245392656 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.09, Z:-1.60 [[ 9.99997394e-01 1.17899483e-03 -1.95521092e-03 4.46497729e+00] [-1.19219394e-03 9.99976418e-01 -6.76336471e-03 -8.74484974e-02] [ 1.94719084e-03 6.76567807e-03 9.99975217e-01 -1.59595527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.176502481 meters 0.11398097711446177 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.08, Z:-1.60 [[ 9.99992292e-01 2.30479835e-03 -3.17866632e-03 4.46749984e+00] [-2.32450872e-03 9.99978009e-01 -6.21113654e-03 -8.31492223e-02] [ 3.16428100e-03 6.21847750e-03 9.99975659e-01 -1.59660909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.206502481 meters 0.1137881667439831 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.08, Z:-1.60 [[ 9.99990809e-01 2.17657958e-03 -3.69375752e-03 4.46836339e+00] [-2.20170560e-03 9.99974375e-01 -6.81191382e-03 -8.09036476e-02] [ 3.67883619e-03 6.81998378e-03 9.99969977e-01 -1.59647089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.236502481 meters 0.11288054911731844 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.08, Z:-1.60 [[ 9.99986104e-01 2.61899180e-03 -4.57526365e-03 4.47067664e+00] [-2.65121426e-03 9.99971627e-01 -7.05094357e-03 -7.72172602e-02] [ 4.55666748e-03 7.06297559e-03 9.99964675e-01 -1.59756970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26650248099997 meters 0.1124189432343794 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.08, Z:-1.60 [[ 9.99983473e-01 2.78409715e-03 -5.03022898e-03 4.47193701e+00] [-2.82012622e-03 9.99970321e-01 -7.16967236e-03 -7.58904170e-02] [ 5.01011863e-03 7.18373975e-03 9.99961646e-01 -1.59822777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29650248099998 meters 0.11184371718011357 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.07, Z:-1.60 [[ 9.99980277e-01 2.92527444e-03 -5.55765980e-03 4.47332505e+00] [-2.96761923e-03 9.99966516e-01 -7.62626925e-03 -7.34206767e-02] [ 5.53516477e-03 7.64261186e-03 9.99955475e-01 -1.59892909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32650248099998 meters 0.1113347432072288 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.07, Z:-1.60 [[ 9.99976013e-01 3.12441386e-03 -6.18149120e-03 4.47476590e+00] [-3.17356796e-03 9.99963298e-01 -7.95805580e-03 -7.12665629e-02] [ 6.15640007e-03 7.97748229e-03 9.99949228e-01 -1.59943827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35650248099998 meters 0.11127659521688003 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.07, Z:-1.60 [[ 9.99974391e-01 3.13121892e-03 -6.43524074e-03 4.47535152e+00] [-3.18378227e-03 9.99961523e-01 -8.17409965e-03 -7.01597184e-02] [ 6.40939824e-03 8.19437873e-03 9.99945884e-01 -1.59958407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38650248099998 meters 0.11128739397077862 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.07, Z:-1.60 [[ 9.99994747e-01 -3.10093111e-03 -9.43726594e-04 4.48261230e+00] [ 3.09988070e-03 9.99994577e-01 -1.11248180e-03 -7.05577107e-02] [ 9.47171205e-04 1.10955052e-03 9.99998936e-01 -1.60291684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41650248099998 meters 0.11136562571741859 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.07, Z:-1.60 [[ 9.99995217e-01 -2.92850473e-03 -9.95272973e-04 4.48274540e+00] [ 2.92765539e-03 9.99995350e-01 -8.53770330e-04 -7.11122811e-02] [ 9.97768615e-04 8.50852430e-04 9.99999140e-01 -1.60295668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44650248099998 meters 0.11161589848539918 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.07, Z:-1.60 [[ 9.99995910e-01 -2.70418916e-03 -9.31153322e-04 4.48281708e+00] [ 2.70382460e-03 9.99996268e-01 -3.92548101e-04 -7.23976879e-02] [ 9.32211371e-04 3.90028821e-04 9.99999489e-01 -1.60323576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47650248099998 meters 0.11178825533046244 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.08, Z:-1.60 [[ 9.99997119e-01 -2.30117582e-03 -6.83764636e-04 4.48279016e+00] [ 2.30157826e-03 9.99997178e-01 5.88357651e-04 -7.50928530e-02] [ 6.82408792e-04 -5.89929694e-04 9.99999593e-01 -1.60388476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50650248099998 meters 0.11220185329531937 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.08, Z:-1.60 [[ 9.99997702e-01 -2.07620682e-03 -5.34918929e-04 4.48281798e+00] [ 2.07682181e-03 9.99997180e-01 1.15171738e-03 -7.65216835e-02] [ 5.32526217e-04 -1.15282567e-03 9.99999194e-01 -1.60433169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53650248099999 meters 0.1124878990237614 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.08, Z:-1.61 [[ 9.99997485e-01 2.10587316e-03 -7.71847314e-04 4.49628926e+00] [-2.10770181e-03 9.99994956e-01 -2.37608163e-03 -7.77122892e-02] [ 7.66839694e-04 2.37770248e-03 9.99996879e-01 -1.60520746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.566502481 meters 0.11199296547827356 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.08, Z:-1.61 [[ 9.99997473e-01 2.15113858e-03 -6.53178381e-04 4.49615049e+00] [-2.15254234e-03 9.99995359e-01 -2.15607607e-03 -7.85151190e-02] [ 6.48537331e-04 2.15747661e-03 9.99997462e-01 -1.60531767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.596502481 meters 0.11202094684833878 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.08, Z:-1.61 [[ 9.99997136e-01 -2.01603642e-03 -1.28947273e-03 4.49732588e+00] [ 2.00742245e-03 9.99975894e-01 -6.64699600e-03 -7.72206939e-02] [ 1.30284223e-03 6.64438845e-03 9.99977077e-01 -1.60541093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.626502481 meters 0.11211235209396903 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.08, Z:-1.61 [[ 9.99998416e-01 -1.44726429e-03 -1.03600900e-03 4.49751626e+00] [ 1.44155028e-03 9.99983863e-01 -5.49506734e-03 -8.00673171e-02] [ 1.04394510e-03 5.49356518e-03 9.99984365e-01 -1.60645878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.656502481 meters 0.11247487964347477 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.08, Z:-1.61 [[ 9.99998607e-01 -1.21440499e-03 -1.14469505e-03 4.49795693e+00] [ 1.20850188e-03 9.99986041e-01 -5.14358917e-03 -8.06259599e-02] [ 1.15092548e-03 5.14219865e-03 9.99986116e-01 -1.60682857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.686502481 meters 0.11239032782900256 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.08, Z:-1.61 [[ 9.99998375e-01 -1.15712779e-03 -1.38229973e-03 4.49840958e+00] [ 1.14991104e-03 9.99985765e-01 -5.21026377e-03 -8.00191813e-02] [ 1.38830899e-03 5.20866578e-03 9.99985471e-01 -1.60687193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.716502481 meters 0.11178247464048446 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.08, Z:-1.61 [[ 9.99997729e-01 -1.12591666e-03 -1.80960027e-03 4.49916958e+00] [ 1.11595285e-03 9.99984265e-01 -5.49769129e-03 -7.87804943e-02] [ 1.81576174e-03 5.49565937e-03 9.99983250e-01 -1.60685716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.746502481 meters 0.11168401101405191 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.08, Z:-1.61 [[ 9.99992871e-01 -3.12038561e-03 2.12625183e-03 4.51462558e+00] [ 3.12163868e-03 9.99994956e-01 -5.86265359e-04 -8.00718072e-02] [-2.12441173e-03 5.92898570e-04 9.99997568e-01 -1.60766636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.776502481 meters 0.11119439375202013 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.08, Z:-1.61 [[ 9.99992560e-01 -3.33031637e-03 1.94632203e-03 4.51454650e+00] [ 3.33232686e-03 9.99993917e-01 -1.03064038e-03 -7.92583353e-02] [-1.94287783e-03 1.03711849e-03 9.99997575e-01 -1.60705187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.806502481 meters 0.11086588808095771 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.08, Z:-1.61 [[ 9.99993469e-01 -3.21712939e-03 1.64659815e-03 4.51499950e+00] [ 3.21885989e-03 9.99994269e-01 -1.04938119e-03 -7.92856623e-02] [-1.64321272e-03 1.05467451e-03 9.99998094e-01 -1.60698025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.836502481 meters 0.11071940912173547 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99994405e-01 -3.05169173e-03 1.37032749e-03 4.51561170e+00] [ 3.05293065e-03 9.99994932e-01 -9.02923623e-04 -7.93117445e-02] [-1.36756510e-03 9.07102086e-04 9.99998653e-01 -1.60717916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.866502481 meters 0.11082180622568187 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99995158e-01 -2.99244295e-03 8.54524008e-04 4.51649951e+00] [ 2.99339118e-03 9.99994903e-01 -1.11053538e-03 -7.81480401e-02] [-8.51196439e-04 1.11308793e-03 9.99999018e-01 -1.60713285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.896502481 meters 0.11046873601021383 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99995485e-01 -2.92637387e-03 6.82628764e-04 4.51692476e+00] [ 2.92714126e-03 9.99995082e-01 -1.12588526e-03 -7.78119967e-02] [-6.79330646e-04 1.12787833e-03 9.99999133e-01 -1.60728561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.926502481 meters 0.1109785462309681 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99996397e-01 -2.62658678e-03 5.54911752e-04 4.51747673e+00] [ 2.62698416e-03 9.99996293e-01 -7.16598451e-04 -7.84241800e-02] [-5.53027487e-04 7.18053613e-04 9.99999589e-01 -1.60780672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.956502481 meters 0.11026515126226388 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99996371e-01 -2.59018932e-03 7.40395193e-04 4.51710165e+00] [ 2.59056587e-03 9.99996515e-01 -5.08072693e-04 -7.95197084e-02] [-7.39076609e-04 5.09988892e-04 9.99999597e-01 -1.60778260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.986502481 meters 0.11006109993135611 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99997251e-01 -2.26417671e-03 6.09632468e-04 4.51776039e+00] [ 2.26419510e-03 9.99997436e-01 -2.94800346e-05 -8.03174792e-02] [-6.09564157e-04 3.08602804e-05 9.99999814e-01 -1.60844983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01650248099997 meters 0.11017834767364576 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99998022e-01 -1.92217323e-03 5.11735662e-04 4.51843467e+00] [ 1.92192740e-03 9.99998038e-01 4.80460874e-04 -8.11156861e-02] [-5.12658187e-04 -4.79476405e-04 9.99999754e-01 -1.60922972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04650248099998 meters 0.1098976118024656 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99998716e-01 -1.54054741e-03 4.42184407e-04 4.51916163e+00] [ 1.54007316e-03 9.99998241e-01 1.07086863e-03 -8.19047511e-02] [-4.43833353e-04 -1.07018626e-03 9.99999329e-01 -1.61015503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07650248099998 meters 0.11002054871845865 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99998807e-01 -1.47597156e-03 4.55856517e-04 4.51923016e+00] [ 1.47542190e-03 9.99998187e-01 1.20377155e-03 -8.22666117e-02] [-4.57632423e-04 -1.20309754e-03 9.99999172e-01 -1.61027054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10650248099998 meters 0.11030981732872071 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99999074e-01 -1.24600281e-03 5.47256284e-04 4.51936364e+00] [ 1.24507722e-03 9.99997799e-01 1.68842915e-03 -8.33810728e-02] [-5.49358867e-04 -1.68774621e-03 9.99998425e-01 -1.61069523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13650248099998 meters 0.110723726768408 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99984870e-01 -5.49965998e-03 1.13679217e-04 4.52026481e+00] [ 5.49995521e-03 9.99980999e-01 -2.78423337e-03 -8.22017269e-02] [-9.83647200e-05 2.78481647e-03 9.99996118e-01 -1.61084237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16650248099998 meters 0.11114471621924554 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99986077e-01 -5.27629826e-03 8.59769328e-05 4.52057387e+00] [ 5.27648656e-03 9.99983292e-01 -2.36095763e-03 -8.30913826e-02] [-7.35183797e-05 2.36137841e-03 9.99997209e-01 -1.61121816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19650248099998 meters 0.1120011809744067 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99985804e-01 -5.32106791e-03 2.79966105e-04 4.52031770e+00] [ 5.32169265e-03 9.99983240e-01 -2.28018388e-03 -8.32678309e-02] [-2.67828400e-04 2.28164140e-03 9.99997361e-01 -1.61123340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22650248099998 meters 0.11219566263984883 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99986823e-01 -5.12896622e-03 2.17485937e-04 4.52070641e+00] [ 5.12937911e-03 9.99984958e-01 -1.94245811e-03 -8.37392704e-02] [-2.07519864e-04 1.94354809e-03 9.99998090e-01 -1.61162528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25650248099998 meters 0.11268753833119616 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99988079e-01 -4.87664727e-03 2.45741368e-04 4.52100026e+00] [ 4.87700561e-03 9.99987013e-01 -1.47933092e-03 -8.46905756e-02] [-2.38524002e-04 1.48051177e-03 9.99998876e-01 -1.61214064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28650248099999 meters 0.11383193581388035 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.09, Z:-1.61 [[ 9.99989214e-01 -4.61890131e-03 4.86461588e-04 4.52116139e+00] [ 4.61931309e-03 9.99988971e-01 -8.48768617e-04 -8.60249617e-02] [-4.82535845e-04 8.51006581e-04 9.99999521e-01 -1.61303418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.316502481 meters 0.11424114813146662 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.09, Z:-1.61 [[ 9.99989879e-01 -4.47633204e-03 4.51419187e-04 4.52156761e+00] [ 4.47661879e-03 9.99989777e-01 -6.36230482e-04 -8.61146898e-02] [-4.48566593e-04 6.38244874e-04 9.99999696e-01 -1.61351470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.346502481 meters 0.11333966317731699 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99989175e-01 -4.64864029e-03 1.98834685e-04 4.52183396e+00] [ 4.64884165e-03 9.99988669e-01 -1.02453918e-03 -8.49662667e-02] [-1.94069718e-04 1.02545244e-03 9.99999455e-01 -1.61314384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.376502481 meters 0.11418171657467327 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99989170e-01 -4.65371786e-03 -4.27767334e-05 4.52235464e+00] [ 4.65366533e-03 9.99988504e-01 -1.15537951e-03 -8.40847429e-02] [ 4.81530519e-05 1.15516793e-03 9.99999332e-01 -1.61322588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.406502481 meters 0.11426181524338566 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99989559e-01 -4.56417690e-03 -2.25127325e-04 4.52292650e+00] [ 4.56392475e-03 9.99988971e-01 -1.10809790e-03 -8.37110780e-02] [ 2.30182397e-04 1.10705887e-03 9.99999361e-01 -1.61355081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.436502481 meters 0.11375785495696027 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99988789e-01 -4.71878943e-03 -3.94584179e-04 4.52311433e+00] [ 4.71821871e-03 9.99987840e-01 -1.43500665e-03 -8.26910824e-02] [ 4.01350875e-04 1.43312883e-03 9.99998893e-01 -1.61330500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.466502481 meters 0.11375785495696027 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99988789e-01 -4.71878943e-03 -3.94584179e-04 4.52311433e+00] [ 4.71821871e-03 9.99987840e-01 -1.43500665e-03 -8.26910824e-02] [ 4.01350875e-04 1.43312883e-03 9.99998893e-01 -1.61330500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.496502481 meters 0.11387326148166632 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99989585e-01 -4.53017694e-03 -5.55252078e-04 4.52367418e+00] [ 4.52950792e-03 9.99989021e-01 -1.20029049e-03 -8.28802902e-02] [ 5.60683511e-04 1.19776297e-03 9.99999125e-01 -1.61371720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.526502481 meters 0.1158947581870401 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.08, Z:-1.61 [[ 9.99990441e-01 -4.30636700e-03 -7.56751980e-04 4.52444998e+00] [ 4.30563157e-03 9.99990260e-01 -9.70775332e-04 -8.27969801e-02] [ 7.60925124e-04 9.67507758e-04 9.99999242e-01 -1.61436328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.556502481 meters 0.11298375840419528 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.08, Z:-1.61 [[ 9.99990371e-01 -4.26582107e-03 -1.03003571e-03 4.52510844e+00] [ 4.26471378e-03 9.99990328e-01 -1.07481605e-03 -8.20315513e-02] [ 1.03461072e-03 1.07041289e-03 9.99998892e-01 -1.61459949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.586502481 meters 0.11267670753530726 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.08, Z:-1.61 [[ 9.99989265e-01 -4.23805291e-03 -1.87291460e-03 4.52663388e+00] [ 4.23482763e-03 9.99989549e-01 -1.72269087e-03 -7.90455737e-02] [ 1.88019588e-03 1.71474090e-03 9.99996762e-01 -1.61470644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.616502481 meters 0.11248043693784418 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.08, Z:-1.61 [[ 9.99988742e-01 -4.14026066e-03 -2.31834259e-03 4.52755156e+00] [ 4.13588504e-03 9.99989663e-01 -1.88901342e-03 -7.79461323e-02] [ 2.32613963e-03 1.87940375e-03 9.99995528e-01 -1.61489496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.646502481 meters 0.11138710367466506 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.08, Z:-1.62 [[ 9.99987044e-01 -4.04342229e-03 -3.09233667e-03 4.52901028e+00] [ 4.03578172e-03 9.99988798e-01 -2.47306749e-03 -7.52548108e-02] [ 3.10230169e-03 2.46055545e-03 9.99992161e-01 -1.61511774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.676502481 meters 0.11105328900503321 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.07, Z:-1.62 [[ 9.99985773e-01 -4.00118312e-03 -3.52771588e-03 4.52987377e+00] [ 3.99147915e-03 9.99988243e-01 -2.75354150e-03 -7.38717483e-02] [ 3.53869183e-03 2.73942152e-03 9.99989987e-01 -1.61526180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.706502481 meters 0.11063464008359068 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.07, Z:-1.62 [[ 9.99983202e-01 -3.72962107e-03 -4.43686707e-03 4.53176342e+00] [ 3.71571369e-03 9.99988171e-01 -3.13862881e-03 -7.11560587e-02] [ 4.44852049e-03 3.12208996e-03 9.99985232e-01 -1.61575526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.736502481 meters 0.11011154573403834 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.07, Z:-1.62 [[ 9.99981869e-01 -3.56391796e-03 -4.85388790e-03 4.53276750e+00] [ 3.54840654e-03 9.99988583e-01 -3.20054029e-03 -7.02358725e-02] [ 4.86523894e-03 3.18325869e-03 9.99983098e-01 -1.61615562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76650248099997 meters 0.10954315497039953 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.07, Z:-1.62 [[ 9.99978816e-01 -3.41364983e-03 -5.54213917e-03 4.53411080e+00] [ 3.39351780e-03 9.99987625e-01 -3.63788729e-03 -6.81228042e-02] [ 5.55448906e-03 3.61900287e-03 9.99978025e-01 -1.61642597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79650248099998 meters 0.10907866289453953 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.07, Z:-1.62 [[ 9.99975973e-01 -3.27326427e-03 -6.11055761e-03 4.53524624e+00] [ 3.24905425e-03 9.99986850e-01 -3.96772915e-03 -6.63931363e-02] [ 6.12346469e-03 3.94778028e-03 9.99973459e-01 -1.61669480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82650248099998 meters 0.1090483753633984 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.07, Z:-1.62 [[ 9.99973953e-01 -3.19684802e-03 -6.47097624e-03 4.53597538e+00] [ 3.17034700e-03 9.99986563e-01 -4.10148972e-03 -6.55229449e-02] [ 6.48400113e-03 4.08086765e-03 9.99970652e-01 -1.61682478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85650248099998 meters 0.10885793346024199 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.06, Z:-1.62 [[ 9.99970584e-01 -3.19542199e-03 -6.97283175e-03 4.53674131e+00] [ 3.16386925e-03 9.99984728e-01 -4.53144585e-03 -6.39144754e-02] [ 6.98720514e-03 4.50925142e-03 9.99965422e-01 -1.61663502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88650248099998 meters 0.1089861702907861 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.06, Z:-1.62 [[ 9.99969672e-01 -3.00356548e-03 -7.18570143e-03 4.53728545e+00] [ 2.97252386e-03 9.99986222e-01 -4.32670166e-03 -6.41092426e-02] [ 7.19859796e-03 4.30521077e-03 9.99964822e-01 -1.61688654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91650248099998 meters 0.10889089720385806 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.06, Z:-1.62 [[ 9.99970025e-01 -2.79141948e-03 -7.22201070e-03 4.53762143e+00] [ 2.76246311e-03 9.99988119e-01 -4.01633345e-03 -6.46879180e-02] [ 7.23313617e-03 3.99626252e-03 9.99965855e-01 -1.61729233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94650248099998 meters 0.10884822786735818 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.07, Z:-1.62 [[ 9.99971601e-01 -2.38632753e-03 -7.14865598e-03 4.53796623e+00] [ 2.36312845e-03 9.99991920e-01 -3.25192747e-03 -6.64337765e-02] [ 7.15635839e-03 3.23494193e-03 9.99969160e-01 -1.61806911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97650248099998 meters 0.1088579146989951 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.07, Z:-1.62 [[ 9.99971955e-01 -2.04013829e-03 -7.20604569e-03 4.53844587e+00] [ 2.02096304e-03 9.99994401e-01 -2.66727488e-03 -6.75701536e-02] [ 7.21144695e-03 2.65263692e-03 9.99970479e-01 -1.61864856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00650248099998 meters 0.10894436281187224 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.07, Z:-1.62 [[ 9.99972202e-01 -1.73986635e-03 -7.25043545e-03 4.53887523e+00] [ 1.72423677e-03 9.99996178e-01 -2.16136752e-03 -6.85059489e-02] [ 7.25416823e-03 2.14880597e-03 9.99971379e-01 -1.61918419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03650248099999 meters 0.1088669510602126 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.07, Z:-1.62 [[ 9.99975306e-01 -1.58816309e-03 -6.84575684e-03 4.53828557e+00] [ 1.57783355e-03 9.99997609e-01 -1.51403271e-03 -7.07813959e-02] [ 6.84814501e-03 1.50319386e-03 9.99975421e-01 -1.61939074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.066502481 meters 0.10892938577782164 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.07, Z:-1.62 [[ 9.99976246e-01 -1.24716013e-03 -6.77876124e-03 4.53855630e+00] [ 1.24141504e-03 9.99998867e-01 -8.51655773e-04 -7.23374630e-02] [ 6.77981570e-03 8.43220287e-04 9.99976661e-01 -1.62000110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.096502481 meters 0.10902403155969956 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.07, Z:-1.62 [[ 9.99977497e-01 -1.17472888e-03 -6.60490961e-03 4.53820405e+00] [ 1.17176991e-03 9.99999211e-01 -4.51847284e-04 -7.38100444e-02] [ 6.60543520e-03 4.44097681e-04 9.99978085e-01 -1.61988245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.126502481 meters 0.10938481691582362 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.07, Z:-1.62 [[ 9.99978006e-01 -9.81147119e-04 -6.55938000e-03 4.53826053e+00] [ 9.80865993e-04 9.99999518e-01 -4.60753684e-05 -7.48940153e-02] [ 6.55942205e-03 3.96404823e-05 9.99978486e-01 -1.62007260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.156502481 meters 0.10943955370324053 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.08, Z:-1.62 [[ 9.99962847e-01 -5.18916634e-03 -6.88316049e-03 4.53878900e+00] [ 5.16026664e-03 9.99977825e-01 -4.20974491e-03 -7.50517345e-02] [ 6.90485292e-03 4.17406956e-03 9.99967450e-01 -1.61996179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.186502481 meters 0.10981285604409259 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.08, Z:-1.62 [[ 9.99965803e-01 -4.73810813e-03 -6.77818636e-03 4.53925739e+00] [ 4.71518667e-03 9.99983125e-01 -3.39364368e-03 -7.66819897e-02] [ 6.79415143e-03 3.36156722e-03 9.99971269e-01 -1.62097480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.216502481 meters 0.1103478185982593 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.08, Z:-1.62 [[ 9.99968035e-01 -4.38244770e-03 -6.68751449e-03 4.53973353e+00] [ 4.36447850e-03 9.99986833e-01 -2.69921089e-03 -7.79707886e-02] [ 6.69925559e-03 2.66993709e-03 9.99973995e-01 -1.62191367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.246502481 meters 0.1103231498009428 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.08, Z:-1.62 [[ 9.99967965e-01 -4.23376692e-03 -6.79293821e-03 4.54014894e+00] [ 4.21691322e-03 9.99988000e-01 -2.49346969e-03 -7.81764620e-02] [ 6.80341346e-03 2.46474458e-03 9.99973819e-01 -1.62222423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.276502481 meters 0.11090831066618967 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.08, Z:-1.62 [[ 9.99967817e-01 -4.10553985e-03 -6.89264999e-03 4.54040773e+00] [ 4.08992438e-03 9.99989041e-01 -2.27809378e-03 -7.85247294e-02] [ 6.90192726e-03 2.24983005e-03 9.99973650e-01 -1.62230214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.306502481 meters 0.1107717019854166 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.08, Z:-1.62 [[ 9.99967772e-01 -3.89253033e-03 -7.02160260e-03 4.54089246e+00] [ 3.87871588e-03 9.99990518e-01 -1.97996644e-03 -7.90271962e-02] [ 7.02924310e-03 1.95266783e-03 9.99973388e-01 -1.62267192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.336502481 meters 0.11078717655215593 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.08, Z:-1.62 [[ 9.99967418e-01 -3.95052583e-03 -7.03965365e-03 4.54078802e+00] [ 3.93608004e-03 9.99990122e-01 -2.06473461e-03 -7.90804064e-02] [ 7.04774090e-03 2.03695870e-03 9.99973090e-01 -1.62244279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.366502481 meters 0.11095939010088264 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.08, Z:-1.62 [[ 9.99966913e-01 -3.83223283e-03 -7.17545314e-03 4.54120860e+00] [ 3.81843594e-03 9.99990837e-01 -1.93550335e-03 -7.91300121e-02] [ 7.18280469e-03 1.90804030e-03 9.99972383e-01 -1.62268104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.396502481 meters 0.11082142383129207 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.08, Z:-1.62 [[ 9.99964419e-01 -3.78988066e-03 -7.53639239e-03 4.54202493e+00] [ 3.77432429e-03 9.99990720e-01 -2.07731928e-03 -7.80481304e-02] [ 7.54419524e-03 2.04880058e-03 9.99969443e-01 -1.62291382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.426502481 meters 0.11099211621730179 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.08, Z:-1.62 [[ 9.99963321e-01 -3.66112370e-03 -7.74289754e-03 4.54267655e+00] [ 3.64589529e-03 9.99991394e-01 -1.97996060e-03 -7.77593180e-02] [ 7.75007979e-03 1.95165818e-03 9.99968063e-01 -1.62330233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.456502481 meters 0.11101129382537547 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.08, Z:-1.62 [[ 9.99962078e-01 -3.52240850e-03 -7.96466861e-03 4.54327766e+00] [ 3.50762674e-03 9.99992101e-01 -1.86912390e-03 -7.76374794e-02] [ 7.97118951e-03 1.84111593e-03 9.99966535e-01 -1.62358914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.486502481 meters 0.11050765761743196 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.08, Z:-1.62 [[ 9.99961855e-01 -3.38224306e-03 -8.05283330e-03 4.54373749e+00] [ 3.36825241e-03 9.99992796e-01 -1.75028585e-03 -7.75444553e-02] [ 8.05869517e-03 1.72309512e-03 9.99966044e-01 -1.62403161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51650248099997 meters 0.11089654366975958 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.08, Z:-1.62 [[ 9.99961557e-01 -3.25033761e-03 -8.14370701e-03 4.54410726e+00] [ 3.23739663e-03 9.99993477e-01 -1.60175658e-03 -7.76485734e-02] [ 8.14886014e-03 1.57533059e-03 9.99965557e-01 -1.62432446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54650248099998 meters 0.1110697079742563 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.08, Z:-1.62 [[ 9.99959754e-01 -3.15588592e-03 -8.39823805e-03 4.54472600e+00] [ 3.14265332e-03 9.99993800e-01 -1.58836965e-03 -7.71653607e-02] [ 8.40319870e-03 1.56191297e-03 9.99963473e-01 -1.62457724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57650248099998 meters 0.11044023946352215 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.08, Z:-1.63 [[ 9.99959296e-01 -2.98488051e-03 -8.51450460e-03 4.54532626e+00] [ 2.97295328e-03 9.99994582e-01 -1.41312590e-03 -7.70632068e-02] [ 8.51867649e-03 1.38775516e-03 9.99962752e-01 -1.62514629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60650248099998 meters 0.1102909248946756 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.08, Z:-1.63 [[ 9.99956641e-01 -2.79579229e-03 -8.88258435e-03 4.54638738e+00] [ 2.78359853e-03 9.99995167e-01 -1.38483770e-03 -7.60794675e-02] [ 8.88641313e-03 1.36005210e-03 9.99959590e-01 -1.62576149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63650248099998 meters 0.11030031728421312 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.08, Z:-1.63 [[ 9.99955769e-01 -2.64411672e-03 -9.02596472e-03 4.54699253e+00] [ 2.63292668e-03 9.99995751e-01 -1.25141916e-03 -7.58507390e-02] [ 9.02923526e-03 1.22759910e-03 9.99958482e-01 -1.62626874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66650248099998 meters 0.11045853861439305 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.08, Z:-1.63 [[ 9.99956087e-01 -2.48187689e-03 -9.03682981e-03 4.54726288e+00] [ 2.47268929e-03 9.99996415e-01 -1.02771521e-03 -7.62252908e-02] [ 9.03934807e-03 1.00532481e-03 9.99958639e-01 -1.62663202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69650248099998 meters 0.11077562165674651 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.08, Z:-1.63 [[ 9.99956113e-01 -2.23195322e-03 -9.09887147e-03 4.54768956e+00] [ 2.22598023e-03 9.99997300e-01 -6.66529055e-04 -7.68100973e-02] [ 9.10033457e-03 6.46245895e-04 9.99958382e-01 -1.62710219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72650248099998 meters 0.11106056902016448 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.08, Z:-1.63 [[ 9.99955035e-01 -2.17435080e-03 -9.23034886e-03 4.54791633e+00] [ 2.16869040e-03 9.99997454e-01 -6.23203232e-04 -7.68994069e-02] [ 9.23168042e-03 6.03157441e-04 9.99957205e-01 -1.62705382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75650248099998 meters 0.11098141149585984 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.08, Z:-1.63 [[ 9.99953340e-01 -1.98202357e-03 -9.45461830e-03 4.54857609e+00] [ 1.97801399e-03 9.99997950e-01 -4.33418992e-04 -7.68959097e-02] [ 9.45545797e-03 4.14697402e-04 9.99955210e-01 -1.62742066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78650248099999 meters 0.11112180983057555 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.08, Z:-1.63 [[ 9.99952229e-01 -2.05997067e-03 -9.55489165e-03 4.54871130e+00] [ 2.05379977e-03 9.99997676e-01 -6.55603207e-04 -7.62720011e-02] [ 9.55621997e-03 6.35948054e-04 9.99954136e-01 -1.62734463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.816502481 meters 0.11108551720266929 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.08, Z:-1.63 [[ 9.99951365e-01 -1.83591517e-03 -9.69002029e-03 4.54930255e+00] [ 1.83221573e-03 9.99998245e-01 -3.90641722e-04 -7.65214384e-02] [ 9.69072047e-03 3.72868516e-04 9.99952974e-01 -1.62787499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.846502481 meters 0.11104379677850788 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.08, Z:-1.63 [[ 9.99949874e-01 -1.68236909e-03 -9.87008788e-03 4.54983501e+00] [ 1.67946980e-03 9.99998544e-01 -3.02025774e-04 -7.64830930e-02] [ 9.87058163e-03 2.85434121e-04 9.99951244e-01 -1.62818675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.876502481 meters 0.11088077577625152 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.08, Z:-1.63 [[ 9.99949382e-01 -1.69230309e-03 -9.91811377e-03 4.54990075e+00] [ 1.68880140e-03 9.99998509e-01 -3.61423780e-04 -7.63834824e-02] [ 9.91871062e-03 3.44655761e-04 9.99950749e-01 -1.62815034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.906502481 meters 0.1109767635654062 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.07, Z:-1.63 [[ 9.99990530e-01 2.38313935e-03 -3.64142631e-03 4.55812526e+00] [-2.39869970e-03 9.99987986e-01 -4.27476924e-03 -7.42603616e-02] [ 3.63119519e-03 4.28346345e-03 9.99984233e-01 -1.62914022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.936502481 meters 0.11076387757935319 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.07, Z:-1.63 [[ 9.99989103e-01 2.57219511e-03 -3.89593427e-03 4.55883424e+00] [-2.58820385e-03 9.99988206e-01 -4.10963479e-03 -7.41576041e-02] [ 3.88531754e-03 4.11967347e-03 9.99983966e-01 -1.62950050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.966502481 meters 0.11053212970989143 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.07, Z:-1.63 [[ 9.99987754e-01 2.88899783e-03 -4.01821128e-03 4.55942800e+00] [-2.90403161e-03 9.99988787e-01 -3.74062052e-03 -7.49166476e-02] [ 4.00735958e-03 3.75224373e-03 9.99984931e-01 -1.63006894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.996502481 meters 0.11048823144129749 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.07, Z:-1.63 [[ 9.99987358e-01 -1.16047156e-03 -4.89257893e-03 4.56109969e+00] [ 1.12009098e-03 9.99965356e-01 -8.24811014e-03 -7.29963820e-02] [ 4.90198113e-03 8.24252573e-03 9.99954015e-01 -1.63035649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.026502481 meters 0.11036896257527147 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.07, Z:-1.63 [[ 9.99987020e-01 -7.77406995e-04 -5.03541742e-03 4.56171383e+00] [ 7.38669848e-04 9.99970157e-01 -7.69023337e-03 -7.42924000e-02] [ 5.04124559e-03 7.68641404e-03 9.99957752e-01 -1.63092654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.056502481 meters 0.11032657750828356 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.08, Z:-1.63 [[ 9.99986579e-01 -4.64835871e-04 -5.16006202e-03 4.56232659e+00] [ 4.27551719e-04 9.99973813e-01 -7.22427703e-03 -7.50358774e-02] [ 5.16328499e-03 7.22197387e-03 9.99960591e-01 -1.63151429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.086502481 meters 0.11022506159682055 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.08, Z:-1.63 [[ 9.99985485e-01 -8.83453610e-05 -5.38716633e-03 4.56309720e+00] [ 5.21865689e-05 9.99977474e-01 -6.71179564e-03 -7.58655186e-02] [ 5.38763794e-03 6.71141708e-03 9.99962964e-01 -1.63207066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.116502481 meters 0.11032167875286569 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.08, Z:-1.63 [[ 9.99984884e-01 2.65282027e-04 -5.49193770e-03 4.56375014e+00] [-2.99325563e-04 9.99980742e-01 -6.19892699e-03 -7.67596437e-02] [ 5.49018747e-03 6.20047716e-03 9.99965705e-01 -1.63277220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.146502481 meters 0.11011104878824167 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.08, Z:-1.63 [[ 9.99983038e-01 8.79723794e-04 -5.75764268e-03 4.56491657e+00] [-9.10205573e-04 9.99985574e-01 -5.29366473e-03 -7.83780922e-02] [ 5.75290266e-03 5.29881557e-03 9.99969413e-01 -1.63386669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.176502481 meters 0.11007205467087401 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.08, Z:-1.63 [[ 9.99981587e-01 1.29931384e-03 -5.92774557e-03 4.56572465e+00] [-1.32701721e-03 9.99988206e-01 -4.67197174e-03 -7.94115161e-02] [ 5.92160530e-03 4.67975193e-03 9.99971517e-01 -1.63462238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.206502481 meters 0.11015347419794973 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.08, Z:-1.63 [[ 9.99981728e-01 1.58001802e-03 -5.83495477e-03 4.56574996e+00] [-1.60367219e-03 9.99990507e-01 -4.05142251e-03 -8.14241020e-02] [ 5.82849806e-03 4.06070584e-03 9.99974769e-01 -1.63491163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.236502481 meters 0.1101923075784133 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.08, Z:-1.64 [[ 9.99981714e-01 2.00408664e-03 -5.70579835e-03 4.56612624e+00] [-2.02298880e-03 9.99992479e-01 -3.30895641e-03 -8.30960699e-02] [ 5.69912401e-03 3.32043867e-03 9.99978247e-01 -1.63581052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26650248099997 meters 0.11009197031753479 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.08, Z:-1.64 [[ 9.99978798e-01 -2.09810461e-03 -6.16454997e-03 4.56728640e+00] [ 2.05197327e-03 9.99969918e-01 -7.48014579e-03 -8.25002481e-02] [ 6.18005865e-03 7.46733771e-03 9.99953022e-01 -1.63630994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29650248099998 meters 0.1102856281987058 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.08, Z:-1.64 [[ 9.99978727e-01 -1.80000799e-03 -6.26941973e-03 4.56779969e+00] [ 1.75612260e-03 9.99973969e-01 -6.99839853e-03 -8.34325526e-02] [ 6.28185371e-03 6.98723979e-03 9.99955857e-01 -1.63676925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32650248099998 meters 0.11047895208687003 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.08, Z:-1.64 [[ 9.99979386e-01 -1.60408796e-03 -6.21722555e-03 4.56788680e+00] [ 1.56328976e-03 9.99977252e-01 -6.56143813e-03 -8.45960951e-02] [ 6.22760924e-03 6.55158355e-03 9.99959146e-01 -1.63699519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35650248099998 meters 0.11047895208687003 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.08, Z:-1.64 [[ 9.99979386e-01 -1.60408796e-03 -6.21722555e-03 4.56788680e+00] [ 1.56328976e-03 9.99977252e-01 -6.56143813e-03 -8.45960951e-02] [ 6.22760924e-03 6.55158355e-03 9.99959146e-01 -1.63699519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38650248099998 meters 0.11058939116692658 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.09, Z:-1.64 [[ 9.99978723e-01 -1.37397321e-03 -6.37696817e-03 4.56838417e+00] [ 1.33425968e-03 9.99979717e-01 -6.22773239e-03 -8.51961148e-02] [ 6.38539557e-03 6.21909135e-03 9.99960274e-01 -1.63727729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41650248099998 meters 0.1105689743210409 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.09, Z:-1.64 [[ 9.99978199e-01 -1.12934531e-03 -6.50581535e-03 4.56884299e+00] [ 1.09133846e-03 9.99982337e-01 -5.84257228e-03 -8.59208163e-02] [ 6.51229872e-03 5.83534487e-03 9.99961769e-01 -1.63758487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44650248099998 meters 0.11080499524564452 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.09, Z:-1.64 [[ 9.99977698e-01 -8.88357601e-04 -6.61920016e-03 4.56935973e+00] [ 8.51956922e-04 9.99984512e-01 -5.50004824e-03 -8.63977591e-02] [ 6.62398365e-03 5.49428630e-03 9.99962967e-01 -1.63802824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47650248099998 meters 0.11103594290631137 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.09, Z:-1.64 [[ 9.99977845e-01 -5.81406983e-04 -6.63103358e-03 4.56975719e+00] [ 5.48591179e-04 9.99987600e-01 -4.94956753e-03 -8.74977317e-02] [ 6.63382907e-03 4.94582015e-03 9.99965765e-01 -1.63856438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50650248099998 meters 0.11117305035544449 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.09, Z:-1.64 [[ 9.99977711e-01 -2.59646699e-04 -6.67164509e-03 4.57019738e+00] [ 2.30113425e-04 9.99990174e-01 -4.42707177e-03 -8.85789347e-02] [ 6.67272901e-03 4.42543785e-03 9.99967945e-01 -1.63911747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53650248099999 meters 0.11142118095179318 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.09, Z:-1.64 [[ 9.99978236e-01 7.43564175e-05 -6.59705189e-03 4.57051048e+00] [-9.92307368e-05 9.99992888e-01 -3.77027328e-03 -9.00637795e-02] [ 6.59672462e-03 3.77084586e-03 9.99971132e-01 -1.63976270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.566502481 meters 0.11148327484738776 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.09, Z:-1.64 [[ 9.99977682e-01 3.53648314e-04 -6.67156631e-03 4.57104925e+00] [-3.75863176e-04 9.99994389e-01 -3.32882212e-03 -9.07198094e-02] [ 6.67035165e-03 3.33125542e-03 9.99972204e-01 -1.64034470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.596502481 meters 0.11173615314333504 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.09, Z:-1.64 [[ 9.99978268e-01 8.39612227e-04 -6.53894083e-03 4.57164734e+00] [-8.55716255e-04 9.99996607e-01 -2.46038017e-03 -9.22456687e-02] [ 6.53685288e-03 2.46592218e-03 9.99975594e-01 -1.64158267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.626502481 meters 0.11196527176887348 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.09, Z:-1.64 [[ 9.99968927e-01 -3.06472386e-03 -7.26306339e-03 4.57335838e+00] [ 3.01737940e-03 9.99974189e-01 -6.52054304e-03 -9.14482676e-02] [ 7.28285959e-03 6.49842501e-03 9.99952364e-01 -1.64224596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.656502481 meters 0.11200852938303815 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.09, Z:-1.64 [[ 9.99969990e-01 -2.69844207e-03 -7.26205347e-03 4.57392807e+00] [ 2.65536010e-03 9.99978859e-01 -5.93559590e-03 -9.24226702e-02] [ 7.27791680e-03 5.91613440e-03 9.99956015e-01 -1.64309355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.686502481 meters 0.11217557236135155 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.09, Z:-1.64 [[ 9.99970968e-01 -2.27952869e-03 -7.27099574e-03 4.57457614e+00] [ 2.24128102e-03 9.99983633e-01 -5.26412393e-03 -9.35586140e-02] [ 7.28287645e-03 5.24767476e-03 9.99959710e-01 -1.64404096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.716502481 meters 0.11219258776154029 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.09, Z:-1.64 [[ 9.99970764e-01 -1.93435111e-03 -7.39793753e-03 4.57521476e+00] [ 1.89918492e-03 9.99986879e-01 -4.75758766e-03 -9.44065978e-02] [ 7.40704330e-03 4.74339852e-03 9.99961317e-01 -1.64465292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.746502481 meters 0.11230118603678821 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.10, Z:-1.65 [[ 9.99971192e-01 -1.65358356e-03 -7.40816836e-03 4.57558413e+00] [ 1.62163653e-03 9.99989370e-01 -4.31633948e-03 -9.52309003e-02] [ 7.41522703e-03 4.30420178e-03 9.99963243e-01 -1.64517670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.776502481 meters 0.1125806799794594 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.10, Z:-1.65 [[ 9.99971696e-01 -1.31088498e-03 -7.40875458e-03 4.57610332e+00] [ 1.28290451e-03 9.99992032e-01 -3.78016840e-03 -9.61754086e-02] [ 7.41365092e-03 3.77055668e-03 9.99965410e-01 -1.64597191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.806502481 meters 0.1125065809033658 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.10, Z:-1.65 [[ 9.99971401e-01 -9.54981264e-04 -7.50240443e-03 4.57678105e+00] [ 9.30393771e-04 9.99994188e-01 -3.28008864e-03 -9.69353714e-02] [ 7.50549325e-03 3.27301464e-03 9.99966477e-01 -1.64673393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.836502481 meters 0.1122751891693378 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.10, Z:-1.65 [[ 9.99969486e-01 -5.97909122e-04 -7.78903238e-03 4.57783956e+00] [ 5.75155242e-04 9.99995562e-01 -2.92318433e-03 -9.69393798e-02] [ 7.79074561e-03 2.91861523e-03 9.99965392e-01 -1.64755001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.866502481 meters 0.1120251199318643 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.10, Z:-1.65 [[ 9.99967128e-01 -3.84647190e-04 -8.09903370e-03 4.57864000e+00] [ 3.62297084e-04 9.99996123e-01 -2.76088791e-03 -9.68190287e-02] [ 8.10006427e-03 2.75786290e-03 9.99963391e-01 -1.64792047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.896502481 meters 0.11120420473187788 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.10, Z:-1.65 [[ 9.99965050e-01 -1.41574326e-08 -8.36054351e-03 4.57966628e+00] [-2.04448813e-05 9.99997006e-01 -2.44700887e-03 -9.68717150e-02] [ 8.36051851e-03 2.44709428e-03 9.99962056e-01 -1.64876160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.926502481 meters 0.11121807109416003 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.10, Z:-1.65 [[ 9.99962994e-01 2.38753339e-04 -8.59963595e-03 4.58038793e+00] [-2.57739069e-04 9.99997532e-01 -2.20669587e-03 -9.69450463e-02] [ 8.59908787e-03 2.20883067e-03 9.99960588e-01 -1.64922474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.956502481 meters 0.11051857224332759 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.10, Z:-1.65 [[ 9.99960405e-01 8.62396003e-05 -8.89834775e-03 4.58055584e+00] [-1.11922340e-04 9.99995830e-01 -2.88577934e-03 -9.53678304e-02] [ 8.89806177e-03 2.88666101e-03 9.99956245e-01 -1.64865400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.986502481 meters 0.11072768111567105 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.09, Z:-1.65 [[ 9.99956884e-01 2.30926884e-04 -9.28318167e-03 4.58135272e+00] [-2.58648820e-04 9.99995511e-01 -2.98516407e-03 -9.45876948e-02] [ 9.28245064e-03 2.98743645e-03 9.99952455e-01 -1.64883984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01650248099997 meters 0.11056148944712736 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.09, Z:-1.65 [[ 9.99949617e-01 5.24220178e-04 -1.00244033e-02 4.58264691e+00] [-5.57223181e-04 9.99994433e-01 -3.28975657e-03 -9.28634696e-02] [ 1.00226230e-02 3.29517665e-03 9.99944343e-01 -1.64888028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04650248099998 meters 0.11060712461759245 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.09, Z:-1.65 [[ 0.99997755 0.00472857 -0.00474781 4.59245145] [-0.00476391 0.99996083 -0.00745935 -0.09101952] [ 0.00471235 0.0074818 0.99996091 -1.65009595] [ 0. 0. 0. 1. ]] SLAMing on 160.07650248099998 meters 0.11075026209932662 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.09, Z:-1.65 [[ 0.99997607 0.00482697 -0.00495661 4.59279639] [-0.00486441 0.99995953 -0.00756857 -0.090695 ] [ 0.00491988 0.0075925 0.99995907 -1.65007287] [ 0. 0. 0. 1. ]] SLAMing on 160.10650248099998 meters 0.11070166758651535 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.09, Z:-1.65 [[ 0.99997377 0.00519438 -0.00504803 4.59345182] [-0.00522995 0.99996141 -0.0070583 -0.09153165] [ 0.00501117 0.00708451 0.99996235 -1.65085502] [ 0. 0. 0. 1. ]] SLAMing on 160.13650248099998 meters 0.1106079082853801 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.09, Z:-1.65 [[ 9.99980322e-01 -4.23628082e-03 -4.62709982e-03 4.60197157e+00] [ 4.22487308e-03 9.99988019e-01 -2.47241745e-03 -9.05226309e-02] [ 4.63751824e-03 2.45281989e-03 9.99986238e-01 -1.65182286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16650248099998 meters 0.1105652117610692 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.09, Z:-1.65 [[ 9.99981231e-01 -3.92117559e-03 -4.70772810e-03 4.60255386e+00] [ 3.91168828e-03 9.99990303e-01 -2.02278205e-03 -9.12170477e-02] [ 4.71561414e-03 2.00432892e-03 9.99986873e-01 -1.65247047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19650248099998 meters 0.11043066258225062 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.09, Z:-1.65 [[ 9.99982397e-01 -3.60054463e-03 -4.71620592e-03 4.60279403e+00] [ 3.59375598e-03 9.99992495e-01 -1.44711510e-03 -9.27070161e-02] [ 4.72138093e-03 1.43014073e-03 9.99987832e-01 -1.65282215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22650248099998 meters 0.1102495290269043 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.09, Z:-1.65 [[ 9.99983684e-01 -3.17069469e-03 -4.75177071e-03 4.60344508e+00] [ 3.16711752e-03 9.99994696e-01 -7.60143249e-04 -9.39469163e-02] [ 4.75415569e-03 7.45081429e-04 9.99988421e-01 -1.65371953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25650248099998 meters 0.11021112146690583 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.10, Z:-1.65 [[ 9.99985885e-01 -2.94551934e-03 -4.42194386e-03 4.60310469e+00] [ 2.94525575e-03 9.99995661e-01 -6.61202343e-05 -9.62581211e-02] [ 4.42211943e-03 5.30955454e-05 9.99990221e-01 -1.65410255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28650248099999 meters 0.1101857294347382 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.10, Z:-1.65 [[ 9.99986957e-01 -2.47446189e-03 -4.46801959e-03 4.60361565e+00] [ 2.47787020e-03 9.99996643e-01 7.57448950e-04 -9.81199930e-02] [ 4.46613032e-03 -7.68510243e-04 9.99989731e-01 -1.65475559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.316502481 meters 0.10996836029256257 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.10, Z:-1.66 [[ 9.99989272e-01 -2.29205886e-03 -4.02525035e-03 4.60314805e+00] [ 2.29824945e-03 9.99996182e-01 1.53398772e-03 -1.00541969e-01] [ 4.02171900e-03 -1.54322230e-03 9.99990722e-01 -1.65522652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.346502481 meters 0.10973344898666142 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.10, Z:-1.66 [[ 9.99990130e-01 -1.82975729e-03 -4.04875443e-03 4.60373803e+00] [ 1.83927119e-03 9.99995553e-01 2.34736023e-03 -1.02224570e-01] [ 4.04444133e-03 -2.35478382e-03 9.99989049e-01 -1.65606679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.376502481 meters 0.1098090663838654 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.10, Z:-1.66 [[ 9.99991401e-01 -1.97590116e-03 -3.64605537e-03 4.60257872e+00] [ 1.98561212e-03 9.99994486e-01 2.66172011e-03 -1.04362255e-01] [ 3.64077597e-03 -2.66893687e-03 9.99989811e-01 -1.65535136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.406502481 meters 0.10966015011931109 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.11, Z:-1.65 [[ 9.99992388e-01 -2.03981477e-03 -3.32616498e-03 4.60158993e+00] [ 2.04979836e-03 9.99993396e-01 3.00089174e-03 -1.06403795e-01] [ 3.32002175e-03 -3.00768686e-03 9.99989966e-01 -1.65470432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.436502481 meters 0.10973671718124475 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.11, Z:-1.65 [[ 9.99992266e-01 -1.81404689e-03 -3.48960407e-03 4.60206869e+00] [ 1.82572573e-03 9.99992734e-01 3.34648125e-03 -1.07052301e-01] [ 3.48350804e-03 -3.35282643e-03 9.99988312e-01 -1.65499173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.466502481 meters 0.10959195185633425 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.11, Z:-1.65 [[ 9.99992116e-01 -1.75284327e-03 -3.56315448e-03 4.60216611e+00] [ 1.76515708e-03 9.99992471e-01 3.45567125e-03 -1.07472435e-01] [ 3.55707041e-03 -3.46193354e-03 9.99987681e-01 -1.65496071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.496502481 meters 0.10938568747623145 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.11, Z:-1.65 [[ 9.99991801e-01 -1.72907706e-03 -3.66182358e-03 4.60227644e+00] [ 1.74183092e-03 9.99992419e-01 3.48260516e-03 -1.07636145e-01] [ 3.65577413e-03 -3.48895488e-03 9.99987231e-01 -1.65490217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.526502481 meters 0.109478766155437 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.11, Z:-1.66 [[ 9.99991377e-01 -1.44892604e-03 -3.89179495e-03 4.60293431e+00] [ 1.46389396e-03 9.99991533e-01 3.84592907e-03 -1.08166124e-01] [ 3.88618953e-03 -3.85159309e-03 9.99985031e-01 -1.65530689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.556502481 meters 0.10914664856383545 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.11, Z:-1.66 [[ 9.99974426e-01 -5.21460301e-03 -4.89448666e-03 4.60498431e+00] [ 5.21284656e-03 9.99986344e-01 -3.71551913e-04 -1.06692535e-01] [ 4.89635731e-03 3.46028203e-04 9.99987953e-01 -1.65588207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.586502481 meters 0.10923558774790616 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-1.66 [[ 9.99974952e-01 -4.97767365e-03 -5.03175404e-03 4.60539608e+00] [ 4.97761596e-03 9.99987611e-01 -2.39880265e-05 -1.07432374e-01] [ 5.03181111e-03 -1.05871361e-06 9.99987340e-01 -1.65618158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.616502481 meters 0.10916972602891539 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-1.66 [[ 9.99975585e-01 -4.49135354e-03 -5.35321732e-03 4.60613257e+00] [ 4.49494103e-03 9.99989681e-01 6.58312922e-04 -1.08997640e-01] [ 5.35020536e-03 -6.82359245e-04 9.99985455e-01 -1.65653017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.646502481 meters 0.10900858397217737 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-1.66 [[ 9.99976141e-01 -4.27040211e-03 -5.42969576e-03 4.60608330e+00] [ 4.27658247e-03 9.99990220e-01 1.12715040e-03 -1.10656979e-01] [ 5.42482928e-03 -1.15034405e-03 9.99984624e-01 -1.65631291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.676502481 meters 0.10895815001108197 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-1.66 [[ 9.99976947e-01 -3.86679264e-03 -5.58153841e-03 4.60661532e+00] [ 3.87683405e-03 9.99990884e-01 1.78934233e-03 -1.12161758e-01] [ 5.57456851e-03 -1.81093978e-03 9.99982822e-01 -1.65672675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.706502481 meters 0.10895877475856788 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-1.66 [[ 9.99978003e-01 -3.44293646e-03 -5.66924543e-03 4.60709443e+00] [ 3.45735557e-03 9.99990809e-01 2.53555755e-03 -1.13898757e-01] [ 5.66046356e-03 -2.55510237e-03 9.99980715e-01 -1.65723575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.736502481 meters 0.10876108113652674 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.12, Z:-1.66 [[ 9.99981818e-01 -2.90289205e-03 -5.28556240e-03 4.60676372e+00] [ 2.92371396e-03 9.99987980e-01 3.93593785e-03 -1.18225558e-01] [ 5.27407327e-03 -3.95131976e-03 9.99978285e-01 -1.65780959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76650248099997 meters 0.10852443531887297 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.12, Z:-1.66 [[ 9.99983533e-01 -2.55090265e-03 -5.14064651e-03 4.60676745e+00] [ 2.57510958e-03 9.99985603e-01 4.70782234e-03 -1.20441788e-01] [ 5.12856330e-03 -4.72098255e-03 9.99975705e-01 -1.65825741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79650248099998 meters 0.10827720045770153 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.12, Z:-1.66 [[ 9.99978904e-01 -4.63623541e-03 -4.54938301e-03 4.60502932e+00] [ 4.65003583e-03 9.99984605e-01 3.02759571e-03 -1.23792104e-01] [ 4.53527633e-03 -3.04868663e-03 9.99985068e-01 -1.65715902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82650248099998 meters 0.10825752682067444 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.13, Z:-1.66 [[ 9.99980753e-01 -4.23084132e-03 -4.53810510e-03 4.60524373e+00] [ 4.24840475e-03 9.99983496e-01 3.86757995e-03 -1.25966708e-01] [ 4.52166709e-03 -3.88678522e-03 9.99982224e-01 -1.65752995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85650248099998 meters 0.10824511325735213 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.13, Z:-1.66 [[ 9.99982597e-01 -4.38428781e-03 -3.94772047e-03 4.60358066e+00] [ 4.40169533e-03 9.99980581e-01 4.41167265e-03 -1.30400247e-01] [ 3.92830176e-03 -4.42897253e-03 9.99982476e-01 -1.65648334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88650248099998 meters 0.10816278301013904 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.13, Z:-1.66 [[ 9.99984376e-01 -4.21994117e-03 -3.66600787e-03 4.60307277e+00] [ 4.23846888e-03 9.99978211e-01 5.06093919e-03 -1.32654940e-01] [ 3.64457112e-03 -5.07639838e-03 9.99980473e-01 -1.65646071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91650248099998 meters 0.1083431722446952 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.13, Z:-1.66 [[ 9.99959570e-01 -8.13661551e-03 -3.82801552e-03 4.60348569e+00] [ 8.14262316e-03 9.99965637e-01 1.55643033e-03 -1.34585311e-01] [ 3.81521990e-03 -1.58753749e-03 9.99991462e-01 -1.65659972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94650248099998 meters 0.10871932252172938 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.14, Z:-1.66 [[ 9.99964836e-01 -7.73645306e-03 -3.23641809e-03 4.60275929e+00] [ 7.74628248e-03 9.99965389e-01 3.03569714e-03 -1.39364602e-01] [ 3.21282055e-03 -3.06066060e-03 9.99990155e-01 -1.65690904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97650248099998 meters 0.10882362714385571 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.14, Z:-1.66 [[ 9.99966213e-01 -7.64982330e-03 -3.00893717e-03 4.60233170e+00] [ 7.66027534e-03 9.99964613e-01 3.47761751e-03 -1.40998924e-01] [ 2.98222753e-03 -3.50054930e-03 9.99989426e-01 -1.65685215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00650248099998 meters 0.10911042791947385 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.14, Z:-1.66 [[ 9.99969509e-01 -7.21190982e-03 -2.99498303e-03 4.60271817e+00] [ 7.22476512e-03 9.99964639e-01 4.30387400e-03 -1.42878736e-01] [ 2.96383798e-03 -4.32538082e-03 9.99986253e-01 -1.65746724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03650248099999 meters 0.10962142278586219 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.15, Z:-1.66 [[ 9.99974027e-01 -6.65104799e-03 -2.77666602e-03 4.60292441e+00] [ 6.66643467e-03 9.99962269e-01 5.56944310e-03 -1.45982106e-01] [ 2.73951862e-03 -5.58780891e-03 9.99980636e-01 -1.65830950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.066502481 meters 0.10972073451635057 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.15, Z:-1.66 [[ 9.99975152e-01 -6.56770385e-03 -2.56123327e-03 4.60262002e+00] [ 6.58270978e-03 9.99960957e-01 5.89512465e-03 -1.47158746e-01] [ 2.52241584e-03 -5.91183802e-03 9.99979344e-01 -1.65840867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.096502481 meters 0.10993379824219779 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.15, Z:-1.66 [[ 9.99976425e-01 -6.49254957e-03 -2.23510981e-03 4.60199613e+00] [ 6.50680001e-03 9.99958166e-01 6.42860900e-03 -1.49166293e-01] [ 2.19327825e-03 -6.44300085e-03 9.99976838e-01 -1.65825540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.126502481 meters 0.11025135872098304 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.15, Z:-1.66 [[ 9.99997026e-01 -1.99602676e-03 -1.40133415e-03 4.61506106e+00] [ 1.99804629e-03 9.99996965e-01 1.44123560e-03 -1.50117352e-01] [ 1.39845315e-03 -1.44403124e-03 9.99997980e-01 -1.65738614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.156502481 meters 0.11126228498082241 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.15, Z:-1.66 [[ 9.99996981e-01 -2.27756050e-03 -9.22182664e-04 4.61348190e+00] [ 2.27898221e-03 9.99996212e-01 1.54357989e-03 -1.52099438e-01] [ 9.18663574e-04 -1.54567687e-03 9.99998383e-01 -1.65618574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.186502481 meters 0.11105348499952529 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.15, Z:-1.66 [[ 9.99997809e-01 -1.90530762e-03 -8.66731342e-04 4.61371179e+00] [ 1.90724336e-03 9.99995677e-01 2.23806127e-03 -1.53770450e-01] [ 8.62463400e-04 -2.23970944e-03 9.99997120e-01 -1.65666212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.216502481 meters 0.11176079626930409 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.16, Z:-1.66 [[ 9.99998477e-01 -1.64733386e-03 -5.76140974e-04 4.61353912e+00] [ 1.64902765e-03 9.99994284e-01 2.95187355e-03 -1.55898734e-01] [ 5.71274959e-04 -2.95281912e-03 9.99995477e-01 -1.65711726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.246502481 meters 0.11160286135698141 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.16, Z:-1.66 [[ 9.99998846e-01 -1.43067301e-03 -5.11241853e-04 4.61375683e+00] [ 1.43237157e-03 9.99993404e-01 3.33765428e-03 -1.56758450e-01] [ 5.06463389e-04 -3.33838272e-03 9.99994299e-01 -1.65760161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.276502481 meters 0.11160286135698141 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.16, Z:-1.66 [[ 9.99998846e-01 -1.43067301e-03 -5.11241853e-04 4.61375683e+00] [ 1.43237157e-03 9.99993404e-01 3.33765428e-03 -1.56758450e-01] [ 5.06463389e-04 -3.33838272e-03 9.99994299e-01 -1.65760161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.306502481 meters 0.11147796324781138 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.16, Z:-1.66 [[ 9.99999026e-01 -1.34806347e-03 -3.62478219e-04 4.61362279e+00] [ 1.34934878e-03 9.99992719e-01 3.56935078e-03 -1.57588202e-01] [ 3.57663869e-04 -3.56983641e-03 9.99993564e-01 -1.65775887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.336502481 meters 0.11138674999476351 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.16, Z:-1.66 [[ 9.99985592e-01 -5.23145433e-03 -1.20332658e-03 4.61550517e+00] [ 5.23057541e-03 9.99986052e-01 -7.32404431e-04 -1.55704636e-01] [ 1.20714134e-03 7.26099788e-04 9.99999008e-01 -1.65846525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.366502481 meters 0.11086990097350047 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.16, Z:-1.66 [[ 9.99986428e-01 -4.99982531e-03 -1.46490426e-03 4.61633162e+00] [ 4.99905930e-03 9.99987366e-01 -5.26101959e-04 -1.55520415e-01] [ 1.46751618e-03 5.18771675e-04 9.99998789e-01 -1.65902388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.396502481 meters 0.11041072572668016 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.15, Z:-1.66 [[ 9.99987022e-01 -4.81071392e-03 -1.67698595e-03 4.61706620e+00] [ 4.80995590e-03 9.99988328e-01 -4.55751995e-04 -1.54953372e-01] [ 1.67915887e-03 4.47679852e-04 9.99998490e-01 -1.65955905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.426502481 meters 0.10989314839020238 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.15, Z:-1.66 [[ 9.99987194e-01 -4.70473942e-03 -1.86470379e-03 4.61762175e+00] [ 4.70395706e-03 9.99988847e-01 -4.23723296e-04 -1.54564950e-01] [ 1.86667650e-03 4.14946383e-04 9.99998172e-01 -1.65988671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.456502481 meters 0.11008151932245168 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.15, Z:-1.66 [[ 9.99986825e-01 -4.69307243e-03 -2.07960872e-03 4.61807803e+00] [ 4.69194129e-03 9.99988842e-01 -5.48461823e-04 -1.53800291e-01] [ 2.08215949e-03 5.38697195e-04 9.99997687e-01 -1.65998701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.486502481 meters 0.10913916529976708 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.15, Z:-1.66 [[ 9.99986347e-01 -4.61708238e-03 -2.44699640e-03 4.61890879e+00] [ 4.61524989e-03 9.99989065e-01 -7.53989898e-04 -1.52517299e-01] [ 2.45045087e-03 7.42686104e-04 9.99996722e-01 -1.66028328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51650248099997 meters 0.10867494127875978 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.15, Z:-1.66 [[ 9.99986550e-01 -4.47850494e-03 -2.61595035e-03 4.61950201e+00] [ 4.47671612e-03 9.99989742e-01 -6.89268083e-04 -1.52135570e-01] [ 2.61901041e-03 6.77547945e-04 9.99996341e-01 -1.66072481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54650248099998 meters 0.10819412777602137 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.15, Z:-1.66 [[ 9.99986250e-01 -4.25016895e-03 -3.07177742e-03 4.62068392e+00] [ 4.24801374e-03 9.99990727e-01 -7.07801055e-04 -1.51136563e-01] [ 3.07475721e-03 6.94742371e-04 9.99995032e-01 -1.66138005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57650248099998 meters 0.10742821287040707 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.15, Z:-1.66 [[ 9.99985835e-01 -4.06799202e-03 -3.43243450e-03 4.62153083e+00] [ 4.06572460e-03 9.99991512e-01 -6.67307532e-04 -1.50550308e-01] [ 3.43511996e-03 6.53342746e-04 9.99993887e-01 -1.66174729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60650248099998 meters 0.10725813560609021 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.15, Z:-1.66 [[ 9.99985646e-01 -3.95045419e-03 -3.61954866e-03 4.62198500e+00] [ 3.94841796e-03 9.99992043e-01 -5.69538401e-04 -1.50480211e-01] [ 3.62176979e-03 5.55238735e-04 9.99993287e-01 -1.66194567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63650248099998 meters 0.10703121582903558 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.15, Z:-1.66 [[ 9.99984450e-01 -3.81930987e-03 -4.06359816e-03 4.62277304e+00] [ 3.81692205e-03 9.99992538e-01 -5.95205327e-04 -1.49693742e-01] [ 4.06584111e-03 5.79685634e-04 9.99991566e-01 -1.66201759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66650248099998 meters 0.10678538182813857 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.15, Z:-1.66 [[ 9.99984492e-01 -3.66952390e-03 -4.18943104e-03 4.62323240e+00] [ 3.66772702e-03 9.99993179e-01 -4.36509804e-04 -1.49652641e-01] [ 4.19100425e-03 4.21137345e-04 9.99991129e-01 -1.66236532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69650248099998 meters 0.10671472636010244 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.15, Z:-1.66 [[ 9.99984567e-01 -3.69947450e-03 -4.14477225e-03 4.62280728e+00] [ 3.69807516e-03 9.99993103e-01 -3.45228415e-04 -1.50490701e-01] [ 4.14602082e-03 3.29895408e-04 9.99991351e-01 -1.66188499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72650248099998 meters 0.10680441733861867 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.15, Z:-1.66 [[ 9.99985166e-01 -3.45965192e-03 -4.20685783e-03 4.62300992e+00] [ 3.45998395e-03 9.99994012e-01 7.16504724e-05 -1.51524865e-01] [ 4.20658475e-03 -8.62050701e-05 9.99991149e-01 -1.66204839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75650248099998 meters 0.10694132695225843 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.15, Z:-1.66 [[ 9.99986060e-01 -3.13809340e-03 -4.24635189e-03 4.62313934e+00] [ 3.14110048e-03 9.99994821e-01 7.01672740e-04 -1.53170480e-01] [ 4.24412798e-03 -7.15001177e-04 9.99990738e-01 -1.66215055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78650248099999 meters 0.10683562295659974 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.15, Z:-1.66 [[ 9.99986960e-01 -2.88080442e-03 -4.21672054e-03 4.62326177e+00] [ 2.88575414e-03 9.99995154e-01 1.16821688e-03 -1.54451796e-01] [ 4.21333470e-03 -1.18037006e-03 9.99990427e-01 -1.66241477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.816502481 meters 0.1067867712621648 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.16, Z:-1.66 [[ 9.99989405e-01 -2.20736128e-03 -4.03958614e-03 4.62350433e+00] [ 2.21745211e-03 9.99994428e-01 2.49521395e-03 -1.58056648e-01] [ 4.03405580e-03 -2.50414510e-03 9.99988728e-01 -1.66320967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.846502481 meters 0.10726169403249988 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.16, Z:-1.66 [[ 9.99990214e-01 -1.94942356e-03 -3.97135720e-03 4.62354476e+00] [ 1.96146304e-03 9.99993486e-01 3.02994250e-03 -1.59546193e-01] [ 3.96542469e-03 -3.03770252e-03 9.99987524e-01 -1.66344225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.876502481 meters 0.1071475747215213 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.16, Z:-1.66 [[ 9.99990937e-01 -1.85180621e-03 -3.83360115e-03 4.62321093e+00] [ 1.86507615e-03 9.99992272e-01 3.46080559e-03 -1.61131185e-01] [ 3.82716279e-03 -3.46792418e-03 9.99986663e-01 -1.66323833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.906502481 meters 0.10751220084648126 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.16, Z:-1.66 [[ 9.99991533e-01 -1.66694550e-03 -3.76241164e-03 4.62324642e+00] [ 1.68147768e-03 9.99991126e-01 3.86261138e-03 -1.62197419e-01] [ 3.75593949e-03 -3.86890509e-03 9.99985462e-01 -1.66343320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.936502481 meters 0.10801683712370946 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.16, Z:-1.66 [[ 9.99975799e-01 -5.66049067e-03 -4.04489894e-03 4.62400364e+00] [ 5.66077214e-03 9.99983976e-01 5.81412164e-05 -1.62927502e-01] [ 4.04450502e-03 -8.10370605e-05 9.99991818e-01 -1.66375549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.966502481 meters 0.10848209196700721 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.17, Z:-1.66 [[ 9.99979101e-01 -5.13077492e-03 -3.93342231e-03 4.62427094e+00] [ 5.13493292e-03 9.99986267e-01 1.04772353e-03 -1.65418825e-01] [ 3.92799266e-03 -1.06789950e-03 9.99991715e-01 -1.66444379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.996502481 meters 0.10921000050382734 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.17, Z:-1.67 [[ 9.99982264e-01 -4.70770590e-03 -3.64809357e-03 4.62419916e+00] [ 4.71535697e-03 9.99986695e-01 2.09152453e-03 -1.68196104e-01] [ 3.63819875e-03 -2.10868950e-03 9.99991158e-01 -1.66502529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.026502481 meters 0.10954491379776896 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.17, Z:-1.67 [[ 9.99983306e-01 -4.41465205e-03 -3.72802164e-03 4.62462663e+00] [ 4.42421954e-03 9.99986931e-01 2.56203491e-03 -1.69068727e-01] [ 3.71666242e-03 -2.57848572e-03 9.99989769e-01 -1.66544635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.056502481 meters 0.10986591042193838 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.17, Z:-1.67 [[ 9.99984421e-01 -4.09383890e-03 -3.79443329e-03 4.62512271e+00] [ 4.10547506e-03 9.99986879e-01 3.06394111e-03 -1.69967041e-01] [ 3.78184022e-03 -3.07947133e-03 9.99988107e-01 -1.66598240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.086502481 meters 0.11021900923272168 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.17, Z:-1.67 [[ 9.99985163e-01 -3.84981384e-03 -3.85382753e-03 4.62553518e+00] [ 3.86298683e-03 9.99986702e-01 3.41656853e-03 -1.70579535e-01] [ 3.84062313e-03 -3.43140513e-03 9.99986737e-01 -1.66642383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.116502481 meters 0.11027031923613359 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.17, Z:-1.67 [[ 9.99958800e-01 -7.81098266e-03 -4.62462141e-03 4.62744658e+00] [ 7.80706250e-03 9.99969150e-01 -8.65118707e-04 -1.68758553e-01] [ 4.63123617e-03 8.28978356e-04 9.99988932e-01 -1.66725359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.146502481 meters 0.11052254027017129 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.17, Z:-1.67 [[ 9.99958669e-01 -7.66014620e-03 -4.89726202e-03 4.62814948e+00] [ 7.65646004e-03 9.99970392e-01 -7.71003442e-04 -1.68413609e-01] [ 4.90302302e-03 7.33475885e-04 9.99987711e-01 -1.66756825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.176502481 meters 0.11059726574167113 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.17, Z:-1.67 [[ 9.99958417e-01 -7.60486966e-03 -5.03284120e-03 4.62854097e+00] [ 7.60110400e-03 9.99970817e-01 -7.66922331e-04 -1.68139146e-01] [ 5.03852668e-03 7.28635291e-04 9.99987041e-01 -1.66778783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.206502481 meters 0.1105870353349845 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.17, Z:-1.67 [[ 9.99958305e-01 -7.49535091e-03 -5.21620451e-03 4.62906545e+00] [ 7.49175605e-03 9.99971686e-01 -7.08368958e-04 -1.67833967e-01] [ 5.22136629e-03 6.69260891e-04 9.99986145e-01 -1.66808578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.236502481 meters 0.11042942841241374 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.17, Z:-1.67 [[ 9.99955988e-01 -7.56104719e-03 -5.55459991e-03 4.62964103e+00] [ 7.55557735e-03 9.99970951e-01 -1.00506520e-03 -1.66579133e-01] [ 5.56203790e-03 9.63052752e-04 9.99984068e-01 -1.66803757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26650248099997 meters 0.11064381472873362 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.17, Z:-1.67 [[ 9.99955379e-01 -7.53601976e-03 -5.69641441e-03 4.62995606e+00] [ 7.53029471e-03 9.99971121e-01 -1.02580907e-03 -1.66213974e-01] [ 5.70398042e-03 9.82867614e-04 9.99983249e-01 -1.66810410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29650248099998 meters 0.11092336857904556 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.17, Z:-1.67 [[ 9.99957114e-01 -7.31892957e-03 -5.67478688e-03 4.63037620e+00] [ 7.31487504e-03 9.99972976e-01 -7.34907909e-04 -1.66479096e-01] [ 5.68001226e-03 6.93366035e-04 9.99983628e-01 -1.66874270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32650248099998 meters 0.11080609027907734 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.17, Z:-1.67 [[ 9.99957534e-01 -7.21269166e-03 -5.73646515e-03 4.63073585e+00] [ 7.20929595e-03 9.99973825e-01 -6.12410368e-04 -1.66479005e-01] [ 5.74073212e-03 5.71028486e-04 9.99983359e-01 -1.66909910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35650248099998 meters 0.11137634558716289 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.17, Z:-1.67 [[ 9.99957211e-01 -7.11826106e-03 -5.90816253e-03 4.63153138e+00] [ 7.11467578e-03 9.99974493e-01 -6.27632650e-04 -1.65516052e-01] [ 5.91247949e-03 5.85571133e-04 9.99982350e-01 -1.66976302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38650248099998 meters 0.11193316860009199 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.16, Z:-1.67 [[ 9.99957055e-01 -7.03551355e-03 -6.03234171e-03 4.63221491e+00] [ 7.03151386e-03 9.99975045e-01 -6.83992216e-04 -1.64551931e-01] [ 6.03700341e-03 6.41546348e-04 9.99981571e-01 -1.67038990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41650248099998 meters 0.11178100907900251 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.16, Z:-1.67 [[ 9.99956876e-01 -6.95607795e-03 -6.15294148e-03 4.63265698e+00] [ 6.95221090e-03 9.99975622e-01 -6.49653240e-04 -1.64175763e-01] [ 6.15731052e-03 6.06848678e-04 9.99980859e-01 -1.67072010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44650248099998 meters 0.11225892005232818 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.16, Z:-1.67 [[ 9.99955122e-01 -7.00219201e-03 -6.38154644e-03 4.63353266e+00] [ 6.99560158e-03 9.99974975e-01 -1.05446932e-03 -1.62119051e-01] [ 6.38877034e-03 1.00977924e-03 9.99979082e-01 -1.67135730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47650248099998 meters 0.1116815886634361 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.16, Z:-1.67 [[ 9.99953434e-01 -7.10282105e-03 -6.53304156e-03 4.63401598e+00] [ 7.09375419e-03 9.99973845e-01 -1.40997430e-03 -1.60645527e-01] [ 6.54288548e-03 1.36356485e-03 9.99977665e-01 -1.67162312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50650248099998 meters 0.11203220520534786 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.16, Z:-1.67 [[ 9.99975849e-01 -2.93246014e-03 -6.30094689e-03 4.63427961e+00] [ 2.94810125e-03 9.99992593e-01 2.47448903e-03 -1.58796353e-01] [ 6.29364388e-03 -2.49300509e-03 9.99977087e-01 -1.67250933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53650248099999 meters 0.11198210855904686 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.16, Z:-1.67 [[ 9.99973236e-01 -2.97408521e-03 -6.68449550e-03 4.63537085e+00] [ 2.98756335e-03 9.99993523e-01 2.00724858e-03 -1.56492764e-01] [ 6.67848247e-03 -2.02716521e-03 9.99975644e-01 -1.67307225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.566502481 meters 0.11197782171872614 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.15, Z:-1.68 [[ 9.99998036e-01 1.27562935e-03 -1.51710068e-03 4.64521586e+00] [-1.27907931e-03 9.99996594e-01 -2.27525896e-03 -1.50706104e-01] [ 1.51419313e-03 2.27719498e-03 9.99996261e-01 -1.67531748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.596502481 meters 0.11216759913357907 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.15, Z:-1.68 [[ 9.99997740e-01 1.00649570e-03 -1.87268194e-03 4.64594473e+00] [-1.01227899e-03 9.99994714e-01 -3.08986240e-03 -1.47759946e-01] [ 1.86956211e-03 3.09175109e-03 9.99993473e-01 -1.67537371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.626502481 meters 0.11190182285502115 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.14, Z:-1.68 [[ 9.99993260e-01 1.97049221e-03 -3.09777996e-03 4.64896487e+00] [-1.98029568e-03 9.99993031e-01 -3.16479848e-03 -1.40973146e-01] [ 3.09152217e-03 3.17091167e-03 9.99990194e-01 -1.67670799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.656502481 meters 0.11170142729033415 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.14, Z:-1.68 [[ 9.99986284e-01 -5.08368070e-03 1.25992659e-03 4.65831621e+00] [ 5.08102536e-03 9.99984883e-01 2.10185010e-03 -1.38147478e-01] [-1.27059268e-03 -2.09541955e-03 9.99996997e-01 -1.68037814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.686502481 meters 0.11162394173598088 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.13, Z:-1.68 [[ 9.99990135e-01 -4.43675267e-03 2.12470190e-04 4.66116983e+00] [ 4.43636760e-03 9.99988575e-01 1.77977598e-03 -1.31900811e-01] [-2.20364188e-04 -1.77881582e-03 9.99998394e-01 -1.68200854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.716502481 meters 0.11090634081623205 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.13, Z:-1.68 [[ 9.99990495e-01 -4.35160698e-03 -2.70796167e-04 4.66267397e+00] [ 4.35198498e-03 9.99989534e-01 1.41131272e-03 -1.29202902e-01] [ 2.64651855e-04 -1.41247781e-03 9.99998967e-01 -1.68290469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.746502481 meters 0.1108373017523069 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.12, Z:-1.69 [[ 9.99993927e-01 -3.20417794e-03 -1.37084993e-03 4.66628191e+00] [ 3.20667648e-03 9.99993195e-01 1.82431913e-03 -1.23659535e-01] [ 1.36499516e-03 -1.82870392e-03 9.99997396e-01 -1.68544624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.776502481 meters 0.11134664405072715 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.12, Z:-1.69 [[ 9.99993174e-01 -3.26414138e-03 -1.73107906e-03 4.66743462e+00] [ 3.26642533e-03 9.99993796e-01 1.31820072e-03 -1.20971853e-01] [ 1.72676553e-03 -1.32384617e-03 9.99997633e-01 -1.68613067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.806502481 meters 0.11118500385098604 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.12, Z:-1.69 [[ 9.99992194e-01 -3.07707090e-03 -2.47871544e-03 4.66959364e+00] [ 3.07936717e-03 9.99994833e-01 9.23111326e-04 -1.15323807e-01] [ 2.47586215e-03 -9.30736995e-04 9.99996502e-01 -1.68734508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.836502481 meters 0.11166082812021494 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.11, Z:-1.69 [[ 9.99994732e-01 1.05849935e-03 3.06835328e-03 4.67831705e+00] [-1.04818144e-03 9.99993798e-01 -3.36234680e-03 -1.10953114e-01] [-3.07189329e-03 3.35911290e-03 9.99989640e-01 -1.68834263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.866502481 meters 0.11200351359884879 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.11, Z:-1.69 [[ 9.99994788e-01 1.01454728e-03 3.06520924e-03 4.67865488e+00] [-1.00377452e-03 9.99993322e-01 -3.51402309e-03 -1.09944930e-01] [-3.06875392e-03 3.51092799e-03 9.99989128e-01 -1.68877174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.896502481 meters 0.11372279026678972 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.11, Z:-1.69 [[ 9.99994913e-01 9.39932531e-04 3.04799681e-03 4.67925935e+00] [-9.28462563e-04 9.99992491e-01 -3.76235097e-03 -1.08178835e-01] [-3.05151028e-03 3.75950188e-03 9.99988277e-01 -1.68956167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.926502481 meters 0.11315728418241043 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.11, Z:-1.69 [[ 9.99995005e-01 9.58561479e-04 3.01179919e-03 4.67970627e+00] [-9.47089328e-04 9.99992300e-01 -3.80818910e-03 -1.07421663e-01] [-3.01542638e-03 3.80531764e-03 9.99988213e-01 -1.69005366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.956502481 meters 0.11431258811830902 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.11, Z:-1.69 [[ 9.99995245e-01 9.43039764e-04 2.93618825e-03 4.68054524e+00] [-9.31327247e-04 9.99991615e-01 -3.98783659e-03 -1.05550031e-01] [-2.93992432e-03 3.98508307e-03 9.99987738e-01 -1.69100874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.986502481 meters 0.11438978677427562 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.11, Z:-1.69 [[ 9.99995302e-01 1.07436758e-03 2.87076166e-03 4.68115424e+00] [-1.06328879e-03 9.99991993e-01 -3.85792374e-03 -1.05160687e-01] [-2.87488351e-03 3.85485317e-03 9.99988438e-01 -1.69169170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01650248099997 meters 0.11453060811648258 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.10, Z:-1.69 [[ 9.99995769e-01 9.88494639e-04 2.73567746e-03 4.68186880e+00] [-9.77007139e-04 9.99990714e-01 -4.19729819e-03 -1.03208195e-01] [-2.73980106e-03 4.19460766e-03 9.99987449e-01 -1.69232332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04650248099998 meters 0.11473260720220133 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.10, Z:-1.69 [[ 9.99996185e-01 9.75284847e-04 2.58415126e-03 4.68241282e+00] [-9.63970888e-04 9.99989961e-01 -4.37584490e-03 -1.02080447e-01] [-2.58839301e-03 4.37333716e-03 9.99987087e-01 -1.69268439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07650248099998 meters 0.11463248022694407 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.10, Z:-1.69 [[ 9.99997632e-01 8.34788759e-04 2.00954290e-03 4.68355648e+00] [-8.24477338e-04 9.99986519e-01 -5.12659848e-03 -9.88710693e-02] [-2.01379544e-03 5.12492952e-03 9.99984840e-01 -1.69279893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10650248099998 meters 0.11423068135963321 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.10, Z:-1.69 [[ 9.99998273e-01 9.06453227e-04 1.62233434e-03 4.68452699e+00] [-8.97769011e-04 9.99985309e-01 -5.34566094e-03 -9.74736252e-02] [-1.62715610e-03 5.34419523e-03 9.99984396e-01 -1.69315702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13650248099998 meters 0.11376299970059925 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.09, Z:-1.69 [[ 9.99998777e-01 1.51403905e-03 3.92497218e-04 4.68729034e+00] [-1.51192670e-03 9.99984666e-01 -5.32739232e-03 -9.32669712e-02] [-4.00557079e-04 5.32679238e-03 9.99985732e-01 -1.69415684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16650248099998 meters 0.11376299970059925 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.09, Z:-1.69 [[ 9.99998777e-01 1.51403905e-03 3.92497218e-04 4.68729034e+00] [-1.51192670e-03 9.99984666e-01 -5.32739232e-03 -9.32669712e-02] [-4.00557079e-04 5.32679238e-03 9.99985732e-01 -1.69415684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19650248099998 meters 0.11336376826009596 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.09, Z:-1.69 [[ 9.99998785e-01 1.55265883e-03 -1.39463906e-04 4.68844413e+00] [-1.55343298e-03 9.99982355e-01 -5.73379030e-03 -9.12386660e-02] [ 1.30558825e-04 5.73399998e-03 9.99983552e-01 -1.69442311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22650248099998 meters 0.11272262336435722 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.09, Z:-1.70 [[ 9.99996858e-01 2.14307092e-03 -1.30039246e-03 4.69111953e+00] [-2.15061024e-03 9.99980726e-01 -5.82429914e-03 -8.71106617e-02] [ 1.28788551e-03 5.82707748e-03 9.99982193e-01 -1.69543532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25650248099998 meters 0.11232304725192065 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.09, Z:-1.70 [[ 9.99995991e-01 2.28344537e-03 -1.67422060e-03 4.69220111e+00] [-2.29338781e-03 9.99979604e-01 -5.96087150e-03 -8.57321072e-02] [ 1.66057513e-03 5.96468724e-03 9.99980832e-01 -1.69603450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28650248099999 meters 0.11192090952894061 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.08, Z:-1.70 [[ 9.99993763e-01 2.50934441e-03 -2.48537924e-03 4.69401337e+00] [-2.52517270e-03 9.99976421e-01 -6.38603160e-03 -8.31644739e-02] [ 2.46929588e-03 6.39226778e-03 9.99976520e-01 -1.69662547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.316502481 meters 0.11173780582694462 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.08, Z:-1.70 [[ 9.99991188e-01 2.78118986e-03 -3.14470488e-03 4.69559908e+00] [-2.80167269e-03 9.99974768e-01 -6.52789686e-03 -8.14559445e-02] [ 3.12647021e-03 6.53664977e-03 9.99973748e-01 -1.69724133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.346502481 meters 0.11168090004576978 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.08, Z:-1.70 [[ 9.99989876e-01 2.98245805e-03 -3.36950612e-03 4.69633503e+00] [-3.00375372e-03 9.99975436e-01 -6.33283175e-03 -8.13586092e-02] [ 3.35053595e-03 6.34288880e-03 9.99974271e-01 -1.69774883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.376502481 meters 0.11175611262290457 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.08, Z:-1.70 [[ 9.99989226e-01 3.05653516e-03 -3.49353163e-03 4.69676185e+00] [-3.07850123e-03 9.99975418e-01 -6.29965183e-03 -8.11267976e-02] [ 3.47419065e-03 6.31033880e-03 9.99974054e-01 -1.69803629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.406502481 meters 0.1118402612065711 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.08, Z:-1.70 [[ 9.99991709e-01 -3.57042032e-03 1.95808666e-03 4.70547190e+00] [ 3.57098338e-03 9.99993584e-01 -2.84134858e-04 -8.21694390e-02] [-1.95705962e-03 2.91124797e-04 9.99998043e-01 -1.70188976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.436502481 meters 0.1116967716978729 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.08, Z:-1.70 [[ 9.99992420e-01 -3.39608902e-03 1.90448575e-03 4.70580837e+00] [ 3.39615808e-03 9.99994232e-01 -3.30305692e-05 -8.26592211e-02] [-1.90436259e-03 3.94982535e-05 9.99998186e-01 -1.70222024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.466502481 meters 0.11205014559710835 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.08, Z:-1.70 [[ 9.99993609e-01 -3.05626062e-03 1.85507938e-03 4.70617312e+00] [ 3.05532611e-03 9.99995204e-01 5.06382702e-04 -8.39894857e-02] [-1.85661812e-03 -5.00711594e-04 9.99998151e-01 -1.70263089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.496502481 meters 0.11201388066395206 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:-1.70 [[ 9.99994134e-01 -2.85394491e-03 1.89416058e-03 4.70629803e+00] [ 2.85231626e-03 9.99995561e-01 8.61970503e-04 -8.50536738e-02] [-1.89661218e-03 -8.56562701e-04 9.99997835e-01 -1.70293102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.526502481 meters 0.11214280602627925 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:-1.70 [[ 9.99994803e-01 -2.58278185e-03 1.92938634e-03 4.70657328e+00] [ 2.58015837e-03 9.99995745e-01 1.36100085e-03 -8.61810732e-02] [-1.93289330e-03 -1.35601565e-03 9.99997213e-01 -1.70346147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.556502481 meters 0.11246815851326171 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:-1.70 [[ 9.99994437e-01 -2.42959376e-03 2.28524786e-03 4.70625412e+00] [ 2.42535148e-03 9.99995334e-01 1.85731796e-03 -8.79150017e-02] [-2.28974972e-03 -1.85176510e-03 9.99995664e-01 -1.70394395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.586502481 meters 0.11273468233270975 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:-1.70 [[ 9.99994846e-01 -2.28459520e-03 2.25563857e-03 4.70639740e+00] [ 2.27980844e-03 9.99995149e-01 2.12242227e-03 -8.88539602e-02] [-2.26047650e-03 -2.11726891e-03 9.99995204e-01 -1.70402714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.616502481 meters 0.11282494201011269 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:-1.70 [[ 9.99995635e-01 -2.07142192e-03 2.10671728e-03 4.70683191e+00] [ 2.06631471e-03 9.99994928e-01 2.42354511e-03 -8.95045432e-02] [-2.11172678e-03 -2.41918139e-03 9.99994844e-01 -1.70427919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.646502481 meters 0.11292010487401556 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:-1.70 [[ 9.99994925e-01 -2.08755126e-03 2.40677264e-03 4.70626198e+00] [ 2.08120061e-03 9.99994354e-01 2.63814867e-03 -9.09982958e-02] [-2.41226632e-03 -2.63312631e-03 9.99993624e-01 -1.70419976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.676502481 meters 0.11330950321332234 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:-1.70 [[ 9.99979055e-01 -6.25395952e-03 1.66665969e-03 4.70749000e+00] [ 6.25722424e-03 9.99978501e-01 -1.96087981e-03 -8.94278953e-02] [-1.65436060e-03 1.97126740e-03 9.99996689e-01 -1.70409913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.706502481 meters 0.11338736931799868 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:-1.70 [[ 9.99980122e-01 -6.11049068e-03 1.55501367e-03 4.70799349e+00] [ 6.11325253e-03 9.99979734e-01 -1.77758253e-03 -8.94639040e-02] [-1.54412025e-03 1.78705338e-03 9.99997211e-01 -1.70454827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.736502481 meters 0.11316454685512176 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:-1.70 [[ 9.99980343e-01 -6.11715152e-03 1.37642364e-03 4.70828067e+00] [ 6.11973041e-03 9.99979512e-01 -1.87727423e-03 -8.90214249e-02] [-1.36491187e-03 1.88566067e-03 9.99997291e-01 -1.70445059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76650248099997 meters 0.11318212955008182 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:-1.70 [[ 9.99981431e-01 -5.97403321e-03 1.20341605e-03 4.70882262e+00] [ 5.97612751e-03 9.99980622e-01 -1.74427611e-03 -8.88867863e-02] [-1.19297237e-03 1.75143549e-03 9.99997755e-01 -1.70480970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79650248099998 meters 0.11300268188551693 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:-1.71 [[ 9.99983281e-01 -5.67198013e-03 1.12500077e-03 4.70939358e+00] [ 5.67347011e-03 9.99983027e-01 -1.32568408e-03 -8.95283346e-02] [-1.11746242e-03 1.33204458e-03 9.99998488e-01 -1.70547644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82650248099998 meters 0.11277582564468329 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:-1.71 [[ 9.99985161e-01 -5.34750062e-03 1.03999882e-03 4.70979273e+00] [ 5.34838405e-03 9.99985337e-01 -8.48527153e-04 -9.10033912e-02] [-1.03544607e-03 8.54076875e-04 9.99999099e-01 -1.70589301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85650248099998 meters 0.11260284280880865 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:-1.71 [[ 9.99986736e-01 -5.06675173e-03 9.25284818e-04 4.71035159e+00] [ 5.06718351e-03 9.99987054e-01 -4.64895734e-04 -9.16357100e-02] [-9.22917328e-04 4.69578155e-04 9.99999464e-01 -1.70643764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88650248099998 meters 0.11246475242143954 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:-1.71 [[ 9.99986697e-01 -5.12278884e-03 6.02765384e-04 4.71074520e+00] [ 5.12322456e-03 9.99986614e-01 -7.23560400e-04 -9.08659182e-02] [-5.99050668e-04 7.26638876e-04 9.99999557e-01 -1.70616490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91650248099998 meters 0.11239274660863945 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:-1.71 [[ 9.99988289e-01 -4.82876945e-03 3.22982566e-04 4.71167868e+00] [ 4.82890601e-03 9.99988251e-01 -4.23399907e-04 -9.08383756e-02] [-3.20934271e-04 4.24954601e-04 9.99999858e-01 -1.70682633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94650248099998 meters 0.11209217089953034 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:-1.71 [[ 9.99989646e-01 -4.55053605e-03 -6.01380265e-06 4.71252996e+00] [ 4.55053499e-03 9.99989632e-01 -1.66366391e-04 -9.09867935e-02] [ 6.77079656e-06 1.66337303e-04 9.99999986e-01 -1.70726252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97650248099998 meters 0.11189651145541336 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:-1.71 [[ 9.99992098e-01 -3.96450788e-03 -2.93587289e-04 4.71380025e+00] [ 3.96468187e-03 9.99991964e-01 5.94438044e-04 -9.19634873e-02] [ 2.91228276e-04 -5.95597327e-04 9.99999780e-01 -1.70845350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00650248099998 meters 0.11180572444351622 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.09, Z:-1.71 [[ 9.99993143e-01 -3.68001865e-03 -4.14297838e-04 4.71435265e+00] [ 3.68042772e-03 9.99992736e-01 9.90992407e-04 -9.26958539e-02] [ 4.10647958e-04 -9.92510405e-04 9.99999423e-01 -1.70897297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03650248099999 meters 0.11185418510803752 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.09, Z:-1.71 [[ 9.99994330e-01 -3.32063362e-03 -5.60418686e-04 4.71502302e+00] [ 3.32149059e-03 9.99993305e-01 1.53522962e-03 -9.37404739e-02] [ 5.55316999e-04 -1.53708234e-03 9.99998664e-01 -1.70961766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.066502481 meters 0.11175420458453464 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.09, Z:-1.71 [[ 9.99995111e-01 -3.05404463e-03 -6.71131755e-04 4.71564499e+00] [ 3.05531729e-03 9.99993521e-01 1.90351893e-03 -9.41892596e-02] [ 6.65313974e-04 -1.90556014e-03 9.99997963e-01 -1.71024672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.096502481 meters 0.11180190242039154 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.10, Z:-1.71 [[ 9.99995785e-01 -2.84563745e-03 -5.76592627e-04 4.71565636e+00] [ 2.84699912e-03 9.99993128e-01 2.37467929e-03 -9.58410306e-02] [ 5.69831188e-04 -2.37631083e-03 9.99997014e-01 -1.71053355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.126502481 meters 0.11152623498856908 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.10, Z:-1.71 [[ 9.99996692e-01 -2.48732938e-03 -6.55744409e-04 4.71629413e+00] [ 2.48923322e-03 9.99992643e-01 2.91866652e-03 -9.68229998e-02] [ 6.48479899e-04 -2.92028916e-03 9.99995526e-01 -1.71127647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.156502481 meters 0.11149309613647344 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.10, Z:-1.71 [[ 9.99996845e-01 -2.34036083e-03 -9.12116886e-04 4.71691092e+00] [ 2.34313892e-03 9.99992583e-01 3.05668408e-03 -9.67467922e-02] [ 9.04956377e-04 -3.05881165e-03 9.99994912e-01 -1.71150084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.186502481 meters 0.1113627588352379 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.10, Z:-1.71 [[ 9.99996807e-01 -2.18070110e-03 -1.27722122e-03 4.71769432e+00] [ 2.18468554e-03 9.99992726e-01 3.12657707e-03 -9.64962181e-02] [ 1.27039380e-03 -3.12935741e-03 9.99994297e-01 -1.71167862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.216502481 meters 0.11142925221808897 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.10, Z:-1.71 [[ 9.99996236e-01 -2.13898261e-03 -1.71844741e-03 4.71828676e+00] [ 2.14406630e-03 9.99993315e-01 2.96193229e-03 -9.58461474e-02] [ 1.71210040e-03 -2.96560561e-03 9.99994137e-01 -1.71142164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.246502481 meters 0.1113590169936748 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.10, Z:-1.71 [[ 9.99995312e-01 -2.00682540e-03 -2.31270270e-03 4.71916844e+00] [ 2.01345427e-03 9.99993862e-01 2.86752977e-03 -9.52675645e-02] [ 2.30693388e-03 -2.87217285e-03 9.99993214e-01 -1.71119675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.276502481 meters 0.1113123843666542 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.10, Z:-1.71 [[ 9.99994902e-01 -1.85783787e-03 -2.59694066e-03 4.71978736e+00] [ 1.86542182e-03 9.99993994e-01 2.92097375e-03 -9.52057646e-02] [ 2.59149837e-03 -2.92580325e-03 9.99992362e-01 -1.71132655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.306502481 meters 0.1112167711486709 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.09, Z:-1.71 [[ 9.99994187e-01 -1.78520268e-03 -2.90503284e-03 4.72037617e+00] [ 1.79331887e-03 9.99994490e-01 2.79363495e-03 -9.46837584e-02] [ 2.90002962e-03 -2.79882836e-03 9.99991878e-01 -1.71136104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.336502481 meters 0.11110612728853132 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.09, Z:-1.71 [[ 9.99993770e-01 -1.61878263e-03 -3.13684381e-03 4.72105673e+00] [ 1.62794355e-03 9.99994411e-01 2.92007580e-03 -9.44870513e-02] [ 3.13209931e-03 -2.92516421e-03 9.99990817e-01 -1.71172239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.366502481 meters 0.11099078843717915 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.09, Z:-1.71 [[ 9.99992625e-01 -1.30287074e-03 -3.61275621e-03 4.72230148e+00] [ 1.31431923e-03 9.99994117e-01 3.16834439e-03 -9.42064574e-02] [ 3.60860701e-03 -3.17306934e-03 9.99988455e-01 -1.71228580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.396502481 meters 0.11094804461245043 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.09, Z:-1.71 [[ 9.99975196e-01 -5.35466716e-03 -4.57546426e-03 4.72402675e+00] [ 5.34820030e-03 9.99984684e-01 -1.42444589e-03 -9.19203444e-02] [ 4.58302162e-03 1.39994006e-03 9.99988518e-01 -1.71233675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.426502481 meters 0.11109348266618065 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.09, Z:-1.71 [[ 9.99977559e-01 -4.88969750e-03 -4.57964935e-03 4.72451210e+00] [ 4.88680547e-03 9.99987853e-01 -6.42474148e-04 -9.37319026e-02] [ 4.58273523e-03 6.20079874e-04 9.99989307e-01 -1.71305662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.456502481 meters 0.1112087557726175 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.10, Z:-1.71 [[ 9.99979463e-01 -4.49441379e-03 -4.56886596e-03 4.72485090e+00] [ 4.49468872e-03 9.99989898e-01 4.99082754e-05 -9.54790199e-02] [ 4.56859549e-03 -7.04428807e-05 9.99989561e-01 -1.71360287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.486502481 meters 0.11123715563094873 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.10, Z:-1.71 [[ 9.99980414e-01 -4.17696521e-03 -4.66087347e-03 4.72543485e+00] [ 4.17942525e-03 9.99991132e-01 5.18191547e-04 -9.62329814e-02] [ 4.65866767e-03 -5.37661171e-04 9.99989004e-01 -1.71421123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51650248099997 meters 0.1114202051877127 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.10, Z:-1.71 [[ 9.99980590e-01 -3.97914295e-03 -4.79435741e-03 4.72589394e+00] [ 3.98299942e-03 9.99991752e-01 7.95097010e-04 -9.64475679e-02] [ 4.79115406e-03 -8.14177500e-04 9.99988191e-01 -1.71451473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54650248099998 meters 0.1113876479848431 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.10, Z:-1.71 [[ 9.99981188e-01 -3.70504636e-03 -4.88833294e-03 4.72634131e+00] [ 3.71099840e-03 9.99992383e-01 1.20909251e-03 -9.72656428e-02] [ 4.88381596e-03 -1.22721036e-03 9.99987321e-01 -1.71489242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57650248099998 meters 0.1115065818872305 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.10, Z:-1.72 [[ 9.99984547e-01 -3.38338178e-03 -4.41106878e-03 4.72599384e+00] [ 3.39269902e-03 9.99992026e-01 2.10647255e-03 -9.99972171e-02] [ 4.40390661e-03 -2.12140543e-03 9.99988053e-01 -1.71562160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60650248099998 meters 0.11147949104612903 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.10, Z:-1.72 [[ 9.99986186e-01 -3.19270969e-03 -4.17540072e-03 4.72575196e+00] [ 3.20359550e-03 9.99991481e-01 2.60304474e-03 -1.01657748e-01] [ 4.16705438e-03 -2.61638507e-03 9.99987895e-01 -1.71590026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63650248099998 meters 0.1118235337365682 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.10, Z:-1.72 [[ 9.99964073e-01 -7.22052440e-03 -4.44028234e-03 4.72663810e+00] [ 7.21483370e-03 9.99973133e-01 -1.29629248e-03 -1.02022709e-01] [ 4.44952295e-03 1.26421001e-03 9.99989302e-01 -1.71644625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66650248099998 meters 0.11208258554572205 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.10, Z:-1.72 [[ 9.99966455e-01 -6.90538506e-03 -4.40506922e-03 4.72695716e+00] [ 6.90231135e-03 9.99975925e-01 -7.12586967e-04 -1.03252812e-01] [ 4.40988385e-03 6.82157904e-04 9.99990044e-01 -1.71699875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69650248099998 meters 0.11252244406270663 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.10, Z:-1.72 [[ 9.99969487e-01 -6.53161495e-03 -4.28520016e-03 4.72744603e+00] [ 6.53159556e-03 9.99978669e-01 -1.85189664e-05 -1.04461428e-01] [ 4.28522971e-03 -9.47079305e-06 9.99990818e-01 -1.71797548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72650248099998 meters 0.11257863497841117 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.11, Z:-1.72 [[ 9.99971532e-01 -6.37709988e-03 -4.03325753e-03 4.72719038e+00] [ 6.37872972e-03 9.99979579e-01 3.91365941e-04 -1.05789074e-01] [ 4.03067938e-03 -4.17081859e-04 9.99991790e-01 -1.71824486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75650248099998 meters 0.11272943167081725 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.11, Z:-1.72 [[ 9.99972747e-01 -6.13240309e-03 -4.11091301e-03 4.72754957e+00] [ 6.13557569e-03 9.99980889e-01 7.59585957e-04 -1.06583129e-01] [ 4.10617636e-03 -7.84788074e-04 9.99991262e-01 -1.71858050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78650248099999 meters 0.11286688597167996 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.11, Z:-1.72 [[ 9.99972567e-01 -6.11560423e-03 -4.17917247e-03 4.72754408e+00] [ 6.11887569e-03 9.99980983e-01 7.70463303e-04 -1.06724480e-01] [ 4.17438114e-03 -7.96014003e-04 9.99990970e-01 -1.71835475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.816502481 meters 0.11295979065802216 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.11, Z:-1.72 [[ 9.99973089e-01 -5.90681757e-03 -4.35104713e-03 4.72820706e+00] [ 5.91118795e-03 9.99982036e-01 9.92269151e-04 -1.06770143e-01] [ 4.34510782e-03 -1.01796230e-03 9.99990042e-01 -1.71884618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.846502481 meters 0.11337449367889343 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.11, Z:-1.72 [[ 9.99973490e-01 -5.62410134e-03 -4.62486527e-03 4.72899655e+00] [ 5.63018159e-03 9.99983302e-01 1.30272094e-03 -1.07001990e-01] [ 4.61746141e-03 -1.32872524e-03 9.99988457e-01 -1.71927052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.876502481 meters 0.11356207070468712 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.11, Z:-1.72 [[ 9.99975279e-01 -5.43336256e-03 -4.46325019e-03 4.72883605e+00] [ 5.44121287e-03 9.99983668e-01 1.74862125e-03 -1.08414509e-01] [ 4.45367640e-03 -1.77286352e-03 9.99988511e-01 -1.71943905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.906502481 meters 0.1136942793040278 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.11, Z:-1.72 [[ 9.99977026e-01 -5.15137681e-03 -4.40587916e-03 4.72916002e+00] [ 5.16124678e-03 9.99984190e-01 2.23175409e-03 -1.09399555e-01] [ 4.39431290e-03 -2.25444264e-03 9.99987804e-01 -1.72006622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.936502481 meters 0.11372852351937864 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.11, Z:-1.72 [[ 9.99978377e-01 -4.77809994e-03 -4.51836448e-03 4.72970612e+00] [ 4.79085100e-03 9.99984560e-01 2.81545256e-03 -1.10587896e-01] [ 4.50484221e-03 -2.83703849e-03 9.99985829e-01 -1.72060126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.966502481 meters 0.1140675230768999 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.11, Z:-1.72 [[ 9.99979981e-01 -4.40448313e-03 -4.54283565e-03 4.73023733e+00] [ 4.42009664e-03 9.99984340e-01 3.43265794e-03 -1.11740261e-01] [ 4.52764542e-03 -3.45266900e-03 9.99983790e-01 -1.72130936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.996502481 meters 0.11428584542942793 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.11, Z:-1.72 [[ 9.99980506e-01 -4.19866166e-03 -4.62162521e-03 4.73055593e+00] [ 4.21568104e-03 9.99984346e-01 3.67899236e-03 -1.12244833e-01] [ 4.60610602e-03 -3.69840393e-03 9.99982553e-01 -1.72155260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.026502481 meters 0.11403032217852174 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.11, Z:-1.72 [[ 9.99980582e-01 -3.94324765e-03 -4.82561666e-03 4.73123109e+00] [ 3.96236903e-03 9.99984311e-01 3.95934897e-03 -1.12588377e-01] [ 4.80992826e-03 -3.97839296e-03 9.99980518e-01 -1.72201691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.056502481 meters 0.11355539887634164 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.11, Z:-1.72 [[ 9.99995550e-01 7.54400713e-04 -2.88648802e-03 4.74357991e+00] [-7.54969603e-04 9.99999696e-01 -1.96002775e-04 -1.11997086e-01] [ 2.88633928e-03 1.98181113e-04 9.99995815e-01 -1.72266433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.086502481 meters 0.11355539887634164 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.11, Z:-1.72 [[ 9.99995550e-01 7.54400713e-04 -2.88648802e-03 4.74357991e+00] [-7.54969603e-04 9.99999696e-01 -1.96002775e-04 -1.11997086e-01] [ 2.88633928e-03 1.98181113e-04 9.99995815e-01 -1.72266433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.116502481 meters 0.11348360521749482 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.11, Z:-1.72 [[ 9.99995007e-01 7.04942118e-04 -3.08028335e-03 4.74388080e+00] [-7.06135242e-04 9.99999676e-01 -3.86271878e-04 -1.11389955e-01] [ 3.08001005e-03 3.88445046e-04 9.99995181e-01 -1.72261853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.146502481 meters 0.11313167789506669 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.11, Z:-1.72 [[ 9.99993160e-01 9.87386721e-04 -3.56448810e-03 4.74520636e+00] [-9.88648142e-04 9.99999449e-01 -3.52141073e-04 -1.10202923e-01] [ 3.56413844e-03 3.55662689e-04 9.99993585e-01 -1.72333519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.176502481 meters 0.1129581125516333 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.11, Z:-1.72 [[ 9.99991747e-01 1.13799996e-03 -3.90004774e-03 4.74593747e+00] [-1.13943420e-03 9.99999284e-01 -3.65546808e-04 -1.09568702e-01] [ 3.89962895e-03 3.69987639e-04 9.99992328e-01 -1.72350843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.206502481 meters 0.11302993894289004 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.11, Z:-1.72 [[ 9.99991738e-01 1.14831885e-03 -3.89929694e-03 4.74588266e+00] [-1.14979058e-03 9.99999269e-01 -3.75214488e-04 -1.09794609e-01] [ 3.89886322e-03 3.79694763e-04 9.99992327e-01 -1.72343232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.236502481 meters 0.1131136458588524 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.11, Z:-1.72 [[ 9.99991883e-01 1.07591250e-03 -3.88295355e-03 4.74555013e+00] [-1.07785327e-03 9.99999295e-01 -4.97760963e-04 -1.10130185e-01] [ 3.88241527e-03 5.01942176e-04 9.99992337e-01 -1.72299113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26650248099997 meters 0.11325260053724084 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.11, Z:-1.72 [[ 9.99991653e-01 1.14600454e-03 -3.92180755e-03 4.74576565e+00] [-1.14766442e-03 9.99999253e-01 -4.21020050e-04 -1.10111051e-01] [ 3.92132213e-03 4.25517455e-04 9.99992221e-01 -1.72322436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29650248099998 meters 0.11273926641718783 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.11, Z:-1.72 [[ 9.99990944e-01 1.29195451e-03 -4.05507902e-03 4.74639938e+00] [-1.29348298e-03 9.99999093e-01 -3.74326111e-04 -1.09729378e-01] [ 4.05459173e-03 3.79567897e-04 9.99991708e-01 -1.72380797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32650248099998 meters 0.11253298273682116 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.11, Z:-1.72 [[ 9.99990054e-01 1.40932857e-03 -4.23155359e-03 4.74699009e+00] [-1.41072135e-03 9.99998952e-01 -3.26174870e-04 -1.09402174e-01] [ 4.23108946e-03 3.32141168e-04 9.99990994e-01 -1.72420360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35650248099998 meters 0.11238691805568189 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-1.73 [[ 9.99971249e-01 5.70260006e-03 -4.99822591e-03 4.75982685e+00] [-5.71886189e-03 9.99978381e-01 -3.24528934e-03 -1.08905454e-01] [ 4.97961127e-03 3.27378019e-03 9.99982243e-01 -1.72514312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38650248099998 meters 0.11220575080671975 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-1.73 [[ 9.99981709e-01 1.52919747e-03 -5.85169670e-03 4.76120242e+00] [-1.57583753e-03 9.99966965e-01 -7.97405651e-03 -1.06799068e-01] [ 5.83930948e-03 7.98313199e-03 9.99951085e-01 -1.72503343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41650248099998 meters 0.11222848661656575 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.11, Z:-1.73 [[ 9.99998805e-01 -1.45994100e-03 -5.08421194e-04 4.77453363e+00] [ 1.45858927e-03 9.99995428e-01 -2.64896897e-03 -1.09579800e-01] [ 5.12286208e-04 2.64822423e-03 9.99996362e-01 -1.72706200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44650248099998 meters 0.11221390119920199 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.11, Z:-1.73 [[ 9.99998966e-01 -1.30523357e-03 -6.03082370e-04 4.77447765e+00] [ 1.30379326e-03 9.99996312e-01 -2.38248796e-03 -1.10732605e-01] [ 6.06189849e-04 2.38169921e-03 9.99996980e-01 -1.72669649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47650248099998 meters 0.1121461931889622 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.11, Z:-1.73 [[ 9.99999298e-01 -9.88605069e-04 -6.53902193e-04 4.77483453e+00] [ 9.87381806e-04 9.99997767e-01 -1.86839796e-03 -1.12010287e-01] [ 6.55747840e-04 1.86775100e-03 9.99998041e-01 -1.72711158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50650248099998 meters 0.11220340935926702 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.11, Z:-1.73 [[ 9.99999751e-01 -6.16046688e-04 -3.43195813e-04 4.77469776e+00] [ 6.15710174e-04 9.99999330e-01 -9.79774345e-04 -1.14514990e-01] [ 3.43799170e-04 9.79562793e-04 9.99999461e-01 -1.72778700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53650248099999 meters 0.11225359005264053 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.12, Z:-1.73 [[ 9.99999898e-01 -3.48030658e-04 -2.87745581e-04 4.77480234e+00] [ 3.47892663e-04 9.99999825e-01 -4.79485124e-04 -1.15998946e-01] [ 2.87912406e-04 4.79384971e-04 9.99999844e-01 -1.72811496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.566502481 meters 0.11220383673334178 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.12, Z:-1.73 [[ 9.99999989e-01 1.00695519e-04 -1.11301717e-04 4.77495928e+00] [-1.00650566e-04 9.99999913e-01 4.03816417e-04 -1.18464574e-01] [ 1.11342370e-04 -4.03805210e-04 9.99999912e-01 -1.72886804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.596502481 meters 0.11205034047908718 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-1.73 [[ 9.99999876e-01 4.78226294e-04 -1.35475901e-04 4.77553111e+00] [-4.78087211e-04 9.99999361e-01 1.02480553e-03 -1.19693966e-01] [ 1.35965903e-04 -1.02474063e-03 9.99999466e-01 -1.72970029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.626502481 meters 0.11206350629336104 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-1.73 [[ 9.99993922e-01 -3.29333194e-03 -1.14466022e-03 4.77771742e+00] [ 3.28977371e-03 9.99989794e-01 -3.09664652e-03 -1.18011452e-01] [ 1.15484682e-03 3.09286202e-03 9.99994550e-01 -1.73036967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.656502481 meters 0.11206213948408045 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-1.73 [[ 9.99994940e-01 -2.96109210e-03 -1.16273932e-03 4.77810660e+00] [ 2.95813264e-03 9.99992402e-01 -2.53876773e-03 -1.19200661e-01] [ 1.17024801e-03 2.53531534e-03 9.99996101e-01 -1.73092026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.686502481 meters 0.11200551596303356 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-1.73 [[ 9.99996103e-01 -2.51889885e-03 -1.20354707e-03 4.77872876e+00] [ 2.51670006e-03 9.99995168e-01 -1.82496372e-03 -1.20585592e-01] [ 1.20813816e-03 1.82192764e-03 9.99997610e-01 -1.73177311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.716502481 meters 0.11199060389034979 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-1.73 [[ 9.99997176e-01 -2.13812875e-03 -1.03705255e-03 4.77902627e+00] [ 2.13699689e-03 9.99997121e-01 -1.09130732e-03 -1.22199574e-01] [ 1.03938292e-03 1.08908806e-03 9.99998867e-01 -1.73264866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.746502481 meters 0.11207781853176188 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-1.73 [[ 9.99997109e-01 -2.10901644e-03 -1.15458113e-03 4.77927283e+00] [ 2.10776585e-03 9.99997192e-01 -1.08329524e-03 -1.21964410e-01] [ 1.15686257e-03 1.08085852e-03 9.99998747e-01 -1.73262484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.776502481 meters 0.11222707232094395 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-1.73 [[ 9.99997317e-01 -1.94160699e-03 -1.26302244e-03 4.77976506e+00] [ 1.94051707e-03 9.99997744e-01 -8.63603341e-04 -1.22075267e-01] [ 1.26469637e-03 8.61150108e-04 9.99998829e-01 -1.73303903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.806502481 meters 0.1122281703691213 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-1.73 [[ 9.99997362e-01 -1.97402783e-03 -1.17407041e-03 4.77947174e+00] [ 1.97297729e-03 9.99997653e-01 -8.95271588e-04 -1.22492670e-01] [ 1.17583494e-03 8.92952812e-04 9.99998910e-01 -1.73281159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.836502481 meters 0.11203512213048361 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-1.73 [[ 9.99997656e-01 -1.74509560e-03 -1.28174871e-03 4.77996435e+00] [ 1.74433252e-03 9.99998301e-01 -5.96223728e-04 -1.22981373e-01] [ 1.28278700e-03 5.93986535e-04 9.99999001e-01 -1.73325437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.866502481 meters 0.11212761206840627 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-1.73 [[ 9.99997728e-01 -1.62749099e-03 -1.37650193e-03 4.78041541e+00] [ 1.62681439e-03 9.99998555e-01 -4.92509008e-04 -1.22874798e-01] [ 1.37730150e-03 4.90268576e-04 9.99998931e-01 -1.73363895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.896502481 meters 0.11174413476587654 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-1.73 [[ 9.99997997e-01 -1.40514567e-03 -1.42526050e-03 4.78092346e+00] [ 1.40487358e-03 9.99998995e-01 -1.91888235e-04 -1.23212738e-01] [ 1.42552870e-03 1.89885540e-04 9.99998966e-01 -1.73420606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.926502481 meters 0.11218295710302689 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-1.73 [[ 9.99998341e-01 -1.22751345e-03 -1.34556569e-03 4.78111413e+00] [ 1.22773409e-03 9.99999233e-01 1.63161577e-04 -1.23796914e-01] [ 1.34536438e-03 -1.64813303e-04 9.99999081e-01 -1.73465445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.956502481 meters 0.11198516283958707 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.13, Z:-1.74 [[ 9.99998981e-01 -8.03120959e-04 -1.18026275e-03 4.78145714e+00] [ 8.04288601e-04 9.99999187e-01 9.89165853e-04 -1.25690600e-01] [ 1.17946737e-03 -9.90114117e-04 9.99998814e-01 -1.73559466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.986502481 meters 0.11208185708643638 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.12, Z:-1.74 [[ 9.99986809e-01 -4.80360830e-03 -1.81838272e-03 4.78292201e+00] [ 4.79770139e-03 9.99983245e-01 -3.23898675e-03 -1.24702371e-01] [ 1.83391108e-03 3.23021997e-03 9.99993101e-01 -1.73610782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01650248099997 meters 0.1122683648948705 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.13, Z:-1.74 [[ 9.99988650e-01 -4.46066849e-03 -1.67429792e-03 4.78311859e+00] [ 4.45639202e-03 9.99986821e-01 -2.54928483e-03 -1.26449838e-01] [ 1.68564736e-03 2.54179456e-03 9.99995349e-01 -1.73678628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04650248099998 meters 0.11236583700218063 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.13, Z:-1.74 [[ 9.99989054e-01 -4.29289587e-03 -1.86108156e-03 4.78364813e+00] [ 4.28858614e-03 9.99988128e-01 -2.31354970e-03 -1.26608766e-01] [ 1.87099129e-03 2.30554296e-03 9.99995592e-01 -1.73706423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07650248099998 meters 0.11239841556485096 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.13, Z:-1.74 [[ 9.99989413e-01 -4.14028931e-03 -2.00774304e-03 4.78421027e+00] [ 4.13592330e-03 9.99989084e-01 -2.17387973e-03 -1.26268357e-01] [ 2.01672161e-03 2.16555285e-03 9.99995622e-01 -1.73746625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10650248099998 meters 0.11235708829397044 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.13, Z:-1.74 [[ 9.99990356e-01 -3.87312110e-03 -2.07031733e-03 4.78471188e+00] [ 3.86942821e-03 9.99990921e-01 -1.78476799e-03 -1.26848386e-01] [ 2.07721115e-03 1.77673983e-03 9.99996264e-01 -1.73804093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13650248099998 meters 0.11243425217276541 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.13, Z:-1.74 [[ 9.99991765e-01 -3.55739415e-03 -1.95314085e-03 4.78495682e+00] [ 3.55494425e-03 9.99992892e-01 -1.25637773e-03 -1.28155204e-01] [ 1.95759639e-03 1.24942407e-03 9.99997303e-01 -1.73874419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16650248099998 meters 0.11200666199520026 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.74 [[ 9.99992315e-01 -3.36944511e-03 -2.00399988e-03 4.78536514e+00] [ 3.36739316e-03 9.99993804e-01 -1.02642098e-03 -1.28449915e-01] [ 2.00744593e-03 1.01966484e-03 9.99997465e-01 -1.73922444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19650248099998 meters 0.11228837301072055 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.74 [[ 9.99992408e-01 -3.24118963e-03 -2.16314712e-03 4.78591767e+00] [ 3.23920747e-03 9.99994331e-01 -9.19209768e-04 -1.28234753e-01] [ 2.16611419e-03 9.12195907e-04 9.99997238e-01 -1.73961541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22650248099998 meters 0.11218353566883196 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.74 [[ 9.99991873e-01 -3.13597737e-03 -2.53353826e-03 4.78684236e+00] [ 3.13344985e-03 9.99994590e-01 -1.00097881e-03 -1.27165929e-01] [ 2.53666360e-03 9.93031958e-04 9.99996290e-01 -1.73997039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25650248099998 meters 0.11228297332949527 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.74 [[ 9.99992151e-01 -2.91415923e-03 -2.68436549e-03 4.78756392e+00] [ 2.91212444e-03 9.99995470e-01 -7.61613713e-04 -1.27081501e-01] [ 2.68657279e-03 7.53790529e-04 9.99996107e-01 -1.74062855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28650248099999 meters 0.11168221991042944 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.74 [[ 9.99992665e-01 -2.58852309e-03 -2.82293122e-03 4.78844947e+00] [ 2.58735937e-03 9.99996566e-01 -4.15814231e-04 -1.27049706e-01] [ 2.82399787e-03 4.08507244e-04 9.99995929e-01 -1.74161259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.316502481 meters 0.1117949398810608 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.74 [[ 9.99993059e-01 -2.31015118e-03 -2.92332773e-03 4.78911990e+00] [ 2.31007903e-03 9.99997331e-01 -2.80596474e-05 -1.27459854e-01] [ 2.92338475e-03 2.13063345e-05 9.99995727e-01 -1.74235855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.346502481 meters 0.11178253482650266 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.74 [[ 9.99993971e-01 -1.98297309e-03 -2.85058413e-03 4.78964063e+00] [ 1.98437739e-03 9.99997911e-01 4.89891180e-04 -1.28279194e-01] [ 2.84960673e-03 -4.95544861e-04 9.99995817e-01 -1.74334572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.376502481 meters 0.11184283168387413 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.74 [[ 9.99993983e-01 -1.71530479e-03 -3.01533986e-03 4.79025875e+00] [ 1.71787981e-03 9.99998162e-01 8.51590326e-04 -1.28793938e-01] [ 3.01387358e-03 -8.56765193e-04 9.99995091e-01 -1.74381865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.406502481 meters 0.11181290337863202 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.74 [[ 9.99993682e-01 -1.64762587e-03 -3.14977111e-03 4.79069868e+00] [ 1.65036234e-03 9.99998263e-01 8.66382692e-04 -1.28347130e-01] [ 3.14833817e-03 -8.71575482e-04 9.99994664e-01 -1.74407451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.436502481 meters 0.11203552628260105 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.74 [[ 9.99993382e-01 -1.53169386e-03 -3.30000166e-03 4.79098004e+00] [ 1.53490224e-03 9.99998352e-01 9.69922652e-04 -1.28543687e-01] [ 3.29851060e-03 -9.74981413e-04 9.99994085e-01 -1.74407908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.466502481 meters 0.11189558810424045 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.74 [[ 9.99993102e-01 -1.32220733e-03 -3.47108603e-03 4.79148511e+00] [ 1.32649797e-03 9.99998359e-01 1.23409892e-03 -1.28945849e-01] [ 3.46944860e-03 -1.23869479e-03 9.99993214e-01 -1.74437686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.496502481 meters 0.11132822179865808 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.74 [[ 9.99992381e-01 -1.38318040e-03 -3.65041541e-03 4.79144756e+00] [ 1.38715378e-03 9.99998448e-01 1.08616544e-03 -1.28963171e-01] [ 3.64890738e-03 -1.09122086e-03 9.99992747e-01 -1.74383847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.526502481 meters 0.11099617007399042 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.74 [[ 9.99991960e-01 -1.15310824e-03 -3.84066784e-03 4.79203308e+00] [ 1.15840323e-03 9.99998381e-01 1.37672459e-03 -1.29353058e-01] [ 3.83907411e-03 -1.38116256e-03 9.99991677e-01 -1.74420770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.556502481 meters 0.11089495173464387 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.74 [[ 9.99990783e-01 -9.63473506e-04 -4.18406420e-03 4.79287297e+00] [ 9.69526785e-04 9.99998486e-01 1.44495911e-03 -1.28991713e-01] [ 4.18266569e-03 -1.44900236e-03 9.99990203e-01 -1.74454832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.586502481 meters 0.11056198853265728 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.75 [[ 9.99990121e-01 -6.41031881e-04 -4.39847928e-03 4.79380074e+00] [ 6.48893733e-04 9.99998194e-01 1.78620805e-03 -1.29085773e-01] [ 4.39732632e-03 -1.78904455e-03 9.99988731e-01 -1.74535777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.616502481 meters 0.11014887880029339 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.75 [[ 9.99989748e-01 -5.02404206e-04 -4.50017146e-03 4.79437149e+00] [ 5.10750813e-04 9.99998151e-01 1.85377386e-03 -1.28804399e-01] [ 4.49923180e-03 -1.85605332e-03 9.99988156e-01 -1.74589883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.646502481 meters 0.11007433616946011 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.13, Z:-1.75 [[ 9.99983041e-01 -2.68038988e-03 -5.17038036e-03 4.79699244e+00] [ 2.67787806e-03 9.99996293e-01 -4.92671352e-04 -1.26953094e-01] [ 5.17168174e-03 4.78817349e-04 9.99986512e-01 -1.74789106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.676502481 meters 0.11009961056474796 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.13, Z:-1.75 [[ 9.99983897e-01 -2.33400680e-03 -5.17292308e-03 4.79769227e+00] [ 2.33412119e-03 9.99997276e-01 1.60758727e-05 -1.27581480e-01] [ 5.17287147e-03 -2.81498432e-05 9.99986620e-01 -1.74895210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.706502481 meters 0.10987683355164246 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.13, Z:-1.75 [[ 9.99983585e-01 -1.93663641e-03 -5.39258912e-03 4.79862047e+00] [ 1.93946038e-03 9.99997985e-01 5.18495744e-04 -1.28212379e-01] [ 5.39157412e-03 -5.28945946e-04 9.99985325e-01 -1.74976171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.736502481 meters 0.1099972916711281 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.13, Z:-1.75 [[ 9.99983659e-01 -1.63633468e-03 -5.47756780e-03 4.79918052e+00] [ 1.64165564e-03 9.99998185e-01 9.67054260e-04 -1.28930003e-01] [ 5.47597543e-03 -9.76030738e-04 9.99984530e-01 -1.75039561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76650248099997 meters 0.10999741311134104 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.13, Z:-1.75 [[ 9.99982939e-01 -1.49677541e-03 -5.64638226e-03 4.79972913e+00] [ 1.50300409e-03 9.99998267e-01 1.09904506e-03 -1.28809988e-01] [ 5.64472745e-03 -1.10751284e-03 9.99983455e-01 -1.75076018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79650248099998 meters 0.11000072523123404 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.13, Z:-1.75 [[ 9.99982036e-01 -1.36619902e-03 -5.83613750e-03 4.80032833e+00] [ 1.37322655e-03 9.99998337e-01 1.20030412e-03 -1.28584167e-01] [ 5.83448794e-03 -1.20829689e-03 9.99982249e-01 -1.75111352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82650248099998 meters 0.11022653372610976 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.13, Z:-1.75 [[ 9.99987813e-01 3.28577449e-03 -3.68484293e-03 4.81080990e+00] [-3.29560649e-03 9.99991017e-01 -2.66533824e-03 -1.28215821e-01] [ 3.67605213e-03 2.67744955e-03 9.99989659e-01 -1.75080962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85650248099998 meters 0.11045876441461797 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.13, Z:-1.75 [[ 9.99998629e-01 -1.13509722e-03 1.20597987e-03 4.82479606e+00] [ 1.13446180e-03 9.99999217e-01 5.27442008e-04 -1.29383965e-01] [-1.20657763e-03 -5.26073146e-04 9.99999134e-01 -1.75203155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88650248099998 meters 0.11065009690539683 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.13, Z:-1.75 [[ 9.99998641e-01 -1.12291662e-03 1.20672321e-03 4.82462881e+00] [ 1.12217939e-03 9.99999183e-01 6.11438501e-04 -1.29983227e-01] [-1.20740882e-03 -6.10083511e-04 9.99999085e-01 -1.75180314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91650248099998 meters 0.11099579114233336 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.13, Z:-1.75 [[ 9.99998892e-01 -8.44957956e-04 1.22531301e-03 4.82478395e+00] [ 8.43541093e-04 9.99998976e-01 1.15638368e-03 -1.31530663e-01] [-1.22628885e-03 -1.15534880e-03 9.99998581e-01 -1.75209038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94650248099998 meters 0.1111861887203895 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.13, Z:-1.75 [[ 9.99998884e-01 -6.64723347e-04 1.33785415e-03 4.82472725e+00] [ 6.62658542e-04 9.99998590e-01 1.54322259e-03 -1.32741767e-01] [-1.33887808e-03 -1.54233432e-03 9.99997914e-01 -1.75229186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97650248099998 meters 0.1111861887203895 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.13, Z:-1.75 [[ 9.99998884e-01 -6.64723347e-04 1.33785415e-03 4.82472725e+00] [ 6.62658542e-04 9.99998590e-01 1.54322259e-03 -1.32741767e-01] [-1.33887808e-03 -1.54233432e-03 9.99997914e-01 -1.75229186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00650248099998 meters 0.11135343620851956 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.13, Z:-1.75 [[ 9.99987835e-01 -4.84518768e-03 9.23814954e-04 4.82530089e+00] [ 4.84765660e-03 9.99984634e-01 -2.68928762e-03 -1.32639618e-01] [-9.10770655e-04 2.69373324e-03 9.99995957e-01 -1.75206410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03650248099999 meters 0.11174581116650514 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.13, Z:-1.75 [[ 9.99990018e-01 -4.35246981e-03 1.00994786e-03 4.82571720e+00] [ 4.35430042e-03 9.99988868e-01 -1.81751123e-03 -1.34633294e-01] [-1.00202596e-03 1.82189070e-03 9.99997838e-01 -1.75297362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.066502481 meters 0.1117198564396855 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.14, Z:-1.75 [[ 9.99991958e-01 -3.83494917e-03 1.17337090e-03 4.82601350e+00] [ 3.83590103e-03 9.99992315e-01 -8.10041555e-04 -1.37181178e-01] [-1.17025542e-03 8.14535975e-04 9.99998984e-01 -1.75391957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.096502481 meters 0.11166888209147342 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.14, Z:-1.75 [[ 9.99993507e-01 -3.42593608e-03 1.11754568e-03 4.82666667e+00] [ 3.42612546e-03 9.99994117e-01 -1.67593643e-04 -1.38365003e-01] [-1.11696494e-03 1.71421406e-04 9.99999362e-01 -1.75478037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.126502481 meters 0.1116823371916885 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.14, Z:-1.76 [[ 9.99995336e-01 -2.89044785e-03 9.86388206e-04 4.82749219e+00] [ 2.88982410e-03 9.99995624e-01 6.33200240e-04 -1.39908544e-01] [-9.88214122e-04 -6.30346798e-04 9.99999313e-01 -1.75573007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.156502481 meters 0.1113860613370697 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.14, Z:-1.76 [[ 9.99996880e-01 -2.38165963e-03 7.52806625e-04 4.82850127e+00] [ 2.38069244e-03 9.99996343e-01 1.28307233e-03 -1.40913383e-01] [-7.55859714e-04 -1.28127613e-03 9.99998894e-01 -1.75668991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.186502481 meters 0.11106220966578108 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.14, Z:-1.76 [[ 9.99997235e-01 -2.26818643e-03 6.20712469e-04 4.82887787e+00] [ 2.26731691e-03 9.99996452e-01 1.39797832e-03 -1.41067115e-01] [-6.23881143e-04 -1.39656711e-03 9.99998830e-01 -1.75691886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.216502481 meters 0.11077613340721733 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.14, Z:-1.76 [[ 9.99997774e-01 -2.07535377e-03 3.79888982e-04 4.82941983e+00] [ 2.07476512e-03 9.99996657e-01 1.54342147e-03 -1.41253911e-01] [-3.83090858e-04 -1.54262986e-03 9.99998737e-01 -1.75713742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.246502481 meters 0.11068303245276201 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.14, Z:-1.76 [[ 9.99998210e-01 -1.88184537e-03 1.94166409e-04 4.82990551e+00] [ 1.88149633e-03 9.99996641e-01 1.78241033e-03 -1.41645535e-01] [-1.97519977e-04 -1.78204181e-03 9.99998393e-01 -1.75739551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.276502481 meters 0.11043954564834128 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.14, Z:-1.76 [[ 9.99998377e-01 -1.80002837e-03 7.79854958e-05 4.83007199e+00] [ 1.79987995e-03 9.99996644e-01 1.86317906e-03 -1.42068844e-01] [-8.13390093e-05 -1.86303567e-03 9.99998261e-01 -1.75736621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.306502481 meters 0.11040990044589243 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.14, Z:-1.76 [[ 9.99998785e-01 -1.55809734e-03 -4.59929350e-05 4.83051767e+00] [ 1.55819464e-03 9.99996371e-01 2.19751332e-03 -1.42881942e-01] [ 4.25688285e-05 -2.19758232e-03 9.99997584e-01 -1.75773453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.336502481 meters 0.11029741727683415 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.14, Z:-1.76 [[ 9.99999188e-01 -1.26933710e-03 -1.08975895e-04 4.83082658e+00] [ 1.26961958e-03 9.99995729e-01 2.63235412e-03 -1.44174778e-01] [ 1.05634085e-04 -2.63249034e-03 9.99996529e-01 -1.75807842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.366502481 meters 0.11029194581706536 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.14, Z:-1.76 [[ 9.99999276e-01 -1.18048181e-03 -2.33842867e-04 4.83113700e+00] [ 1.18110364e-03 9.99995719e-01 2.67710379e-03 -1.44229570e-01] [ 2.30681594e-04 -2.67737805e-03 9.99996389e-01 -1.75819184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.396502481 meters 0.11018553162260415 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.14, Z:-1.76 [[ 9.99999076e-01 -1.27289528e-03 -4.76239296e-04 4.83127094e+00] [ 1.27403666e-03 9.99996299e-01 2.40407443e-03 -1.43767559e-01] [ 4.73177398e-04 -2.40467896e-03 9.99996997e-01 -1.75774794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.426502481 meters 0.11022429534573396 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.14, Z:-1.76 [[ 9.99999080e-01 -1.18949149e-03 -6.51968071e-04 4.83142674e+00] [ 1.19109306e-03 9.99996261e-01 2.46166019e-03 -1.44275079e-01] [ 6.49037510e-04 -2.46243448e-03 9.99996758e-01 -1.75753827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.456502481 meters 0.11012440123791419 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.14, Z:-1.76 [[ 9.99984900e-01 -5.28130485e-03 -1.51885636e-03 4.83278089e+00] [ 5.27796012e-03 9.99983656e-01 -2.19778208e-03 -1.42117798e-01] [ 1.53043870e-03 2.18973243e-03 9.99996431e-01 -1.75742401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.486502481 meters 0.10995167825863623 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.14, Z:-1.76 [[ 9.99986566e-01 -4.86979339e-03 -1.77567779e-03 4.83358070e+00] [ 4.86680018e-03 9.99986736e-01 -1.68611683e-03 -1.43131271e-01] [ 1.78386528e-03 1.67745231e-03 9.99997002e-01 -1.75800416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51650248099997 meters 0.10984510910279811 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.14, Z:-1.76 [[ 9.99988031e-01 -4.48776517e-03 -1.94901501e-03 4.83442854e+00] [ 4.48547163e-03 9.99989245e-01 -1.17955005e-03 -1.43882743e-01] [ 1.95428759e-03 1.17079368e-03 9.99997405e-01 -1.75884556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54650248099998 meters 0.10961191727630869 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.14, Z:-1.76 [[ 9.99989634e-01 -4.06501194e-03 -2.05134852e-03 4.83514010e+00] [ 4.06379372e-03 9.99991564e-01 -5.97682005e-04 -1.44997400e-01] [ 2.05376080e-03 5.89339552e-04 9.99997717e-01 -1.75967159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57650248099998 meters 0.1096293026160483 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.15, Z:-1.76 [[ 9.99990919e-01 -3.69771215e-03 -2.11863897e-03 4.83563219e+00] [ 3.69766019e-03 9.99993163e-01 -2.84438262e-05 -1.46123621e-01] [ 2.11872966e-03 2.06095610e-05 9.99997755e-01 -1.76025235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60650248099998 meters 0.10980903624728029 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.15, Z:-1.76 [[ 9.99992970e-01 -3.22174326e-03 -1.91827838e-03 4.83566742e+00] [ 3.22351340e-03 9.99994381e-01 9.20401005e-04 -1.48864041e-01] [ 1.91530231e-03 -9.26578131e-04 9.99997737e-01 -1.76086874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63650248099998 meters 0.10978013635746631 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.15, Z:-1.76 [[ 9.99993762e-01 -3.01028298e-03 -1.84753473e-03 4.83559681e+00] [ 3.01286896e-03 9.99994483e-01 1.39851241e-03 -1.50427545e-01] [ 1.84331462e-03 -1.40407007e-03 9.99997315e-01 -1.76098604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66650248099998 meters 0.10975968288922272 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.15, Z:-1.76 [[ 9.99994566e-01 -2.99211036e-03 -1.38425138e-03 4.83459035e+00] [ 2.99474646e-03 9.99993699e-01 1.90620918e-03 -1.53119550e-01] [ 1.37853907e-03 -1.91034431e-03 9.99997225e-01 -1.76067143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69650248099998 meters 0.10989217342653658 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.15, Z:-1.76 [[ 9.99975240e-01 -6.84581239e-03 -1.62902864e-03 4.83546263e+00] [ 6.84304023e-03 9.99975139e-01 -1.70125754e-03 -1.54308491e-01] [ 1.64063463e-03 1.69006791e-03 9.99997226e-01 -1.76133270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72650248099998 meters 0.10985324002429438 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.16, Z:-1.76 [[ 9.99978552e-01 -6.38656686e-03 -1.45190818e-03 4.83563890e+00] [ 6.38551042e-03 9.99979345e-01 -7.31097669e-04 -1.56830657e-01] [ 1.45654740e-03 7.21810813e-04 9.99998679e-01 -1.76209838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75650248099998 meters 0.11013760268736232 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.16, Z:-1.76 [[ 9.99981865e-01 -5.94941984e-03 -9.34847873e-04 4.83532281e+00] [ 5.95008276e-03 9.99982048e-01 7.07943475e-04 -1.61073457e-01] [ 9.30619237e-04 -7.13493059e-04 9.99999312e-01 -1.76298393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78650248099999 meters 0.11046489392455085 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.16, Z:-1.76 [[ 9.99984555e-01 -5.48622952e-03 -8.88913351e-04 4.83570201e+00] [ 5.48767051e-03 9.99983619e-01 1.62682878e-03 -1.63259102e-01] [ 8.79973634e-04 -1.63168172e-03 9.99998282e-01 -1.76368072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.816502481 meters 0.11097877720548988 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.76 [[ 9.99987589e-01 -4.95604434e-03 -5.09019889e-04 4.83575804e+00] [ 4.95760208e-03 9.99982887e-01 3.10600151e-03 -1.67136532e-01] [ 4.93617697e-04 -3.10848648e-03 9.99995047e-01 -1.76473702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.846502481 meters 0.11164100435549765 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.77 [[ 9.99990018e-01 -4.44956335e-03 -4.07080234e-04 4.83619417e+00] [ 4.45118850e-03 9.99981760e-01 4.08243706e-03 -1.69386098e-01] [ 3.88907747e-04 -4.08420830e-03 9.99991584e-01 -1.76567171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.876502481 meters 0.11218165136353372 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.77 [[ 9.99990316e-01 -4.39930909e-03 1.19735095e-04 4.83543032e+00] [ 4.39869462e-03 9.99979175e-01 4.72249392e-03 -1.71978700e-01] [-1.40508312e-04 -4.72192151e-03 9.99988842e-01 -1.76580718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.906502481 meters 0.11330220288696669 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.17, Z:-1.77 [[ 9.99990046e-01 -4.45121371e-03 3.06770625e-04 4.83485661e+00] [ 4.44965252e-03 9.99978023e-01 4.91463331e-03 -1.73100513e-01] [-3.28639966e-04 -4.91321937e-03 9.99987876e-01 -1.76536373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.936502481 meters 0.11327418503093896 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.77 [[ 9.99990334e-01 -4.39510057e-03 1.24718169e-04 4.83504387e+00] [ 4.39442381e-03 9.99977903e-01 4.98822200e-03 -1.73461203e-01] [-1.46639150e-04 -4.98762572e-03 9.99987551e-01 -1.76517374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.966502481 meters 0.11360632923045426 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.77 [[ 9.99991028e-01 -4.23398114e-03 1.33562385e-04 4.83529905e+00] [ 4.23322217e-03 9.99977277e-01 5.24652762e-03 -1.74012253e-01] [-1.55773049e-04 -5.24591515e-03 9.99986228e-01 -1.76557007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.996502481 meters 0.11375334229387758 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.77 [[ 9.99991140e-01 -4.20625885e-03 -1.67291199e-04 4.83570498e+00] [ 4.20707190e-03 9.99977632e-01 5.19970559e-03 -1.73893732e-01] [ 1.45416149e-04 -5.20036333e-03 9.99986467e-01 -1.76540456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.026502481 meters 0.11383911457024308 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.77 [[ 9.99991541e-01 -4.09453753e-03 -3.89939121e-04 4.83628646e+00] [ 4.09653252e-03 9.99977771e-01 5.26070755e-03 -1.73681410e-01] [ 3.68390289e-04 -5.26226045e-03 9.99986086e-01 -1.76569045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.056502481 meters 0.1130733981416349 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.77 [[ 9.99992668e-01 -3.74319598e-03 -8.07759320e-04 4.83757617e+00] [ 3.74764939e-03 9.99977386e-01 5.58406293e-03 -1.73536812e-01] [ 7.86838812e-04 -5.58704919e-03 9.99984083e-01 -1.76656371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.086502481 meters 0.1126909481937702 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.77 [[ 9.99992398e-01 -3.77908579e-03 -9.60515347e-04 4.83783209e+00] [ 3.78427626e-03 9.99977930e-01 5.46072203e-03 -1.73193581e-01] [ 9.39857611e-04 -5.46431538e-03 9.99984629e-01 -1.76654920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.116502481 meters 0.11229355875818188 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.77 [[ 9.99992124e-01 -3.71838137e-03 -1.38731345e-03 4.83850368e+00] [ 3.72573729e-03 9.99978813e-01 5.33791962e-03 -1.72560450e-01] [ 1.36743564e-03 -5.34304635e-03 9.99984791e-01 -1.76646519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.146502481 meters 0.11190581792906107 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.77 [[ 9.99992074e-01 -3.64521986e-03 -1.60134591e-03 4.83894719e+00] [ 3.65363386e-03 9.99979369e-01 5.28321083e-03 -1.72170166e-01] [ 1.58205441e-03 -5.28901969e-03 9.99984762e-01 -1.76658015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.176502481 meters 0.11180238668311948 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.77 [[ 9.99991384e-01 -3.66125579e-03 -1.95652104e-03 4.83938474e+00] [ 3.67121198e-03 9.99980207e-01 5.10959254e-03 -1.71696543e-01] [ 1.93777479e-03 -5.11673131e-03 9.99985032e-01 -1.76631381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.206502481 meters 0.11165082131828019 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.77 [[ 9.99991048e-01 -3.59416149e-03 -2.23304414e-03 4.83985978e+00] [ 3.60554473e-03 9.99980420e-01 5.11469256e-03 -1.71483343e-01] [ 2.21461738e-03 -5.12269811e-03 9.99984427e-01 -1.76632723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.236502481 meters 0.1116365795906729 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.77 [[ 9.99991345e-01 -3.37853003e-03 -2.42790572e-03 4.84050380e+00] [ 3.39139350e-03 9.99980131e-01 5.31373515e-03 -1.71561847e-01] [ 2.40990487e-03 -5.32192314e-03 9.99982935e-01 -1.76675963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26650248099997 meters 0.11132761939740057 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.77 [[ 9.99991951e-01 -3.09978034e-03 -2.54757158e-03 4.84140835e+00] [ 3.11409847e-03 9.99979270e-01 5.63568940e-03 -1.71587627e-01] [ 2.53004937e-03 -5.64357743e-03 9.99980874e-01 -1.76780139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29650248099998 meters 0.11144027054518903 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.77 [[ 9.99992014e-01 -2.98799132e-03 -2.65417745e-03 4.84197946e+00] [ 3.00319785e-03 9.99978994e-01 5.74389500e-03 -1.71325310e-01] [ 2.63695899e-03 -5.75182015e-03 9.99979981e-01 -1.76835008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32650248099998 meters 0.11160046470007051 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.77 [[ 9.99970206e-01 -6.92040925e-03 -3.41984295e-03 4.84408289e+00] [ 6.92560926e-03 9.99974876e-01 1.51104443e-03 -1.69065973e-01] [ 3.40929998e-03 -1.53468391e-03 9.99993011e-01 -1.76941235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35650248099998 meters 0.11212997391248904 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.77 [[ 9.99972312e-01 -6.58445010e-03 -3.46707584e-03 4.84461506e+00] [ 6.59157907e-03 9.99976176e-01 2.04879246e-03 -1.70016442e-01] [ 3.45350307e-03 -2.07158924e-03 9.99991891e-01 -1.77008366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38650248099998 meters 0.11231584461864512 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.17, Z:-1.77 [[ 9.99973258e-01 -6.47372901e-03 -3.40205646e-03 4.84479395e+00] [ 6.48146973e-03 9.99976420e-01 2.26922882e-03 -1.70387055e-01] [ 3.38728586e-03 -2.29121846e-03 9.99991638e-01 -1.77046662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41650248099998 meters 0.1126805962938077 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.17, Z:-1.77 [[ 9.99972172e-01 -6.56638252e-03 -3.54100815e-03 4.84505046e+00] [ 6.57344949e-03 9.99976419e-01 1.98782054e-03 -1.69412427e-01] [ 3.52787186e-03 -2.01104186e-03 9.99991755e-01 -1.77040890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44650248099998 meters 0.11256894070357751 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.17, Z:-1.77 [[ 9.99971537e-01 -6.55053692e-03 -3.74379694e-03 4.84556936e+00] [ 6.55761484e-03 9.99976729e-01 1.88143499e-03 -1.68681998e-01] [ 3.73138541e-03 -1.90593182e-03 9.99991222e-01 -1.77062316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47650248099998 meters 0.11259891985285522 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.17, Z:-1.77 [[ 9.99969603e-01 -6.62798370e-03 -4.10656628e-03 4.84631676e+00] [ 6.63389942e-03 9.99976975e-01 1.42861011e-03 -1.66752870e-01] [ 4.09700292e-03 -1.45580923e-03 9.99990548e-01 -1.77076458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50650248099998 meters 0.1125955297253758 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.17, Z:-1.77 [[ 9.99969533e-01 -6.51052595e-03 -4.30654663e-03 4.84692839e+00] [ 6.51690415e-03 9.99977686e-01 1.46867572e-03 -1.66304553e-01] [ 4.29688868e-03 -1.49669633e-03 9.99989648e-01 -1.77114766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53650248099999 meters 0.11252532441467458 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.17, Z:-1.77 [[ 9.99969499e-01 -6.39809628e-03 -4.47942819e-03 4.84737448e+00] [ 6.40475693e-03 9.99978403e-01 1.47417805e-03 -1.65968237e-01] [ 4.46989952e-03 -1.50282274e-03 9.99988881e-01 -1.77138428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.566502481 meters 0.11208944927716058 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.17, Z:-1.77 [[ 9.99969373e-01 -6.26560419e-03 -4.68981034e-03 4.84788641e+00] [ 6.27300734e-03 9.99979099e-01 1.56551768e-03 -1.65876325e-01] [ 4.67990340e-03 -1.59488895e-03 9.99987777e-01 -1.77160396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.596502481 meters 0.11199241208494655 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.16, Z:-1.77 [[ 9.99967537e-01 -6.22569014e-03 -5.11534193e-03 4.84871627e+00] [ 6.23256536e-03 9.99979694e-01 1.32919968e-03 -1.64505725e-01] [ 5.10696287e-03 -1.36103823e-03 9.99986033e-01 -1.77171882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.626502481 meters 0.11216393508342373 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.16, Z:-1.77 [[ 9.99967423e-01 -6.02505995e-03 -5.37129806e-03 4.84947736e+00] [ 6.03304274e-03 9.99980719e-01 1.47123172e-03 -1.64257455e-01] [ 5.36233023e-03 -1.50358906e-03 9.99984492e-01 -1.77217270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.656502481 meters 0.1121882070225021 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.16, Z:-1.77 [[ 9.99967066e-01 -5.80881682e-03 -5.66792001e-03 4.85027181e+00] [ 5.81797484e-03 9.99981794e-01 1.60061655e-03 -1.63811434e-01] [ 5.65851913e-03 -1.63353965e-03 9.99982656e-01 -1.77262594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.686502481 meters 0.11170768271330868 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.16, Z:-1.77 [[ 9.99967189e-01 -5.45672978e-03 -5.98700332e-03 4.85112655e+00] [ 5.46881296e-03 9.99983038e-01 2.00372424e-03 -1.64364408e-01] [ 5.97596799e-03 -2.03640030e-03 9.99980070e-01 -1.77312540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.716502481 meters 0.11132406747467193 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.16, Z:-1.77 [[ 9.99967631e-01 -5.15215598e-03 -6.18002324e-03 4.85192078e+00] [ 5.16692024e-03 9.99983830e-01 2.37544688e-03 -1.64771145e-01] [ 6.16768464e-03 -2.40730168e-03 9.99978082e-01 -1.77382877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.746502481 meters 0.11162384418507094 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.17, Z:-1.77 [[ 9.99967955e-01 -4.79016257e-03 -6.41435205e-03 4.85289044e+00] [ 4.80816179e-03 9.99984539e-01 2.79361199e-03 -1.65058771e-01] [ 6.40087102e-03 -2.82436371e-03 9.99975526e-01 -1.77466010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.776502481 meters 0.11073861153453404 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.16, Z:-1.78 [[ 9.99965667e-01 -4.64319741e-03 -6.86337167e-03 4.85404383e+00] [ 4.66185213e-03 9.99985476e-01 2.70451673e-03 -1.63808923e-01] [ 6.85071439e-03 -2.73641990e-03 9.99972789e-01 -1.77520832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.806502481 meters 0.11058860364446532 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.16, Z:-1.78 [[ 9.99964859e-01 -4.32449860e-03 -7.18183463e-03 4.85523337e+00] [ 4.34581569e-03 9.99986190e-01 2.95524840e-03 -1.63296344e-01] [ 7.16895549e-03 -2.98635548e-03 9.99969843e-01 -1.77614283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.836502481 meters 0.11045035479018862 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.16, Z:-1.78 [[ 9.99964551e-01 -4.12551799e-03 -7.34005044e-03 4.85578808e+00] [ 4.14887910e-03 9.99986368e-01 3.17031538e-03 -1.63488255e-01] [ 7.32687118e-03 -3.20065598e-03 9.99968036e-01 -1.77655888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.866502481 meters 0.11082498532775678 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.16, Z:-1.78 [[ 9.99964983e-01 -4.07425880e-03 -7.30983374e-03 4.85590598e+00] [ 4.09794385e-03 9.99986393e-01 3.22811654e-03 -1.63677642e-01] [ 7.29658209e-03 -3.25795879e-03 9.99968072e-01 -1.77680903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.896502481 meters 0.11082498532775678 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.16, Z:-1.78 [[ 9.99964983e-01 -4.07425880e-03 -7.30983374e-03 4.85590598e+00] [ 4.09794385e-03 9.99986393e-01 3.22811654e-03 -1.63677642e-01] [ 7.29658209e-03 -3.25795879e-03 9.99968072e-01 -1.77680903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.926502481 meters 0.1109961324108022 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.16, Z:-1.78 [[ 9.99960166e-01 -4.40187358e-03 -7.76469216e-03 4.85630222e+00] [ 4.42086440e-03 9.99987275e-01 2.43032521e-03 -1.61319990e-01] [ 7.75389537e-03 -2.46455505e-03 9.99966901e-01 -1.77618087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.956502481 meters 0.111119785530363 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.16, Z:-1.78 [[ 9.99958175e-01 -4.44298861e-03 -7.99421710e-03 4.85683767e+00] [ 4.46048133e-03 9.99987694e-01 2.17167442e-03 -1.60066062e-01] [ 7.98447000e-03 -2.20724165e-03 9.99965688e-01 -1.77632810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98650248099997 meters 0.11084059541596109 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.16, Z:-1.78 [[ 9.99955394e-01 -4.44676391e-03 -8.33281946e-03 4.85744273e+00] [ 4.46333280e-03 9.99988097e-01 1.97084842e-03 -1.59145098e-01] [ 8.32395637e-03 -2.00795266e-03 9.99963339e-01 -1.77632589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01650248099997 meters 0.11097868788035763 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.16, Z:-1.78 [[ 9.99981422e-01 5.37404620e-05 -6.09530358e-03 4.86734439e+00] [-7.02709756e-05 9.99996321e-01 -2.71182651e-03 -1.58211055e-01] [ 6.09513541e-03 2.71220445e-03 9.99977746e-01 -1.77518674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04650248099998 meters 0.11103528259273449 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.16, Z:-1.78 [[ 9.99981175e-01 1.57970623e-04 -6.13392898e-03 4.86755262e+00] [-1.73925869e-04 9.99996603e-01 -2.60069977e-03 -1.58479391e-01] [ 6.13349731e-03 2.60171766e-03 9.99977805e-01 -1.77541361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07650248099998 meters 0.11083458293852842 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.16, Z:-1.78 [[ 9.99980113e-01 3.18718190e-04 -6.29860492e-03 4.86816703e+00] [-3.34251323e-04 9.99996905e-01 -2.46522400e-03 -1.58264056e-01] [ 6.29779972e-03 2.46728029e-03 9.99977125e-01 -1.77589380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10650248099998 meters 0.11084900643689577 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.16, Z:-1.78 [[ 9.99977824e-01 3.12122720e-04 -6.65239457e-03 4.86897837e+00] [-3.30234669e-04 9.99996242e-01 -2.72169644e-03 -1.56723597e-01] [ 6.65152006e-03 2.72383293e-03 9.99974169e-01 -1.77610693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13650248099998 meters 0.11094986006423718 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.16, Z:-1.78 [[ 9.99976807e-01 4.94224737e-04 -6.79270094e-03 4.86955464e+00] [-5.11319939e-04 9.99996706e-01 -2.51519555e-03 -1.56747874e-01] [ 6.79143549e-03 2.51861046e-03 9.99973766e-01 -1.77655065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16650248099998 meters 0.11116289772986308 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.16, Z:-1.78 [[ 9.99977404e-01 6.71449663e-04 -6.68880886e-03 4.86939771e+00] [-6.85572096e-04 9.99997540e-01 -2.10928344e-03 -1.58135696e-01] [ 6.68737613e-03 2.11382144e-03 9.99975405e-01 -1.77660215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19650248099998 meters 0.11115692464305384 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.16, Z:-1.78 [[ 9.99978321e-01 7.79686643e-04 -6.53838093e-03 4.86911537e+00] [-7.91500571e-04 9.99998059e-01 -1.80446544e-03 -1.59295029e-01] [ 6.53696132e-03 1.80960145e-03 9.99976996e-01 -1.77660895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22650248099998 meters 0.11132824188601745 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.16, Z:-1.78 [[ 9.99979243e-01 8.86177083e-04 -6.38187353e-03 4.86875797e+00] [-8.95438183e-04 9.99998550e-01 -1.44844583e-03 -1.60863915e-01] [ 6.38058069e-03 1.45413033e-03 9.99978587e-01 -1.77653013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25650248099998 meters 0.11149380705441815 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.16, Z:-1.78 [[ 9.99977716e-01 1.13085942e-03 -6.57943224e-03 4.86934362e+00] [-1.13810591e-03 9.99998750e-01 -1.09774521e-03 -1.61283477e-01] [ 6.57818262e-03 1.10520884e-03 9.99977753e-01 -1.77687917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28650248099999 meters 0.1112226806385618 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.16, Z:-1.78 [[ 9.99976033e-01 1.31167886e-03 -6.79799252e-03 4.86996785e+00] [-1.31771945e-03 9.99998741e-01 -8.84180922e-04 -1.61385091e-01] [ 6.79682420e-03 8.93117578e-04 9.99976502e-01 -1.77720851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.316502481 meters 0.11112627064164428 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.16, Z:-1.78 [[ 9.99974733e-01 1.57572552e-03 -6.93177413e-03 4.87047498e+00] [-1.57929714e-03 9.99998623e-01 -5.09811061e-04 -1.62144169e-01] [ 6.93096126e-03 5.20745511e-04 9.99975845e-01 -1.77763292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.346502481 meters 0.11081915286282754 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.16, Z:-1.78 [[ 9.99966859e-01 -2.42807359e-03 -7.77085991e-03 4.87206324e+00] [ 2.39019271e-03 9.99985235e-01 -4.88031439e-03 -1.60829963e-01] [ 7.78259493e-03 4.86157880e-03 9.99957897e-01 -1.77789539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.376502481 meters 0.1108065968287632 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.16, Z:-1.78 [[ 9.99966702e-01 -2.23830526e-03 -7.84758823e-03 4.87221448e+00] [ 2.20258000e-03 9.99987186e-01 -4.55807811e-03 -1.61788606e-01] [ 7.85769005e-03 4.54064139e-03 9.99958819e-01 -1.77795680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.406502481 meters 0.11081518522760804 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.16, Z:-1.78 [[ 9.99965269e-01 -2.12289039e-03 -8.05938741e-03 4.87265034e+00] [ 2.08705784e-03 9.99987912e-01 -4.45187298e-03 -1.61815840e-01] [ 8.06874083e-03 4.43489795e-03 9.99957613e-01 -1.77804293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.436502481 meters 0.11105184332930995 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.16, Z:-1.78 [[ 9.99963616e-01 -2.06770523e-03 -8.27589460e-03 4.87299903e+00] [ 2.03123919e-03 9.99988203e-01 -4.41227874e-03 -1.61636896e-01] [ 8.28492026e-03 4.39530788e-03 9.99956020e-01 -1.77797391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.466502481 meters 0.111192993183257 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.16, Z:-1.78 [[ 9.99963518e-01 -1.91448868e-03 -8.32452786e-03 4.87321394e+00] [ 1.87977014e-03 9.99989512e-01 -4.17645769e-03 -1.62141086e-01] [ 8.33243633e-03 4.16065713e-03 9.99956629e-01 -1.77814982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.496502481 meters 0.11141734917014862 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.16, Z:-1.78 [[ 9.99962996e-01 -1.72613621e-03 -8.42777191e-03 4.87359690e+00] [ 1.69316698e-03 9.99990893e-01 -3.91754398e-03 -1.62557873e-01] [ 8.43445737e-03 3.90312939e-03 9.99956812e-01 -1.77845455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.526502481 meters 0.11128145604957922 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.16, Z:-1.78 [[ 9.99962128e-01 -1.47061208e-03 -8.57786955e-03 4.87433130e+00] [ 1.43939662e-03 9.99992324e-01 -3.64410772e-03 -1.62687414e-01] [ 8.58316278e-03 3.63162275e-03 9.99956569e-01 -1.77916768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.556502481 meters 0.11105612592078253 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.16, Z:-1.78 [[ 9.99959694e-01 -1.34436535e-03 -8.87710643e-03 4.87506472e+00] [ 1.31231898e-03 9.99992605e-01 -3.61484038e-03 -1.62269973e-01] [ 8.88190046e-03 3.60304509e-03 9.99954064e-01 -1.77946116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.586502481 meters 0.11067802256213817 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.16, Z:-1.78 [[ 9.99954110e-01 -1.39555075e-03 -9.47791189e-03 4.87582446e+00] [ 1.35614238e-03 9.99990415e-01 -4.16307181e-03 -1.60388780e-01] [ 9.48363082e-03 4.15002737e-03 9.99946418e-01 -1.77903897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.616502481 meters 0.11081521183777789 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.16, Z:-1.78 [[ 9.99950374e-01 -1.39688315e-03 -9.86397649e-03 4.87639028e+00] [ 1.35365179e-03 9.99989456e-01 -4.38806888e-03 -1.59454217e-01] [ 9.87000210e-03 4.37449873e-03 9.99941722e-01 -1.77888677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.646502481 meters 0.11053907815629996 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.16, Z:-1.78 [[ 9.99945974e-01 -1.41838973e-03 -1.02974757e-02 4.87679136e+00] [ 1.37017284e-03 9.99988073e-01 -4.68794446e-03 -1.58588385e-01] [ 1.03040022e-02 4.67358187e-03 9.99935991e-01 -1.77836625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.676502481 meters 0.11046490585204337 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.16, Z:-1.78 [[ 9.99942724e-01 -1.09870771e-03 -1.06461698e-02 4.87759900e+00] [ 1.05286177e-03 9.99990153e-01 -4.31097971e-03 -1.59076037e-01] [ 1.06508015e-02 4.29952385e-03 9.99934035e-01 -1.77869211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.706502481 meters 0.11050925172034563 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.16, Z:-1.78 [[ 9.99941707e-01 -7.26193138e-04 -1.07729176e-02 4.87818594e+00] [ 6.86023996e-04 9.99992801e-01 -3.73194208e-03 -1.60181410e-01] [ 1.07755501e-02 3.72433405e-03 9.99935006e-01 -1.77925644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73650248099997 meters 0.11049813704006237 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.16, Z:-1.78 [[ 9.99943324e-01 -2.77640145e-04 -1.06429037e-02 4.87824993e+00] [ 2.47965140e-04 9.99996079e-01 -2.78946150e-03 -1.62696337e-01] [ 1.06436365e-02 2.78666434e-03 9.99939472e-01 -1.77973968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76650248099997 meters 0.11059592178065583 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.16, Z:-1.78 [[ 9.99944299e-01 -3.59709204e-05 -1.05544682e-02 4.87828857e+00] [ 1.20973389e-05 9.99997442e-01 -2.26199585e-03 -1.64126189e-01] [ 1.05545226e-02 2.26174217e-03 9.99941742e-01 -1.78005918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79650248099998 meters 0.11081045840957289 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.16, Z:-1.78 [[ 9.99931651e-01 -3.99643509e-03 -1.09873179e-02 4.87928834e+00] [ 3.93040027e-03 9.99974125e-01 -6.02513260e-03 -1.64880692e-01] [ 1.10111127e-02 5.98153623e-03 9.99921485e-01 -1.78045557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82650248099998 meters 0.11091222715363996 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.17, Z:-1.78 [[ 9.99934660e-01 -3.50165744e-03 -1.08817891e-02 4.87966866e+00] [ 3.44672877e-03 9.99981246e-01 -5.06242167e-03 -1.67033519e-01] [ 1.08993119e-02 5.02458432e-03 9.99927977e-01 -1.78133454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85650248099998 meters 0.11127522054388363 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.17, Z:-1.78 [[ 9.99939459e-01 -2.91068961e-03 -1.06116328e-02 4.87973673e+00] [ 2.87224100e-03 9.99989262e-01 -3.63669257e-03 -1.70707409e-01] [ 1.06221041e-02 3.60599324e-03 9.99937082e-01 -1.78224034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88650248099998 meters 0.11152125890467453 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.17, Z:-1.78 [[ 9.99941799e-01 -2.44338097e-03 -1.05085123e-02 4.88009400e+00] [ 2.41472843e-03 9.99993335e-01 -2.73842766e-03 -1.72687369e-01] [ 1.05151333e-02 2.71289307e-03 9.99941034e-01 -1.78306811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91650248099998 meters 0.11191126245914548 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.18, Z:-1.78 [[ 9.99946128e-01 -1.95507714e-03 -1.01940651e-02 4.87999758e+00] [ 1.93943266e-03 9.99996927e-01 -1.54432544e-03 -1.75799353e-01] [ 1.01970530e-02 1.52447154e-03 9.99946847e-01 -1.78378100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94650248099998 meters 0.11219472544903192 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.18, Z:-1.78 [[ 9.99947778e-01 -1.59541626e-03 -1.00943878e-02 4.88025653e+00] [ 1.58668350e-03 9.99998360e-01 -8.73059988e-04 -1.77281318e-01] [ 1.00957642e-02 8.56997796e-04 9.99948669e-01 -1.78443000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97650248099998 meters 0.1127048954518039 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.18, Z:-1.78 [[ 9.99950452e-01 -1.55957326e-03 -9.83161952e-03 4.87962564e+00] [ 1.55455268e-03 9.99998657e-01 -5.18277845e-04 -1.78844473e-01] [ 9.83241461e-03 5.02968395e-04 9.99951534e-01 -1.78416614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00650248099998 meters 0.112615906657976 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.18, Z:-1.78 [[ 9.99950571e-01 -1.44541749e-03 -9.83700769e-03 4.87962486e+00] [ 1.44258830e-03 9.99998916e-01 -2.94695609e-04 -1.79530011e-01] [ 9.83742298e-03 2.80490290e-04 9.99951572e-01 -1.78413226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03650248099999 meters 0.11343020677584152 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.18, Z:-1.78 [[ 9.99951787e-01 -1.35848442e-03 -9.72516708e-03 4.87938961e+00] [ 1.35830193e-03 9.99999077e-01 -2.53695980e-05 -1.80510126e-01] [ 9.72519257e-03 1.21586617e-05 9.99952709e-01 -1.78407703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.066502481 meters 0.1129884099928817 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.18, Z:-1.78 [[ 9.99952415e-01 -1.16607394e-03 -9.68550161e-03 4.87959491e+00] [ 1.16878149e-03 9.99999279e-01 2.73890667e-04 -1.81095582e-01] [ 9.68517525e-03 -2.85197869e-04 9.99953057e-01 -1.78447232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.096502481 meters 0.11266710685639246 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.18, Z:-1.78 [[ 9.99950912e-01 -1.14272234e-03 -9.84215406e-03 4.87991460e+00] [ 1.14422795e-03 9.99999335e-01 1.47346474e-04 -1.80569642e-01] [ 9.84197913e-03 -1.58600909e-04 9.99951554e-01 -1.78457693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.126502481 meters 0.11280778235305933 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.18, Z:-1.78 [[ 9.99947397e-01 -1.06759498e-03 -1.02011158e-02 4.88058441e+00] [ 1.06858657e-03 9.99999425e-01 9.17542067e-05 -1.80010446e-01] [ 1.02010120e-02 -1.02650155e-04 9.99947963e-01 -1.78466387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.156502481 meters 0.11213964525261894 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.18, Z:-1.78 [[ 9.99944450e-01 -1.22060550e-03 -1.04693534e-02 4.88082794e+00] [ 1.21736808e-03 9.99999209e-01 -3.15595328e-04 -1.78957524e-01] [ 1.04697304e-02 3.02832740e-04 9.99945145e-01 -1.78438940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.186502481 meters 0.11159106127043224 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.18, Z:-1.78 [[ 9.99941247e-01 -1.23188244e-03 -1.07696712e-02 4.88123308e+00] [ 1.22486841e-03 9.99999033e-01 -6.57847717e-04 -1.77868546e-01] [ 1.07704712e-02 6.44617636e-04 9.99941789e-01 -1.78430017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.216502481 meters 0.11122439879963053 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.18, Z:-1.78 [[ 9.99935824e-01 -9.20066491e-04 -1.12916604e-02 4.88225211e+00] [ 9.12852589e-04 9.99999376e-01 -6.44007242e-04 -1.77075601e-01] [ 1.12922459e-02 6.33658290e-04 9.99936040e-01 -1.78461356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.246502481 meters 0.11108584619874877 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.18, Z:-1.78 [[ 9.99933401e-01 -7.53680231e-04 -1.15163141e-02 4.88289190e+00] [ 7.47442486e-04 9.99999572e-01 -5.45938641e-04 -1.76826902e-01] [ 1.15167207e-02 5.37294499e-04 9.99933536e-01 -1.78496552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.276502481 meters 0.11086147173142166 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.18, Z:-1.79 [[ 9.99930345e-01 -4.18914748e-04 -1.17953402e-02 4.88373174e+00] [ 4.16495670e-04 9.99999892e-01 -2.07543328e-04 -1.77110020e-01] [ 1.17954259e-02 2.02616163e-04 9.99930411e-01 -1.78551837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.306502481 meters 0.11081276489181249 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.18, Z:-1.79 [[ 9.99971351e-01 3.41183538e-03 -6.75702823e-03 4.89285772e+00] [-3.44175716e-03 9.99984302e-01 -4.42157841e-03 -1.77360440e-01] [ 6.74183646e-03 4.44470778e-03 9.99967396e-01 -1.78678174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.336502481 meters 0.11098747359076024 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.18, Z:-1.79 [[ 9.99974459e-01 -4.84031064e-04 -7.13069289e-03 4.89369301e+00] [ 4.25883005e-04 9.99966666e-01 -8.15387819e-03 -1.78219597e-01] [ 7.13440192e-03 8.15063309e-03 9.99941332e-01 -1.78714274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.366502481 meters 0.1111440781834827 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.18, Z:-1.79 [[ 9.99977426e-01 2.93973114e-05 -6.71910798e-03 4.89358503e+00] [-7.56591290e-05 9.99976296e-01 -6.88496251e-03 -1.81537043e-01] [ 6.71874630e-03 6.88531545e-03 9.99953724e-01 -1.78809107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.396502481 meters 0.11110442441549383 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.18, Z:-1.79 [[ 9.99977849e-01 4.76487978e-04 -6.63893298e-03 4.89398604e+00] [-5.16695051e-04 9.99981530e-01 -6.05585696e-03 -1.83377630e-01] [ 6.63592481e-03 6.05915311e-03 9.99959625e-01 -1.78889877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.426502481 meters 0.11128436348784729 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.19, Z:-1.79 [[ 9.99980029e-01 1.08920352e-03 -6.22540457e-03 4.89433578e+00] [-1.11811028e-03 9.99988602e-01 -4.64176081e-03 -1.86651522e-01] [ 6.22027779e-03 4.64862880e-03 9.99969849e-01 -1.79043165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.456502481 meters 0.11137031698473777 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.19, Z:-1.79 [[ 9.99980866e-01 1.64066283e-03 -5.96462702e-03 4.89457818e+00] [-1.66182736e-03 9.99992335e-01 -3.54511826e-03 -1.89300697e-01] [ 5.95876496e-03 3.55496261e-03 9.99975927e-01 -1.79147473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48650248099997 meters 0.11239019965526656 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.19, Z:-1.80 [[ 9.99981062e-01 -6.03134234e-03 1.22401836e-03 4.90415674e+00] [ 6.03197971e-03 9.99981673e-01 -5.17692966e-04 -1.93222985e-01] [-1.22087354e-03 5.25066416e-04 9.99999117e-01 -1.79524439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51650248099997 meters 0.11260972702858575 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.19, Z:-1.80 [[ 9.99982950e-01 -5.69876751e-03 1.27456005e-03 4.90443068e+00] [ 5.69861348e-03 9.99983755e-01 1.24451397e-04 -1.94678774e-01] [-1.27524856e-03 -1.17186050e-04 9.99999180e-01 -1.79575604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54650248099998 meters 0.11371059625180241 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.20, Z:-1.80 [[ 9.99983546e-01 -5.52096073e-03 1.55783663e-03 4.90420764e+00] [ 5.51966652e-03 9.99984419e-01 8.33852202e-04 -1.96562069e-01] [-1.56241602e-03 -8.25239743e-04 9.99998439e-01 -1.79597018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57650248099998 meters 0.11464598913112786 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.20, Z:-1.80 [[ 9.99983553e-01 -5.42910948e-03 1.84878007e-03 4.90387356e+00] [ 5.42684048e-03 9.99984518e-01 1.23010702e-03 -1.97870926e-01] [-1.85542984e-03 -1.22005376e-03 9.99997534e-01 -1.79612841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60650248099998 meters 0.11610402400335074 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.20, Z:-1.80 [[ 9.99982729e-01 -5.33562355e-03 2.46414284e-03 4.90313685e+00] [ 5.33074688e-03 9.99983828e-01 1.98139987e-03 -2.00525552e-01] [-2.47467499e-03 -1.96822993e-03 9.99995001e-01 -1.79638386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63650248099998 meters 0.11765099789152038 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.20, Z:-1.80 [[ 9.99981120e-01 -5.31490501e-03 3.08409581e-03 4.90236209e+00] [ 5.30728609e-03 9.99982858e-01 2.47333815e-03 -2.02697060e-01] [-3.09718850e-03 -2.45692328e-03 9.99992185e-01 -1.79664422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66650248099998 meters 0.11791463446391036 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.20, Z:-1.80 [[ 9.99982398e-01 -5.04136732e-03 3.12851898e-03 4.90269691e+00] [ 5.03222253e-03 9.99983063e-01 2.92405867e-03 -2.03571043e-01] [-3.14320724e-03 -2.90826380e-03 9.99990831e-01 -1.79724546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69650248099998 meters 0.11914355010948108 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.20, Z:-1.80 [[ 9.99983085e-01 -4.88163565e-03 3.16220956e-03 4.90314842e+00] [ 4.87173111e-03 9.99983227e-01 3.13232446e-03 -2.03470163e-01] [-3.17744739e-03 -3.11686604e-03 9.99990094e-01 -1.79793203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72650248099998 meters 0.119285976145501 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.20, Z:-1.80 [[ 9.99983913e-01 -4.77065282e-03 3.06844049e-03 4.90360660e+00] [ 4.76073357e-03 9.99983445e-01 3.23188985e-03 -2.03273760e-01] [-3.08380791e-03 -3.21722983e-03 9.99990070e-01 -1.79832657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75650248099998 meters 0.11959644552461295 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.20, Z:-1.80 [[ 9.99984394e-01 -4.70703984e-03 3.00913996e-03 4.90376532e+00] [ 4.69719670e-03 9.99983622e-01 3.26982145e-03 -2.03294639e-01] [-3.02448185e-03 -3.25563590e-03 9.99990127e-01 -1.79840517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78650248099999 meters 0.11959644552461295 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.20, Z:-1.80 [[ 9.99984394e-01 -4.70703984e-03 3.00913996e-03 4.90376532e+00] [ 4.69719670e-03 9.99983622e-01 3.26982145e-03 -2.03294639e-01] [-3.02448185e-03 -3.25563590e-03 9.99990127e-01 -1.79840517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.816502481 meters 0.11798370104338174 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.20, Z:-1.80 [[ 9.99985810e-01 -4.49567672e-03 2.85805397e-03 4.90423684e+00] [ 4.48555131e-03 9.99983676e-01 3.53935626e-03 -2.03706313e-01] [-2.87391912e-03 -3.52648609e-03 9.99989652e-01 -1.79873618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.846502481 meters 0.11726935809841063 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.20, Z:-1.80 [[ 9.99987511e-01 -4.30191561e-03 2.54391033e-03 4.90497344e+00] [ 4.29267083e-03 9.99984204e-01 3.62844461e-03 -2.03424089e-01] [-2.55947941e-03 -3.61747912e-03 9.99990181e-01 -1.79906449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.876502481 meters 0.11681971204626553 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.20, Z:-1.80 [[ 9.99988790e-01 -4.16386681e-03 2.25431943e-03 4.90568658e+00] [ 4.15567979e-03 9.99984797e-01 3.62428752e-03 -2.02844106e-01] [-2.26937621e-03 -3.61487866e-03 9.99990891e-01 -1.79942833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.906502481 meters 0.11622328701815898 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.20, Z:-1.80 [[ 9.99989129e-01 -4.17664436e-03 2.07323480e-03 4.90610171e+00] [ 4.16942575e-03 9.99985273e-01 3.47400364e-03 -2.02147708e-01] [-2.08771395e-03 -3.46532167e-03 9.99991816e-01 -1.79958188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.936502481 meters 0.1155178012062357 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.20, Z:-1.80 [[ 9.99993039e-01 -3.43798492e-03 1.45007357e-03 4.90823461e+00] [ 3.43200861e-03 9.99985689e-01 4.10393287e-03 -2.01737056e-01] [-1.46416208e-03 -4.09892763e-03 9.99990527e-01 -1.80123971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.966502481 meters 0.11516862865815727 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.20, Z:-1.80 [[ 9.99992934e-01 -3.48901878e-03 1.39966064e-03 4.90843188e+00] [ 3.48347775e-03 9.99986163e-01 3.94193326e-03 -2.01188160e-01] [-1.41339475e-03 -3.93702972e-03 9.99991251e-01 -1.80144941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.996502481 meters 0.11422033491692633 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.20, Z:-1.80 [[ 9.99994442e-01 -3.11945091e-03 1.17663042e-03 4.90940817e+00] [ 3.11428379e-03 9.99985611e-01 4.36802025e-03 -2.01521776e-01] [-1.19023931e-03 -4.36433161e-03 9.99989768e-01 -1.80237258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.026502481 meters 0.11416108850686475 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.20, Z:-1.80 [[ 9.99976589e-01 -6.83450382e-03 3.34314216e-04 4.91133005e+00] [ 6.83445973e-03 9.99976636e-01 1.32840909e-04 -2.00038073e-01] [-3.35214307e-04 -1.30552942e-04 9.99999935e-01 -1.80327358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.056502481 meters 0.11321830248790024 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.20, Z:-1.80 [[ 9.99976930e-01 -6.78885912e-03 2.24698003e-04 4.91159897e+00] [ 6.78882847e-03 9.99976946e-01 1.36872330e-04 -1.99929089e-01] [-2.25622030e-04 -1.35343736e-04 9.99999965e-01 -1.80344121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.086502481 meters 0.11272697844689156 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.20, Z:-1.80 [[ 9.99977408e-01 -6.71429560e-03 -3.18019350e-04 4.91262897e+00] [ 6.71422886e-03 9.99977437e-01 -2.10442200e-04 -1.98053705e-01] [ 3.19425145e-04 2.08302191e-04 9.99999927e-01 -1.80366029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.116502481 meters 0.11194015131176122 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.20, Z:-1.80 [[ 9.99996765e-01 -2.53914197e-03 -1.50101098e-04 4.91220552e+00] [ 2.53970838e-03 9.99989161e-01 3.90215335e-03 -1.98042433e-01] [ 1.40191349e-04 -3.90252194e-03 9.99992375e-01 -1.80352716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.146502481 meters 0.11178608222783482 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.20, Z:-1.80 [[ 9.99996882e-01 -2.43884928e-03 -5.35813600e-04 4.91298699e+00] [ 2.44088122e-03 9.99989706e-01 3.82489436e-03 -1.97290857e-01] [ 5.26479743e-04 -3.82619030e-03 9.99992542e-01 -1.80372396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.176502481 meters 0.11140476744312885 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.20, Z:-1.80 [[ 9.99996747e-01 -2.46710895e-03 -6.47209980e-04 4.91322345e+00] [ 2.46943993e-03 9.99990377e-01 3.62584813e-03 -1.96744562e-01] [ 6.38258390e-04 -3.62743458e-03 9.99993217e-01 -1.80384016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.206502481 meters 0.11132718009857427 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.20, Z:-1.80 [[ 9.99998640e-01 1.57308787e-03 -4.94874231e-04 4.92615073e+00] [-1.57347661e-03 9.99998453e-01 -7.86124584e-04 -1.97274690e-01] [ 4.93636823e-04 7.86902189e-04 9.99999569e-01 -1.80390417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23650248099997 meters 0.11131039555533269 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.20, Z:-1.80 [[ 9.99998914e-01 1.37426601e-03 -5.32329773e-04 4.92592631e+00] [-1.37483023e-03 9.99998492e-01 -1.06098996e-03 -1.96943676e-01] [ 5.30870888e-04 1.06172068e-03 9.99999295e-01 -1.80348505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26650248099997 meters 0.11120315583248386 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.20, Z:-1.80 [[ 9.99998730e-01 1.48093639e-03 -5.88413423e-04 4.92613087e+00] [-1.48147601e-03 9.99998482e-01 -9.17696551e-04 -1.97268516e-01] [ 5.87053479e-04 9.18567106e-04 9.99999406e-01 -1.80361783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29650248099998 meters 0.11146333322759445 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.20, Z:-1.80 [[ 9.99996143e-01 -2.49643253e-03 -1.21737127e-03 4.92733644e+00] [ 2.49024282e-03 9.99984099e-01 -5.05977190e-03 -1.96697396e-01] [ 1.22998329e-03 5.05672084e-03 9.99986458e-01 -1.80387507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32650248099998 meters 0.11144264166453642 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.20, Z:-1.80 [[ 9.99996949e-01 -2.14316491e-03 -1.22831318e-03 4.92770809e+00] [ 2.13766255e-03 9.99987753e-01 -4.46355058e-03 -1.98047557e-01] [ 1.23786426e-03 4.46091124e-03 9.99989284e-01 -1.80442861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35650248099998 meters 0.11130756514367464 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.20, Z:-1.81 [[ 9.99997942e-01 -1.81898281e-03 -8.98478079e-04 4.92753320e+00] [ 1.81567244e-03 9.99991611e-01 -3.67160396e-03 -2.00368391e-01] [ 9.05149127e-04 3.66996506e-03 9.99992856e-01 -1.80501832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38650248099998 meters 0.11205710961354848 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.20, Z:-1.81 [[ 9.99998963e-01 -1.21498743e-03 -7.73028582e-04 4.92810262e+00] [ 1.21300188e-03 9.99995978e-01 -2.56384686e-03 -2.02712091e-01] [ 7.76140514e-04 2.56290652e-03 9.99996415e-01 -1.80621335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41650248099998 meters 0.11236112623584696 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.20, Z:-1.81 [[ 9.99999319e-01 -9.06057828e-04 -7.36089453e-04 4.92842473e+00] [ 9.04563266e-04 9.99997534e-01 -2.02820929e-03 -2.03869547e-01] [ 7.37925313e-04 2.02754207e-03 9.99997672e-01 -1.80678758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44650248099998 meters 0.11205622419676257 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.21, Z:-1.81 [[ 9.99999707e-01 -4.57417681e-04 -6.13344695e-04 4.92885886e+00] [ 4.56678129e-04 9.99999169e-01 -1.20536786e-03 -2.05540032e-01] [ 6.13895542e-04 1.20508741e-03 9.99999085e-01 -1.80773535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47650248099998 meters 0.1121007839623922 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.21, Z:-1.81 [[ 9.99999805e-01 -2.50222862e-04 -5.72448367e-04 4.92895082e+00] [ 2.49757064e-04 9.99999638e-01 -8.13621608e-04 -2.06606733e-01] [ 5.72651747e-04 8.13478476e-04 9.99999505e-01 -1.80796474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50650248099998 meters 0.11234935549228303 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.21, Z:-1.81 [[ 9.99990066e-01 -4.32386164e-03 -1.08286557e-03 4.93009758e+00] [ 4.31839202e-03 9.99978158e-01 -5.00346593e-03 -2.05949550e-01] [ 1.10447621e-03 4.99873998e-03 9.99986896e-01 -1.80836507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53650248099999 meters 0.11336876830200947 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.21, Z:-1.81 [[ 9.99991865e-01 -3.91019945e-03 -9.89796583e-04 4.93068635e+00] [ 3.90587519e-03 9.99982981e-01 -4.33370498e-03 -2.07050235e-01] [ 1.00672539e-03 4.32980370e-03 9.99990120e-01 -1.80948368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.566502481 meters 0.11260073231214253 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.21, Z:-1.81 [[ 9.99992293e-01 -3.78987833e-03 -1.02468193e-03 4.93099151e+00] [ 3.78555862e-03 9.99984077e-01 -4.18523536e-03 -2.07151181e-01] [ 1.04052714e-03 4.18132411e-03 9.99990717e-01 -1.80983307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.596502481 meters 0.11276508909428001 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.21, Z:-1.81 [[ 9.99991920e-01 -3.87114398e-03 -1.08348679e-03 4.93099699e+00] [ 3.86639028e-03 9.99983040e-01 -4.35564676e-03 -2.06696037e-01] [ 1.10032975e-03 4.35142238e-03 9.99989927e-01 -1.80970527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.626502481 meters 0.11229725538571701 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.21, Z:-1.81 [[ 9.99992490e-01 -3.69879991e-03 -1.15704703e-03 4.93149999e+00] [ 3.69395171e-03 9.99984505e-01 -4.16459303e-03 -2.06705607e-01] [ 1.17243310e-03 4.16028767e-03 9.99990659e-01 -1.81024202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.656502481 meters 0.11216431222593248 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.21, Z:-1.81 [[ 9.99993230e-01 -3.46825298e-03 -1.22944943e-03 4.93221426e+00] [ 3.46338673e-03 9.99986247e-01 -3.93834473e-03 -2.06546232e-01] [ 1.24309169e-03 3.93406001e-03 9.99991489e-01 -1.81113871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.686502481 meters 0.1123961155626623 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.21, Z:-1.81 [[ 9.99993962e-01 -3.22144171e-03 -1.30344997e-03 4.93289079e+00] [ 3.21669086e-03 9.99988236e-01 -3.63065226e-03 -2.06635389e-01] [ 1.31513057e-03 3.62643754e-03 9.99992560e-01 -1.81196375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.716502481 meters 0.11179077953525121 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.21, Z:-1.81 [[ 9.99993986e-01 -3.09493009e-03 -1.56523719e-03 4.93376835e+00] [ 3.08915060e-03 9.99988452e-01 -3.68144314e-03 -2.05684788e-01] [ 1.57661293e-03 3.67658575e-03 9.99991998e-01 -1.81259678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.746502481 meters 0.11204153140188597 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.21, Z:-1.81 [[ 9.99994275e-01 -2.91528523e-03 -1.71795119e-03 4.93457451e+00] [ 2.90915258e-03 9.99989426e-01 -3.56150062e-03 -2.05198427e-01] [ 1.72831581e-03 3.55648245e-03 9.99992182e-01 -1.81337175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.776502481 meters 0.1114484340109045 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.20, Z:-1.81 [[ 9.99994288e-01 -2.77511397e-03 -1.92957100e-03 4.93534139e+00] [ 2.76824852e-03 9.99989861e-01 -3.55163189e-03 -2.04407810e-01] [ 1.93940762e-03 3.54627007e-03 9.99991831e-01 -1.81395474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.806502481 meters 0.11163353021527854 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.20, Z:-1.81 [[ 9.99994054e-01 -2.74306455e-03 -2.08984580e-03 4.93560872e+00] [ 2.73553657e-03 9.99989791e-01 -3.59655566e-03 -2.04067107e-01] [ 2.09969005e-03 3.59081742e-03 9.99991349e-01 -1.81390737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.836502481 meters 0.11176298018396709 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.20, Z:-1.81 [[ 9.99994047e-01 -2.67421190e-03 -2.18048123e-03 4.93594711e+00] [ 2.66647158e-03 9.99990161e-01 -3.54503523e-03 -2.03915032e-01] [ 2.18993995e-03 3.53919994e-03 9.99991339e-01 -1.81416946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.866502481 meters 0.11163173655905288 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.20, Z:-1.81 [[ 9.99994410e-01 -2.38956718e-03 -2.33862653e-03 4.93668956e+00] [ 2.38204141e-03 9.99991993e-01 -3.21554176e-03 -2.04107643e-01] [ 2.34629156e-03 3.20995308e-03 9.99992096e-01 -1.81489709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.896502481 meters 0.11124194801847763 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.20, Z:-1.82 [[ 9.99994973e-01 -2.03845425e-03 -2.42864004e-03 4.93738737e+00] [ 2.03181015e-03 9.99994196e-01 -2.73505856e-03 -2.04750660e-01] [ 2.43420123e-03 2.73011027e-03 9.99993311e-01 -1.81571415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.926502481 meters 0.1112212197210517 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.21, Z:-1.82 [[ 9.99995373e-01 -1.55854067e-03 -2.61259331e-03 4.93850622e+00] [ 1.55301578e-03 9.99996557e-01 -2.11541303e-03 -2.05369951e-01] [ 2.61588127e-03 2.11134584e-03 9.99994350e-01 -1.81693923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.956502481 meters 0.11084667675515461 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.21, Z:-1.82 [[ 9.99995559e-01 -1.28845553e-03 -2.68717400e-03 4.93919348e+00] [ 1.28371408e-03 9.99997618e-01 -1.76545435e-03 -2.05584023e-01] [ 2.68944230e-03 1.76199695e-03 9.99994831e-01 -1.81778161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98650248099997 meters 0.11061164866898705 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.21, Z:-1.82 [[ 9.99995459e-01 -1.22628048e-03 -2.75269347e-03 4.93949148e+00] [ 1.22152423e-03 9.99997759e-01 -1.72887056e-03 -2.05433627e-01] [ 2.75480738e-03 1.72550023e-03 9.99994717e-01 -1.81803078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01650248099997 meters 0.11018593562202726 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.21, Z:-1.82 [[ 9.99995299e-01 -1.05042284e-03 -2.88068436e-03 4.94004832e+00] [ 1.04593661e-03 9.99998239e-01 -1.55841184e-03 -2.05368816e-01] [ 2.88231628e-03 1.55539150e-03 9.99994636e-01 -1.81851891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04650248099998 meters 0.10984265557481876 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.20, Z:-1.82 [[ 9.99994572e-01 -8.37060986e-04 -3.18669045e-03 4.94099398e+00] [ 8.32401120e-04 9.99998583e-01 -1.46333584e-03 -2.04788932e-01] [ 3.18791083e-03 1.46067530e-03 9.99993852e-01 -1.81914522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07650248099998 meters 0.10987181937279458 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.20, Z:-1.82 [[ 9.99993595e-01 -5.45438838e-04 -3.53737375e-03 4.94204310e+00] [ 5.41076470e-04 9.99999092e-01 -1.23406216e-03 -2.04580914e-01] [ 3.53804365e-03 1.23214026e-03 9.99992982e-01 -1.81982785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10650248099998 meters 0.10948557253203811 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.20, Z:-1.82 [[ 9.99992867e-01 -3.68521914e-04 -3.75910108e-03 4.94268375e+00] [ 3.64433149e-04 9.99999341e-01 -1.08832444e-03 -2.04527397e-01] [ 3.75949967e-03 1.08694673e-03 9.99992342e-01 -1.82022398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13650248099998 meters 0.10928638931039555 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.20, Z:-1.82 [[ 9.99991109e-01 -2.59593526e-04 -4.20892651e-03 4.94373806e+00] [ 2.54165838e-04 9.99999136e-01 -1.29004947e-03 -2.03205861e-01] [ 4.20925776e-03 1.28896824e-03 9.99990310e-01 -1.82063594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16650248099998 meters 0.10891368157565069 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.20, Z:-1.82 [[ 9.99989834e-01 -1.87218916e-04 -4.50512873e-03 4.94443971e+00] [ 1.81063727e-04 9.99999050e-01 -1.36663181e-03 -2.02491384e-01] [ 4.50538031e-03 1.36580220e-03 9.99988918e-01 -1.82089802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19650248099998 meters 0.10898460840674813 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.20, Z:-1.82 [[ 9.99988825e-01 1.78188572e-06 -4.72764868e-03 4.94515182e+00] [-7.66701437e-06 9.99999225e-01 -1.24481423e-03 -2.02259587e-01] [ 4.72764280e-03 1.24483657e-03 9.99988050e-01 -1.82133228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22650248099998 meters 0.10890702756039963 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.20, Z:-1.82 [[ 9.99988776e-01 4.40981051e-04 -4.71729452e-03 4.94567448e+00] [-4.43306875e-04 9.99999781e-01 -4.92007558e-04 -2.03865504e-01] [ 4.71707652e-03 4.94093245e-04 9.99988752e-01 -1.82216805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25650248099998 meters 0.10922457403385767 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.20, Z:-1.82 [[ 9.99988851e-01 6.01338142e-04 -4.68353790e-03 4.94576803e+00] [-6.02303053e-04 9.99999798e-01 -2.04614133e-04 -2.04572896e-01] [ 4.68341391e-03 2.07432761e-04 9.99989011e-01 -1.82240896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28650248099999 meters 0.10942764870986516 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.20, Z:-1.82 [[ 9.99978760e-01 -3.69569303e-03 -5.36855490e-03 4.94689965e+00] [ 3.66981631e-03 9.99981641e-01 -4.82193240e-03 -2.02897175e-01] [ 5.38627671e-03 4.80212837e-03 9.99973963e-01 -1.82228303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.316502481 meters 0.10958214760458826 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.20, Z:-1.82 [[ 9.99979306e-01 -3.37708249e-03 -5.47563958e-03 4.94754680e+00] [ 3.35321922e-03 9.99984867e-01 -4.36141905e-03 -2.03557522e-01] [ 5.49028559e-03 4.34296777e-03 9.99975497e-01 -1.82294627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.346502481 meters 0.10936813695742997 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.20, Z:-1.82 [[ 9.99980006e-01 -2.94668876e-03 -5.59503041e-03 4.94835630e+00] [ 2.92597687e-03 9.99988850e-01 -3.70642084e-03 -2.04540362e-01] [ 5.60588970e-03 3.68997580e-03 9.99977479e-01 -1.82385128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.376502481 meters 0.10973302668883637 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.21, Z:-1.83 [[ 9.99981899e-01 -2.37379682e-03 -5.52876899e-03 4.94904322e+00] [ 2.35903681e-03 9.99993641e-01 -2.67466633e-03 -2.06538911e-01] [ 5.53508294e-03 2.66157535e-03 9.99981139e-01 -1.82508055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.406502481 meters 0.11013280553347278 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.21, Z:-1.83 [[ 9.99982756e-01 -1.99153314e-03 -5.52455675e-03 4.94941567e+00] [ 1.98053426e-03 9.99996047e-01 -1.99566472e-03 -2.08026460e-01] [ 5.52850934e-03 1.98468873e-03 9.99982748e-01 -1.82566192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.436502481 meters 0.11059484801946844 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.21, Z:-1.83 [[ 9.99983932e-01 -1.72002803e-03 -5.40166810e-03 4.94928382e+00] [ 1.71324846e-03 9.99997739e-01 -1.25946450e-03 -2.10057945e-01] [ 5.40382220e-03 1.25018987e-03 9.99984618e-01 -1.82575597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.466502481 meters 0.11218005996784065 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.21, Z:-1.83 [[ 9.99984406e-01 -1.40378449e-03 -5.40531126e-03 4.94955667e+00] [ 1.40015095e-03 9.99998791e-01 -6.75942925e-04 -2.11301688e-01] [ 5.40625360e-03 6.68364132e-04 9.99985163e-01 -1.82612160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.496502481 meters 0.1120098388014909 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.21, Z:-1.83 [[ 9.99985984e-01 -9.75421833e-04 -5.20395710e-03 4.94965925e+00] [ 9.77098852e-04 9.99999472e-01 3.19725725e-04 -2.13796302e-01] [ 5.20364249e-03 -3.24806024e-04 9.99986408e-01 -1.82678127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.526502481 meters 0.1131243132718435 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.22, Z:-1.83 [[ 9.99987105e-01 -5.36853524e-04 -5.04991055e-03 4.94995129e+00] [ 5.42845736e-04 9.99999150e-01 1.18530180e-03 -2.15714715e-01] [ 5.04926993e-03 -1.18802784e-03 9.99986547e-01 -1.82761618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.556502481 meters 0.1133005748202759 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.22, Z:-1.83 [[ 9.99987565e-01 -3.19189010e-04 -4.97678994e-03 4.95014763e+00] [ 3.26936192e-04 9.99998736e-01 1.55592671e-03 -2.16466074e-01] [ 4.97628702e-03 -1.55753445e-03 9.99986405e-01 -1.82807112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.586502481 meters 0.11377121295884947 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.21, Z:-1.83 [[ 9.99974240e-01 -4.49931693e-03 -5.59248046e-03 4.95145166e+00] [ 4.48308384e-03 9.99985712e-01 -2.91181947e-03 -2.14997821e-01] [ 5.60550175e-03 2.88667290e-03 9.99980123e-01 -1.82838470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.616502481 meters 0.11401479812545318 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.22, Z:-1.83 [[ 9.99975105e-01 -4.19672715e-03 -5.67248154e-03 4.95202776e+00] [ 4.18275537e-03 9.99988195e-01 -2.47270414e-03 -2.15622040e-01] [ 5.68279185e-03 2.44891598e-03 9.99980854e-01 -1.82902692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.646502481 meters 0.1141016696622739 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.22, Z:-1.83 [[ 9.99975975e-01 -3.97371932e-03 -5.67969090e-03 4.95249053e+00] [ 3.96150684e-03 9.99989821e-01 -2.15983818e-03 -2.15959773e-01] [ 5.68821568e-03 2.13728615e-03 9.99981538e-01 -1.82964590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.676502481 meters 0.11447035565150541 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.22, Z:-1.83 [[ 9.99976399e-01 -3.62908212e-03 -5.83367949e-03 4.95326114e+00] [ 3.61921258e-03 9.99992003e-01 -1.70148849e-03 -2.16465320e-01] [ 5.83980768e-03 1.68033500e-03 9.99981536e-01 -1.83042057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.706502481 meters 0.11447035565150541 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.22, Z:-1.83 [[ 9.99976399e-01 -3.62908212e-03 -5.83367949e-03 4.95326114e+00] [ 3.61921258e-03 9.99992003e-01 -1.70148849e-03 -2.16465320e-01] [ 5.83980768e-03 1.68033500e-03 9.99981536e-01 -1.83042057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73650248099997 meters 0.11463234742021472 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.22, Z:-1.83 [[ 9.99976466e-01 -3.44629340e-03 -5.93223969e-03 4.95381850e+00] [ 3.43746763e-03 9.99992971e-01 -1.49731763e-03 -2.16466339e-01] [ 5.93735819e-03 1.47689051e-03 9.99981283e-01 -1.83096528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76650248099997 meters 0.11392856618856763 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.22, Z:-1.83 [[ 9.99975981e-01 -3.35011453e-03 -6.06740299e-03 4.95433321e+00] [ 3.34110947e-03 9.99993303e-01 -1.49369813e-03 -2.15952313e-01] [ 6.07236641e-03 1.47339039e-03 9.99980478e-01 -1.83134190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79650248099998 meters 0.11403896839477545 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.22, Z:-1.83 [[ 9.99975729e-01 -3.24998300e-03 -6.16270548e-03 4.95460912e+00] [ 3.24152084e-03 9.99993790e-01 -1.38261541e-03 -2.16035949e-01] [ 6.16716068e-03 1.36260532e-03 9.99980055e-01 -1.83149981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82650248099998 meters 0.11395063562819821 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.22, Z:-1.83 [[ 9.99973778e-01 -3.21004539e-03 -6.49146553e-03 4.95526044e+00] [ 3.20021668e-03 9.99993718e-01 -1.52391683e-03 -2.15229668e-01] [ 6.49631660e-03 1.50310278e-03 9.99977769e-01 -1.83160481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85650248099998 meters 0.1134373655867217 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.21, Z:-1.83 [[ 9.99971969e-01 -3.29079002e-03 -6.72542679e-03 4.95568217e+00] [ 3.27855756e-03 9.99992953e-01 -1.82905511e-03 -2.14138922e-01] [ 6.73139843e-03 1.80695414e-03 9.99975711e-01 -1.83155755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88650248099998 meters 0.11282819314480107 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.21, Z:-1.83 [[ 9.99968222e-01 -3.41625269e-03 -7.20306147e-03 4.95646259e+00] [ 3.39825710e-03 9.99991078e-01 -2.50908613e-03 -2.11821638e-01] [ 7.21156888e-03 2.48452854e-03 9.99970910e-01 -1.83146990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91650248099998 meters 0.11270188317024703 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.21, Z:-1.83 [[ 9.99965733e-01 -3.35226973e-03 -7.56929598e-03 4.95731223e+00] [ 3.33207274e-03 9.99990859e-01 -2.67931477e-03 -2.10786745e-01] [ 7.57820858e-03 2.65400151e-03 9.99967763e-01 -1.83176540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94650248099998 meters 0.11182110178153973 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.21, Z:-1.83 [[ 9.99994757e-01 2.91052364e-03 -1.41974224e-03 4.96664932e+00] [-2.91703506e-03 9.99985138e-01 -4.60603221e-03 -2.08209478e-01] [ 1.40631517e-03 4.61014950e-03 9.99988384e-01 -1.83428072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97650248099998 meters 0.11112189747200671 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.20, Z:-1.83 [[ 9.99994839e-01 2.53850513e-03 -1.96944847e-03 4.96722240e+00] [-2.54998551e-03 9.99979644e-01 -5.84878975e-03 -2.04788235e-01] [ 1.95456120e-03 5.85378163e-03 9.99980956e-01 -1.83366774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00650248099998 meters 0.11085699890930427 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.20, Z:-1.83 [[ 9.99994004e-01 2.61374862e-03 -2.27176418e-03 4.96791570e+00] [-2.62720304e-03 9.99978908e-01 -5.93978972e-03 -2.04055142e-01] [ 2.25619115e-03 5.94572248e-03 9.99979779e-01 -1.83392364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03650248099999 meters 0.11057855415849699 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.20, Z:-1.83 [[ 9.99992810e-01 2.79516210e-03 -2.56247924e-03 4.96869216e+00] [-2.81021067e-03 9.99978717e-01 -5.88798873e-03 -2.03607307e-01] [ 2.54596682e-03 5.89514751e-03 9.99979382e-01 -1.83433845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.066502481 meters 0.11034035412199446 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.20, Z:-1.84 [[ 9.99983914e-01 -5.60501676e-03 -8.68772130e-04 4.97640417e+00] [ 5.60450407e-03 9.99984120e-01 -5.91445441e-04 -2.02907887e-01] [ 8.72073395e-04 5.86566891e-04 9.99999448e-01 -1.83504199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.096502481 meters 0.10950344672914103 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.20, Z:-1.84 [[ 9.99983834e-01 -5.57808525e-03 -1.10282185e-03 4.97698968e+00] [ 5.57721326e-03 9.99984133e-01 -7.92193022e-04 -2.01952246e-01] [ 1.10722327e-03 7.86029543e-04 9.99999078e-01 -1.83532603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.126502481 meters 0.10938031943561577 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.20, Z:-1.84 [[ 9.99983812e-01 -5.53935664e-03 -1.30038660e-03 4.97748892e+00] [ 5.53824622e-03 9.99984297e-01 -8.55968544e-04 -2.01423890e-01] [ 1.30510770e-03 8.48752827e-04 9.99998788e-01 -1.83552649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.156502481 meters 0.10937331729899208 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.20, Z:-1.84 [[ 9.99985122e-01 -5.23613496e-03 -1.52946973e-03 4.97843723e+00] [ 5.23526375e-03 9.99986132e-01 -5.73065932e-04 -2.01273858e-01] [ 1.53244917e-03 5.65050228e-04 9.99998666e-01 -1.83635009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.186502481 meters 0.10933083489139254 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.20, Z:-1.84 [[ 9.99986436e-01 -4.97089710e-03 -1.55501585e-03 4.97883223e+00] [ 4.97067455e-03 9.99987635e-01 -1.46947349e-04 -2.02006217e-01] [ 1.55572708e-03 1.39215878e-04 9.99998780e-01 -1.83689549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.216502481 meters 0.10962667153790419 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.20, Z:-1.84 [[ 9.99988428e-01 -4.59020466e-03 -1.43978008e-03 4.97882958e+00] [ 4.59119260e-03 9.99989227e-01 6.83623091e-04 -2.04258683e-01] [ 1.43662660e-03 -6.90225488e-04 9.99998730e-01 -1.83724893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.246502481 meters 0.1100887665078483 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.21, Z:-1.84 [[ 9.99989746e-01 -4.34342938e-03 -1.28192772e-03 4.97851375e+00] [ 4.34523976e-03 9.99989561e-01 1.41283970e-03 -2.06431637e-01] [ 1.27577777e-03 -1.41839550e-03 9.99998180e-01 -1.83718230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.276502481 meters 0.11048928607325904 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.21, Z:-1.84 [[ 9.99990848e-01 -4.08410352e-03 -1.27449560e-03 4.97857592e+00] [ 4.08656119e-03 9.99989784e-01 1.93174042e-03 -2.07793651e-01] [ 1.26659316e-03 -1.93693104e-03 9.99997322e-01 -1.83731058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.306502481 meters 0.11083255812753917 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.21, Z:-1.84 [[ 9.99991580e-01 -3.93690108e-03 -1.15821925e-03 4.97823708e+00] [ 3.93977202e-03 9.99989146e-01 2.48700500e-03 -2.09671507e-01] [ 1.14841559e-03 -2.49154718e-03 9.99996237e-01 -1.83711915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.336502481 meters 0.11113438466700198 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.21, Z:-1.84 [[ 9.99992632e-01 -3.65614744e-03 -1.17017849e-03 4.97847237e+00] [ 3.65963470e-03 9.99988828e-01 2.99197198e-03 -2.10849077e-01] [ 1.15922633e-03 -2.99623236e-03 9.99994839e-01 -1.83746790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.366502481 meters 0.11182080544388932 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.21, Z:-1.84 [[ 9.99968957e-01 -7.68627878e-03 -1.73364105e-03 4.97963560e+00] [ 7.68428044e-03 9.99969807e-01 -1.15641081e-03 -2.10418663e-01] [ 1.74247721e-03 1.14305312e-03 9.99997829e-01 -1.83769907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.396502481 meters 0.11200638525274692 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.21, Z:-1.84 [[ 9.99971995e-01 -7.28558105e-03 -1.71139439e-03 4.97987332e+00] [ 7.28497763e-03 9.99973400e-01 -3.58559943e-04 -2.12375690e-01] [ 1.71396118e-03 3.46082432e-04 9.99998471e-01 -1.83814563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.426502481 meters 0.11232161441608297 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.21, Z:-1.84 [[ 9.99973524e-01 -7.06407516e-03 -1.74626645e-03 4.98019053e+00] [ 7.06411668e-03 9.99975049e-01 1.76103935e-05 -2.13100795e-01] [ 1.74609848e-03 -2.99457572e-05 9.99998475e-01 -1.83851625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.456502481 meters 0.11269761214134806 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.21, Z:-1.84 [[ 9.99975523e-01 -6.77801616e-03 -1.73552590e-03 4.98055484e+00] [ 6.77896275e-03 9.99976877e-01 5.40120337e-04 -2.14065086e-01] [ 1.73182483e-03 -5.51872182e-04 9.99998348e-01 -1.83908121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48650248099997 meters 0.11297876591185087 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.21, Z:-1.84 [[ 9.99977034e-01 -6.54860127e-03 -1.74592215e-03 4.98082928e+00] [ 6.55024549e-03 9.99978107e-01 9.37695760e-04 -2.14818501e-01] [ 1.73974333e-03 -9.49110443e-04 9.99998036e-01 -1.83945911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51650248099997 meters 0.11334011675225154 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.22, Z:-1.84 [[ 9.99978311e-01 -6.40436692e-03 -1.53695306e-03 4.98064592e+00] [ 6.40646076e-03 9.99978552e-01 1.36129660e-03 -2.15972356e-01] [ 1.52820185e-03 -1.37111350e-03 9.99997892e-01 -1.83969033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54650248099998 meters 0.11424826484324317 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.22, Z:-1.84 [[ 9.99980381e-01 -6.13470150e-03 -1.26579138e-03 4.98064329e+00] [ 6.13722369e-03 9.99979170e-01 1.99841243e-03 -2.17523851e-01] [ 1.25350535e-03 -2.00614167e-03 9.99997202e-01 -1.84040769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57650248099998 meters 0.11469500419619136 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.22, Z:-1.84 [[ 9.99982032e-01 -5.84610689e-03 -1.32619513e-03 4.98117058e+00] [ 5.84933259e-03 9.99979912e-01 2.44160433e-03 -2.18227343e-01] [ 1.31189461e-03 -2.44931782e-03 9.99996140e-01 -1.84104608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60650248099998 meters 0.1158199384547274 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.22, Z:-1.84 [[ 9.99982102e-01 -5.79164321e-03 -1.50089794e-03 4.98171510e+00] [ 5.79526960e-03 9.99980271e-01 2.42316664e-03 -2.17693960e-01] [ 1.48683421e-03 -2.43182138e-03 9.99995938e-01 -1.84135303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63650248099998 meters 0.11489089666609777 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.22, Z:-1.84 [[ 9.99982014e-01 -5.78564942e-03 -1.58041923e-03 4.98188243e+00] [ 5.78941478e-03 9.99980389e-01 2.38841775e-03 -2.17420331e-01] [ 1.56656969e-03 -2.39752449e-03 9.99995899e-01 -1.84136453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66650248099998 meters 0.11526382440645044 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.22, Z:-1.84 [[ 9.99981144e-01 -5.87045442e-03 -1.80288147e-03 4.98231161e+00] [ 5.87419805e-03 9.99980587e-01 2.07824451e-03 -2.16240009e-01] [ 1.79064623e-03 -2.08879581e-03 9.99996215e-01 -1.84136112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69650248099998 meters 0.11461140402260354 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.22, Z:-1.84 [[ 9.99980133e-01 -6.00430337e-03 -1.91893240e-03 4.98241293e+00] [ 6.00772571e-03 9.99980364e-01 1.78269745e-03 -2.15450515e-01] [ 1.90819086e-03 -1.79419046e-03 9.99996570e-01 -1.84116244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72650248099998 meters 0.11425671698577841 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.21, Z:-1.84 [[ 9.99979864e-01 -5.94589611e-03 -2.21785395e-03 4.98322638e+00] [ 5.94947272e-03 9.99981006e-01 1.60955010e-03 -2.14223992e-01] [ 2.20824161e-03 -1.62271275e-03 9.99996245e-01 -1.84154742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75650248099998 meters 0.11405325714705437 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.21, Z:-1.84 [[ 9.99979685e-01 -5.91317908e-03 -2.37982910e-03 4.98370738e+00] [ 5.91684063e-03 9.99981318e-01 1.53448979e-03 -2.13645324e-01] [ 2.37071093e-03 -1.54853968e-03 9.99995991e-01 -1.84182114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78650248099999 meters 0.11360527864293053 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.21, Z:-1.84 [[ 9.99978252e-01 -5.82661723e-03 -3.08952178e-03 4.98518991e+00] [ 5.82924495e-03 9.99982655e-01 8.42205666e-04 -2.10193450e-01] [ 3.08456098e-03 -8.60196929e-04 9.99994873e-01 -1.84227645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.816502481 meters 0.11360541475449601 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.21, Z:-1.84 [[ 9.99976956e-01 -5.85077841e-03 -3.44330663e-03 4.98593963e+00] [ 5.85251320e-03 9.99982752e-01 4.93954583e-04 -2.08770223e-01] [ 3.44035722e-03 -5.14095198e-04 9.99993950e-01 -1.84244948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.846502481 meters 0.1123090619093847 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.21, Z:-1.84 [[ 9.99974319e-01 -5.80475252e-03 -4.20321866e-03 4.98739651e+00] [ 5.80394295e-03 9.99983136e-01 -2.04780704e-04 -2.05808218e-01] [ 4.20433648e-03 1.80380204e-04 9.99991145e-01 -1.84268159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.876502481 meters 0.1120104061467559 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.20, Z:-1.84 [[ 9.99972402e-01 -5.83407689e-03 -4.59977920e-03 4.98814692e+00] [ 5.83155074e-03 9.99982838e-01 -5.62410201e-04 -2.04436012e-01] [ 4.60298141e-03 5.35570834e-04 9.99989263e-01 -1.84274950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.906502481 meters 0.11090024349283732 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.20, Z:-1.84 [[ 9.99969582e-01 -5.72921014e-03 -5.29247153e-03 4.98954185e+00] [ 5.72338071e-03 9.99982999e-01 -1.11594649e-03 -2.01934501e-01] [ 5.29877504e-03 1.08562171e-03 9.99985372e-01 -1.84310701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.936502481 meters 0.1103500232289365 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.20, Z:-1.84 [[ 9.99968145e-01 -5.66983338e-03 -5.61801987e-03 4.99035722e+00] [ 5.66250896e-03 9.99983098e-01 -1.31878767e-03 -2.00838829e-01] [ 5.62540222e-03 1.28693357e-03 9.99983349e-01 -1.84345475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.966502481 meters 0.10979458377625514 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.20, Z:-1.84 [[ 9.99965470e-01 -5.37168962e-03 -6.34063921e-03 4.99210412e+00] [ 5.36203961e-03 9.99984442e-01 -1.53794958e-03 -1.98711667e-01] [ 6.34880194e-03 1.50389772e-03 9.99978715e-01 -1.84421810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.996502481 meters 0.10966018412388473 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.20, Z:-1.84 [[ 9.99963556e-01 -5.38721778e-03 -6.62302172e-03 4.99262893e+00] [ 5.37564674e-03 9.99983996e-01 -1.76365653e-03 -1.97794264e-01] [ 6.63241693e-03 1.72798923e-03 9.99976512e-01 -1.84421949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.026502481 meters 0.10976329744045019 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.20, Z:-1.84 [[ 9.99961566e-01 -5.43462652e-03 -6.87981268e-03 4.99288182e+00] [ 5.42092186e-03 9.99983288e-01 -2.00909378e-03 -1.97100739e-01] [ 6.89061639e-03 1.97172163e-03 9.99974316e-01 -1.84391861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.056502481 meters 0.10945510850280243 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.20, Z:-1.84 [[ 9.99962469e-01 -5.12609083e-03 -6.98460977e-03 4.99348406e+00] [ 5.11499542e-03 9.99985630e-01 -1.60548892e-03 -1.97677040e-01] [ 6.99273928e-03 1.56970242e-03 9.99974318e-01 -1.84456756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.086502481 meters 0.10944806096881651 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.20, Z:-1.85 [[ 9.99963042e-01 -4.88640589e-03 -7.07375167e-03 4.99393482e+00] [ 4.87760761e-03 9.99987310e-01 -1.26051025e-03 -1.98252276e-01] [ 7.07982127e-03 1.22596068e-03 9.99974186e-01 -1.84502153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.116502481 meters 0.1094376986980857 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.20, Z:-1.85 [[ 9.99964440e-01 -4.59545691e-03 -7.07110965e-03 4.99412999e+00] [ 4.59037528e-03 9.99989194e-01 -7.34709257e-04 -1.99578816e-01] [ 7.07440956e-03 7.02224083e-04 9.99974729e-01 -1.84533519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.146502481 meters 0.10953326547304357 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.20, Z:-1.85 [[ 9.99965275e-01 -4.29897008e-03 -7.13918132e-03 4.99457843e+00] [ 4.29710025e-03 9.99990729e-01 -2.77230300e-04 -2.00410304e-01] [ 7.14030694e-03 2.46542896e-04 9.99974477e-01 -1.84582527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.176502481 meters 0.10965966802230448 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.20, Z:-1.85 [[ 9.99967624e-01 -4.17942381e-03 -6.87629088e-03 4.99407002e+00] [ 4.18122251e-03 9.99991228e-01 2.47224807e-04 -2.02319671e-01] [ 6.87519730e-03 -2.75968105e-04 9.99976327e-01 -1.84573981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.206502481 meters 0.10971313678701002 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.20, Z:-1.85 [[ 9.99969996e-01 -3.72137286e-03 -6.79395003e-03 4.99435375e+00] [ 3.72910454e-03 9.99992413e-01 1.12571052e-03 -2.04345551e-01] [ 6.78970929e-03 -1.15101209e-03 9.99976287e-01 -1.84641150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23650248099997 meters 0.11050778988431045 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.21, Z:-1.85 [[ 9.99973844e-01 -3.18693931e-03 -6.49264585e-03 4.99431443e+00] [ 3.20334138e-03 9.99991701e-01 2.51742265e-03 -2.08058780e-01] [ 6.48456909e-03 -2.53815497e-03 9.99975754e-01 -1.84715590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26650248099997 meters 0.110680000826452 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.21, Z:-1.85 [[ 9.99951833e-01 -7.18120037e-03 -6.69039478e-03 4.99487967e+00] [ 7.17323242e-03 9.99973535e-01 -1.21418928e-03 -2.09343155e-01] [ 6.69893705e-03 1.16613904e-03 9.99976882e-01 -1.84743574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29650248099998 meters 0.11107451563572954 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.21, Z:-1.85 [[ 9.99954810e-01 -6.80352529e-03 -6.64005571e-03 4.99517866e+00] [ 6.80043792e-03 9.99976758e-01 -4.87428684e-04 -2.10970644e-01] [ 6.64321761e-03 4.42251370e-04 9.99977836e-01 -1.84803957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32650248099998 meters 0.11169385561607906 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.21, Z:-1.85 [[ 9.99957525e-01 -6.48953941e-03 -6.54476750e-03 4.99529624e+00] [ 6.49158250e-03 9.99978887e-01 2.90975439e-04 -2.12904074e-01] [ 6.54274103e-03 -3.33448978e-04 9.99978540e-01 -1.84842299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35650248099998 meters 0.11235572979504732 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.21, Z:-1.85 [[ 9.99959950e-01 -6.11686415e-03 -6.53323902e-03 4.99570501e+00] [ 6.12307118e-03 9.99980821e-01 9.30491256e-04 -2.14179691e-01] [ 6.52742203e-03 -9.70457477e-04 9.99978225e-01 -1.84906780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38650248099998 meters 0.11335236708130275 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.85 [[ 9.99963994e-01 -5.67118235e-03 -6.31248456e-03 4.99589091e+00] [ 5.68325488e-03 9.99982052e-01 1.89619170e-03 -2.16557690e-01] [ 6.30161762e-03 -1.93199889e-03 9.99978278e-01 -1.84994391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41650248099998 meters 0.11393721175117305 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.85 [[ 9.99965440e-01 -5.49223732e-03 -6.24138299e-03 4.99599573e+00] [ 5.50624669e-03 9.99982355e-01 2.22963225e-03 -2.17300718e-01] [ 6.22902719e-03 -2.26392178e-03 9.99978037e-01 -1.85030517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44650248099998 meters 0.11365060467837433 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.85 [[ 9.99965568e-01 -5.49747513e-03 -6.21615564e-03 4.99598958e+00] [ 5.51165291e-03 9.99982243e-01 2.26596877e-03 -2.17338654e-01] [ 6.20358815e-03 -2.30015204e-03 9.99978112e-01 -1.85030543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47650248099998 meters 0.11374289333077611 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.85 [[ 9.99966263e-01 -5.34678529e-03 -6.23572741e-03 4.99632808e+00] [ 5.36240899e-03 9.99982518e-01 2.49149211e-03 -2.17563761e-01] [ 6.22229692e-03 -2.52484658e-03 9.99977454e-01 -1.85072389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50650248099998 meters 0.1147709121802618 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.85 [[ 9.99966982e-01 -5.20256353e-03 -6.24244569e-03 4.99663282e+00] [ 5.21965983e-03 9.99982663e-01 2.72555829e-03 -2.17894267e-01] [ 6.22815757e-03 -2.75805174e-03 9.99976801e-01 -1.85110913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53650248099999 meters 0.11575750107701768 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.85 [[ 9.99966210e-01 -5.33112166e-03 -6.25768957e-03 4.99647744e+00] [ 5.34703152e-03 9.99982508e-01 2.52847753e-03 -2.17558994e-01] [ 6.24410049e-03 -2.56185216e-03 9.99977224e-01 -1.85079736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.566502481 meters 0.11601887359499796 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.85 [[ 9.99966133e-01 -5.20984453e-03 -6.37100560e-03 4.99677411e+00] [ 5.22690940e-03 9.99982789e-01 2.66480928e-03 -2.17752621e-01] [ 6.35701270e-03 -2.69801970e-03 9.99976154e-01 -1.85092788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.596502481 meters 0.11601887359499796 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.85 [[ 9.99966133e-01 -5.20984453e-03 -6.37100560e-03 4.99677411e+00] [ 5.22690940e-03 9.99982789e-01 2.66480928e-03 -2.17752621e-01] [ 6.35701270e-03 -2.69801970e-03 9.99976154e-01 -1.85092788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.626502481 meters 0.11549985903490795 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.85 [[ 9.99965866e-01 -5.07706632e-03 -6.51842397e-03 4.99724932e+00] [ 5.09529475e-03 9.99983147e-01 2.78289249e-03 -2.17712193e-01] [ 6.50418519e-03 -2.81601079e-03 9.99974883e-01 -1.85126946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.656502481 meters 0.11619835998325515 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.85 [[ 9.99964259e-01 -4.99631585e-03 -6.82037055e-03 4.99787757e+00] [ 5.01539197e-03 9.99983551e-01 2.78270058e-03 -2.17383302e-01] [ 6.80635511e-03 -2.81680796e-03 9.99972869e-01 -1.85139639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.686502481 meters 0.11607477127108884 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.85 [[ 9.99962177e-01 -5.13995104e-03 -7.01615503e-03 4.99814588e+00] [ 5.15669981e-03 9.99983893e-01 2.37117314e-03 -2.16104205e-01] [ 7.00385431e-03 -2.40726366e-03 9.99972575e-01 -1.85124336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.716502481 meters 0.11536831522982374 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.85 [[ 9.99961334e-01 -4.97127370e-03 -7.25377262e-03 4.99883803e+00] [ 4.98942663e-03 9.99984461e-01 2.48660433e-03 -2.15893271e-01] [ 7.24129831e-03 -2.52270035e-03 9.99970599e-01 -1.85166600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.746502481 meters 0.11394984313433122 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.21, Z:-1.85 [[ 9.99958274e-01 -4.66788337e-03 -7.85240134e-03 5.00034003e+00] [ 4.68664676e-03 9.99986202e-01 2.37280861e-03 -2.14362465e-01] [ 7.84121700e-03 -2.40951104e-03 9.99966354e-01 -1.85244451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.776502481 meters 0.11246188504628954 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.21, Z:-1.85 [[ 9.99952402e-01 -4.40738503e-03 -8.70453625e-03 5.00192658e+00] [ 4.42458436e-03 9.99988295e-01 1.95763585e-03 -2.12082449e-01] [ 8.69580632e-03 -1.99605663e-03 9.99960199e-01 -1.85275668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.806502481 meters 0.11147691261676047 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.21, Z:-1.85 [[ 9.99943990e-01 -4.51503988e-03 -9.57245768e-03 5.00297068e+00] [ 4.52355930e-03 9.99989391e-01 8.68528506e-04 -2.08712191e-01] [ 9.56843469e-03 -9.11781440e-04 9.99953806e-01 -1.85214704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.836502481 meters 0.11094162251497756 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.21, Z:-1.85 [[ 9.99939740e-01 -4.63793598e-03 -9.95017780e-03 5.00348509e+00] [ 4.64122138e-03 9.99989182e-01 3.07119339e-04 -2.07006876e-01] [ 9.94864576e-03 -3.53281810e-04 9.99950449e-01 -1.85192288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.866502481 meters 0.1101414776721668 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.20, Z:-1.85 [[ 9.99931844e-01 -4.46081122e-03 -1.07893221e-02 5.00498854e+00] [ 4.45812554e-03 9.99990025e-01 -2.72958379e-04 -2.04384332e-01] [ 1.07904321e-02 2.24839623e-04 9.99941756e-01 -1.85208018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.896502481 meters 0.10983974482622413 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.20, Z:-1.85 [[ 9.99929449e-01 -4.56809702e-03 -1.09649264e-02 5.00520504e+00] [ 4.56186321e-03 9.99989419e-01 -5.93467277e-04 -2.03510404e-01] [ 1.09675214e-02 5.43404913e-04 9.99939707e-01 -1.85193922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.926502481 meters 0.1095617406874844 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.20, Z:-1.85 [[ 9.99926798e-01 -4.46120478e-03 -1.12470524e-02 5.00590595e+00] [ 4.45369346e-03 9.99989842e-01 -6.92806172e-04 -2.02747571e-01] [ 1.12500289e-02 6.42664533e-04 9.99936510e-01 -1.85228077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.956502481 meters 0.1093573145323659 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.20, Z:-1.85 [[ 9.99926247e-01 -4.25597108e-03 -1.13748445e-02 5.00640611e+00] [ 4.25123499e-03 9.99990866e-01 -4.40512709e-04 -2.03012650e-01] [ 1.13766154e-02 3.92123083e-04 9.99935207e-01 -1.85269581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98650248099997 meters 0.10926988180145968 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.20, Z:-1.85 [[ 9.99928281e-01 -3.96418439e-03 -1.13012210e-02 5.00678064e+00] [ 3.96507146e-03 9.99992138e-01 5.60883968e-05 -2.03885575e-01] [ 1.13009098e-02 -1.00894523e-04 9.99936138e-01 -1.85346498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01650248099997 meters 0.10973810459417538 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.21, Z:-1.85 [[ 9.99932975e-01 -3.83898391e-03 -1.09228413e-02 5.00637414e+00] [ 3.84534830e-03 9.99992449e-01 5.61725109e-04 -2.05377271e-01] [ 1.09206024e-02 -6.03689588e-04 9.99940186e-01 -1.85381952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04650248099998 meters 0.11011014971112051 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.21, Z:-1.85 [[ 9.99933989e-01 -3.68900450e-03 -1.08815652e-02 5.00629418e+00] [ 3.69926934e-03 9.99992731e-01 9.23347305e-04 -2.06430298e-01] [ 1.08780799e-02 -9.63540195e-04 9.99940368e-01 -1.85380227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07650248099998 meters 0.11057553622241205 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.21, Z:-1.85 [[ 9.99938330e-01 -3.67240338e-03 -1.04809616e-02 5.00549803e+00] [ 3.68832619e-03 9.99992073e-01 1.50028833e-03 -2.08585539e-01] [ 1.04753689e-02 -1.53885301e-03 9.99943948e-01 -1.85359275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10650248099998 meters 0.11100464562839348 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.21, Z:-1.85 [[ 9.99941450e-01 -3.31509124e-03 -1.03008482e-02 5.00559274e+00] [ 3.33862667e-03 9.99991854e-01 2.26845009e-03 -2.10427110e-01] [ 1.02932441e-02 -2.30270796e-03 9.99944372e-01 -1.85419992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13650248099998 meters 0.11212524331436681 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.21, Z:-1.85 [[ 9.99947921e-01 -3.36259261e-03 -9.63583144e-03 5.00459553e+00] [ 3.39067064e-03 9.99990049e-01 2.89906569e-03 -2.12769254e-01] [ 9.62598718e-03 -2.93158664e-03 9.99949372e-01 -1.85432049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16650248099998 meters 0.11305026870796446 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.85 [[ 9.99953612e-01 -3.29485623e-03 -9.05081020e-03 5.00382632e+00] [ 3.32785102e-03 9.99987864e-01 3.63286883e-03 -2.15220564e-01] [ 9.03873058e-03 -3.66282006e-03 9.99952441e-01 -1.85458298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19650248099998 meters 0.11385387303187369 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.85 [[ 9.99957485e-01 -3.21912300e-03 -8.64092801e-03 5.00328127e+00] [ 3.25428193e-03 9.99986471e-01 4.05791122e-03 -2.16648906e-01] [ 8.62774819e-03 -4.08585872e-03 9.99954433e-01 -1.85483579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22650248099998 meters 0.11539658596430125 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.86 [[ 9.99934685e-01 -7.39769541e-03 -8.71201220e-03 5.00369083e+00] [ 7.39862788e-03 9.99972627e-01 7.48080370e-05 -2.17188568e-01] [ 8.71122032e-03 -1.39260087e-04 9.99962047e-01 -1.85516147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25650248099998 meters 0.11685570797961949 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.86 [[ 9.99937894e-01 -7.35617421e-03 -8.37222907e-03 5.00317796e+00] [ 7.36146186e-03 9.99972724e-01 6.00929090e-04 -2.18850751e-01] [ 8.36758017e-03 -6.62523614e-04 9.99964772e-01 -1.85514997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28650248099999 meters 0.11804238410046058 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.86 [[ 9.99939849e-01 -7.16494403e-03 -8.30437022e-03 5.00331079e+00] [ 7.17345998e-03 9.99973774e-01 9.96145592e-04 -2.19688276e-01] [ 8.29701510e-03 -1.05565674e-03 9.99965022e-01 -1.85550166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.316502481 meters 0.11967380816049598 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.86 [[ 9.99943293e-01 -6.77476393e-03 -8.21663403e-03 5.00385306e+00] [ 6.78952619e-03 9.99975384e-01 1.77006922e-03 -2.21106303e-01] [ 8.20443997e-03 -1.82575590e-03 9.99964676e-01 -1.85655610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.346502481 meters 0.11854919325421989 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.86 [[ 9.99945696e-01 -6.46203309e-03 -8.17602653e-03 5.00427668e+00] [ 6.48110740e-03 9.99976332e-01 2.30861484e-03 -2.22088012e-01] [ 8.16091468e-03 -2.36147918e-03 9.99963911e-01 -1.85730953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.376502481 meters 0.11968547504377894 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.22, Z:-1.86 [[ 9.99948849e-01 -6.12799288e-03 -8.04659147e-03 5.00477744e+00] [ 6.15147089e-03 9.99976885e-01 2.89625725e-03 -2.23045905e-01] [ 8.02865723e-03 -2.94560748e-03 9.99963431e-01 -1.85841153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.406502481 meters 0.12267381634130564 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.22, Z:-1.86 [[ 9.99949785e-01 -6.00277646e-03 -8.02454740e-03 5.00516676e+00] [ 6.02745288e-03 9.99977170e-01 3.05447795e-03 -2.23031499e-01] [ 8.00602885e-03 -3.10269216e-03 9.99963138e-01 -1.85903733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.436502481 meters 0.12015659625291551 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.22, Z:-1.86 [[ 9.99949259e-01 -5.90996936e-03 -8.15795935e-03 5.00561808e+00] [ 5.93569714e-03 9.99977475e-01 3.13310184e-03 -2.22930135e-01] [ 8.13925906e-03 -3.18136603e-03 9.99961815e-01 -1.85935186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.466502481 meters 0.1209183485362364 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.22, Z:-1.86 [[ 9.99945314e-01 -6.10125847e-03 -8.49375784e-03 5.00614269e+00] [ 6.12318487e-03 9.99977982e-01 2.55786463e-03 -2.21060965e-01] [ 8.47796463e-03 -2.60973360e-03 9.99960656e-01 -1.85920406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.496502481 meters 0.1192443848684794 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.22, Z:-1.86 [[ 9.99943335e-01 -6.07782366e-03 -8.73992753e-03 5.00677230e+00] [ 6.09899766e-03 9.99978526e-01 2.39806578e-03 -2.20153680e-01] [ 8.72516482e-03 -2.45123470e-03 9.99958931e-01 -1.85944657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.526502481 meters 0.11771903813411855 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.22, Z:-1.86 [[ 9.99938275e-01 -6.12425115e-03 -9.27039713e-03 5.00770502e+00] [ 6.14172034e-03 9.99979415e-01 1.85711109e-03 -2.18220391e-01] [ 9.25883289e-03 -1.91393265e-03 9.99955304e-01 -1.85946075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.556502481 meters 0.11717236004413434 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.22, Z:-1.86 [[ 9.99935697e-01 -6.20605394e-03 -9.49140839e-03 5.00811912e+00] [ 6.22077228e-03 9.99979493e-01 1.52196522e-03 -2.17108389e-01] [ 9.48176834e-03 -1.58091125e-03 9.99953797e-01 -1.85948019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.586502481 meters 0.11641270992981533 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.22, Z:-1.86 [[ 9.99960803e-01 2.17853944e-04 -8.85128643e-03 5.01783480e+00] [-2.27196626e-04 9.99999418e-01 -1.05452503e-03 -2.16003113e-01] [ 8.85105155e-03 1.05649468e-03 9.99960271e-01 -1.85689443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.616502481 meters 0.1150798059852065 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.21, Z:-1.86 [[ 9.99954347e-01 4.30083459e-04 -9.54561755e-03 5.01915910e+00] [-4.43346965e-04 9.99998939e-01 -1.38741387e-03 -2.14287059e-01] [ 9.54501072e-03 1.39158255e-03 9.99953477e-01 -1.85716598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.646502481 meters 0.11443114975168936 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.21, Z:-1.86 [[ 9.99950761e-01 3.69914042e-04 -9.91657641e-03 5.01984305e+00] [-3.87897637e-04 9.99998284e-01 -1.81162624e-03 -2.12760214e-01] [ 9.91588924e-03 1.81538365e-03 9.99949188e-01 -1.85718358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.676502481 meters 0.11317455632267688 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.21, Z:-1.86 [[ 9.99941579e-01 6.53983876e-04 -1.07893645e-02 5.02171702e+00] [-6.78687915e-04 9.99997156e-01 -2.28616322e-03 -2.09925070e-01] [ 1.07878388e-02 2.29335227e-03 9.99939180e-01 -1.85781698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.706502481 meters 0.11218214159179311 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.21, Z:-1.86 [[ 9.99938383e-01 6.60895860e-04 -1.10812026e-02 5.02247373e+00] [-6.90114562e-04 9.99996295e-01 -2.63316429e-03 -2.08519990e-01] [ 1.10794213e-02 2.64064934e-03 9.99935135e-01 -1.85820275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73650248099997 meters 0.11092831626439197 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.21, Z:-1.86 [[ 9.99926039e-01 1.32257067e-03 -1.20899601e-02 5.02490585e+00] [-1.35455293e-03 9.99995604e-01 -2.63755182e-03 -2.05054143e-01] [ 1.20864186e-02 2.65373324e-03 9.99923435e-01 -1.85933757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76650248099997 meters 0.11041397316688743 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.20, Z:-1.86 [[ 9.99920347e-01 1.11929717e-03 -1.25716562e-02 5.02545934e+00] [-1.16530548e-03 9.99992649e-01 -3.65295702e-03 -2.02163622e-01] [ 1.25674751e-02 3.66731587e-03 9.99914301e-01 -1.85889776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79650248099998 meters 0.11010067015134152 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.20, Z:-1.86 [[ 9.99916759e-01 1.16879147e-03 -1.28494509e-02 5.02600668e+00] [-1.21749284e-03 9.99992103e-01 -3.78298305e-03 -2.01548155e-01] [ 1.28449279e-02 3.79831226e-03 9.99910286e-01 -1.85898179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82650248099998 meters 0.10989714783860521 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.20, Z:-1.86 [[ 9.99910852e-01 1.22788351e-03 -1.32958803e-02 5.02675691e+00] [-1.28218347e-03 9.99990870e-01 -4.07621445e-03 -2.00365718e-01] [ 1.32907538e-02 4.09289883e-03 9.99903297e-01 -1.85898374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85650248099998 meters 0.10970915669224426 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.20, Z:-1.86 [[ 9.99906811e-01 1.21677856e-03 -1.35974174e-02 5.02732234e+00] [-1.27516054e-03 9.99990003e-01 -4.28576345e-03 -1.99515175e-01] [ 1.35920667e-02 4.30270296e-03 9.99898366e-01 -1.85900122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88650248099998 meters 0.10954863004265057 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.20, Z:-1.87 [[ 9.99993101e-01 1.00760477e-03 3.57516568e-03 5.02585456e+00] [-9.96564598e-04 9.99994734e-01 -3.08845577e-03 -1.98506897e-01] [-3.57825879e-03 3.08487158e-03 9.99988840e-01 -1.86679493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91650248099998 meters 0.10951158294303835 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.20, Z:-1.87 [[ 9.99993388e-01 1.32265096e-03 3.38741041e-03 5.02660939e+00] [-1.31356292e-03 9.99995536e-01 -2.68370783e-03 -1.99023582e-01] [-3.39094490e-03 2.67924051e-03 9.99990662e-01 -1.86748142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94650248099998 meters 0.10963423545866154 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.20, Z:-1.87 [[ 9.99993306e-01 1.54846642e-03 3.31515367e-03 5.02700707e+00] [-1.54078282e-03 9.99996124e-01 -2.31902058e-03 -1.99667989e-01] [-3.31873175e-03 2.31389713e-03 9.99991816e-01 -1.86790984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97650248099998 meters 0.10954064510263042 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.20, Z:-1.87 [[ 9.99993111e-01 1.78542754e-03 3.25414232e-03 5.02730488e+00] [-1.77923634e-03 9.99996604e-01 -1.90446168e-03 -2.00591787e-01] [-3.25753155e-03 1.89865867e-03 9.99992892e-01 -1.86822789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00650248099998 meters 0.10997879255116946 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.20, Z:-1.87 [[ 9.99993050e-01 -2.45794504e-03 2.80325668e-03 5.02808167e+00] [ 2.47550146e-03 9.99977237e-01 -6.27668759e-03 -1.99734766e-01] [-2.78776512e-03 6.28358343e-03 9.99976372e-01 -1.86813131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03650248099999 meters 0.11011527220933927 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.20, Z:-1.87 [[ 9.99993760e-01 -2.08645249e-03 2.85084302e-03 5.02845344e+00] [ 2.10231029e-03 9.99982273e-01 -5.57086636e-03 -2.01192446e-01] [-2.83916913e-03 5.57682496e-03 9.99980419e-01 -1.86886480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.066502481 meters 0.11071169313844798 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.20, Z:-1.87 [[ 9.99992886e-01 -1.61294279e-03 3.40971302e-03 5.02828844e+00] [ 1.62725139e-03 9.99989865e-01 -4.19782259e-03 -2.04651669e-01] [-3.40290761e-03 4.20334119e-03 9.99985376e-01 -1.87016242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.096502481 meters 0.11091804534489794 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.21, Z:-1.87 [[ 9.99993269e-01 -1.29994549e-03 3.43109861e-03 5.02857210e+00] [ 1.31221985e-03 9.99992740e-01 -3.57756039e-03 -2.06009112e-01] [-3.42642307e-03 3.58203867e-03 9.99987714e-01 -1.87070120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.126502481 meters 0.11111041859558608 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.21, Z:-1.87 [[ 9.99993929e-01 -1.03717322e-03 3.32655961e-03 5.02897798e+00] [ 1.04737178e-03 9.99994753e-01 -3.06552070e-03 -2.07057184e-01] [-3.32336268e-03 3.06898623e-03 9.99989768e-01 -1.87102817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.156502481 meters 0.11134103595615295 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.21, Z:-1.87 [[ 9.99994662e-01 -8.29203860e-04 3.16050963e-03 5.02942209e+00] [ 8.37907333e-04 9.99995858e-01 -2.75349108e-03 -2.07607653e-01] [-3.15821334e-03 2.75612460e-03 9.99991215e-01 -1.87124176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.186502481 meters 0.11158996215168192 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.21, Z:-1.87 [[ 9.99994987e-01 -5.54708028e-04 3.11743589e-03 5.02961697e+00] [ 5.61708493e-04 9.99997322e-01 -2.24515734e-03 -2.08945647e-01] [-3.11618214e-03 2.24689718e-03 9.99992620e-01 -1.87144419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.216502481 meters 0.11118886728911988 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.21, Z:-1.87 [[ 9.99995037e-01 -2.27907444e-04 3.14237688e-03 5.02993973e+00] [ 2.33165073e-04 9.99998574e-01 -1.67287286e-03 -2.10167704e-01] [-3.14199114e-03 1.67359725e-03 9.99993663e-01 -1.87205955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.246502481 meters 0.11091376595259159 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.21, Z:-1.87 [[ 9.99994737e-01 -1.32910530e-05 3.24443227e-03 5.02995653e+00] [ 1.71840556e-05 9.99999280e-01 -1.19987766e-03 -2.11537834e-01] [-3.24441398e-03 1.19992710e-03 9.99994017e-01 -1.87243134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.276502481 meters 0.11079034938813445 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.21, Z:-1.87 [[ 9.99995095e-01 -4.34949321e-05 3.13180734e-03 5.02978042e+00] [ 4.72730831e-05 9.99999271e-01 -1.20631650e-03 -2.11939080e-01] [-3.13175259e-03 1.20645863e-03 9.99994368e-01 -1.87189399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.306502481 meters 0.11056345515840996 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.21, Z:-1.87 [[ 9.99995671e-01 4.03346803e-05 2.94202938e-03 5.03006603e+00] [-3.69272121e-05 9.99999329e-01 -1.15824846e-03 -2.11996654e-01] [-2.94207412e-03 1.15813480e-03 9.99995001e-01 -1.87188705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.336502481 meters 0.11025720850982404 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.21, Z:-1.87 [[ 9.99996195e-01 2.58449219e-04 2.74650503e-03 5.03062510e+00] [-2.56023932e-04 9.99999577e-01 -8.83359950e-04 -2.12383864e-01] [-2.74673218e-03 8.82653418e-04 9.99995838e-01 -1.87226253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.366502481 meters 0.10988354379167588 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.21, Z:-1.87 [[ 9.99996182e-01 5.41082151e-04 2.70996928e-03 5.03078569e+00] [-5.40114064e-04 9.99999790e-01 -3.57950864e-04 -2.13910749e-01] [-2.71016239e-03 3.56485805e-04 9.99996264e-01 -1.87252196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.396502481 meters 0.10964858387243383 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.21, Z:-1.87 [[ 9.99991767e-01 -3.51269834e-03 2.03131903e-03 5.03195605e+00] [ 3.52244305e-03 9.99982210e-01 -4.81372066e-03 -2.12830327e-01] [-2.01437375e-03 4.82083623e-03 9.99986351e-01 -1.87260783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.426502481 meters 0.10956754136153196 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.22, Z:-1.87 [[ 9.99994153e-01 -2.80101638e-03 1.96185652e-03 5.03282622e+00] [ 2.80800932e-03 9.99989682e-01 -3.57081133e-03 -2.15395322e-01] [-1.95183437e-03 3.57629936e-03 9.99991700e-01 -1.87387592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.456502481 meters 0.10971301994452766 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.22, Z:-1.87 [[ 9.99995046e-01 -2.50287762e-03 1.90879547e-03 5.03309099e+00] [ 2.50862195e-03 9.99992314e-01 -3.01296817e-03 -2.16691535e-01] [-1.90123970e-03 3.01774169e-03 9.99993639e-01 -1.87417579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48650248099997 meters 0.11000373845595342 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.22, Z:-1.87 [[ 9.99996030e-01 -2.12751252e-03 1.84770513e-03 5.03312172e+00] [ 2.13151698e-03 9.99995378e-01 -2.16800349e-03 -2.19141635e-01] [-1.84308414e-03 2.17193330e-03 9.99995943e-01 -1.87411165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51650248099997 meters 0.11000373845595342 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.22, Z:-1.87 [[ 9.99996030e-01 -2.12751252e-03 1.84770513e-03 5.03312172e+00] [ 2.13151698e-03 9.99995378e-01 -2.16800349e-03 -2.19141635e-01] [-1.84308414e-03 2.17193330e-03 9.99995943e-01 -1.87411165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54650248099998 meters 0.11000125373613391 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.22, Z:-1.87 [[ 9.99997016e-01 -1.60417994e-03 1.84259716e-03 5.03359303e+00] [ 1.60640787e-03 9.99997980e-01 -1.20828352e-03 -2.21254087e-01] [-1.84065513e-03 1.21123988e-03 9.99997572e-01 -1.87489889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57650248099998 meters 0.11029725061898901 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.23, Z:-1.88 [[ 9.99995779e-01 -1.43681693e-03 2.52523700e-03 5.03253257e+00] [ 1.43735017e-03 9.99998945e-01 -2.09365052e-04 -2.25117227e-01] [-2.52493352e-03 2.12993819e-04 9.99996790e-01 -1.87511036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60650248099998 meters 0.11032330116594558 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.23, Z:-1.87 [[ 9.99994798e-01 -1.35102722e-03 2.92881308e-03 5.03165002e+00] [ 1.34951970e-03 9.99998956e-01 5.16634259e-04 -2.27793199e-01] [-2.92950801e-03 -5.12679080e-04 9.99995578e-01 -1.87484610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63650248099998 meters 0.11093923596209965 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.23, Z:-1.88 [[ 9.99995056e-01 -1.01960286e-03 2.97470022e-03 5.03179785e+00] [ 1.01601627e-03 9.99998755e-01 1.20696023e-03 -2.29471530e-01] [-2.97592714e-03 -1.20393192e-03 9.99994847e-01 -1.87522805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66650248099998 meters 0.11101418671453485 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.23, Z:-1.88 [[ 9.99984209e-01 -4.88725928e-03 2.77425715e-03 5.03246986e+00] [ 4.89388403e-03 9.99985178e-01 -2.38619119e-03 -2.30885618e-01] [-2.76255409e-03 2.39973040e-03 9.99993305e-01 -1.87570841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69650248099998 meters 0.11121795619209456 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.23, Z:-1.88 [[ 9.99986460e-01 -4.41905463e-03 2.74803588e-03 5.03284018e+00] [ 4.42312940e-03 9.99989125e-01 -1.47848960e-03 -2.32999287e-01] [-2.74147247e-03 1.49062450e-03 9.99995131e-01 -1.87626494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72650248099998 meters 0.11207696813128548 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.24, Z:-1.88 [[ 9.99987798e-01 -3.93288219e-03 2.98931412e-03 5.03273729e+00] [ 3.93370532e-03 9.99992227e-01 -2.69529594e-04 -2.36215746e-01] [-2.98823086e-03 2.81285386e-04 9.99995496e-01 -1.87680349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75650248099998 meters 0.11163652163806187 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.24, Z:-1.88 [[ 9.99989469e-01 -3.46861026e-03 3.00493831e-03 5.03315288e+00] [ 3.46687610e-03 9.99993821e-01 5.82119259e-04 -2.38075609e-01] [-3.00693889e-03 -5.71695380e-04 9.99995316e-01 -1.87754459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78650248099999 meters 0.11172987159198194 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.24, Z:-1.88 [[ 9.99991058e-01 -2.96097553e-03 3.01947128e-03 5.03357211e+00] [ 2.95630529e-03 9.99994429e-01 1.55000169e-03 -2.40254005e-01] [-3.02404398e-03 -1.54106135e-03 9.99994240e-01 -1.87829696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.816502481 meters 0.11131741040578191 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.24, Z:-1.88 [[ 9.99991929e-01 -2.70684391e-03 2.96909181e-03 5.03383851e+00] [ 2.70089027e-03 9.99994338e-01 2.00738894e-03 -2.41387390e-01] [-2.97450868e-03 -1.99935355e-03 9.99993577e-01 -1.87861516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.846502481 meters 0.11120000217334092 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.24, Z:-1.88 [[ 9.99992737e-01 -2.49579378e-03 2.88034988e-03 5.03422019e+00] [ 2.48912179e-03 9.99994216e-01 2.31764710e-03 -2.41963753e-01] [-2.88611759e-03 -2.31046072e-03 9.99993166e-01 -1.87900807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.876502481 meters 0.11046881169040748 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.24, Z:-1.88 [[ 9.99993831e-01 -2.36554016e-03 2.59672927e-03 5.03460735e+00] [ 2.35931955e-03 9.99994346e-01 2.39601035e-03 -2.42156563e-01] [-2.60238244e-03 -2.38986905e-03 9.99993758e-01 -1.87892245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.906502481 meters 0.10968680903141906 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.24, Z:-1.88 [[ 9.99993914e-01 -2.47038532e-03 2.46340621e-03 5.03454123e+00] [ 2.46510959e-03 9.99994667e-01 2.14238048e-03 -2.41783406e-01] [-2.46868558e-03 -2.13629488e-03 9.99994671e-01 -1.87853643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.936502481 meters 0.10934965660842311 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.24, Z:-1.88 [[ 9.99994365e-01 -2.43991689e-03 2.30561501e-03 5.03481959e+00] [ 2.43508591e-03 9.99994839e-01 2.09579801e-03 -2.41556568e-01] [-2.31071668e-03 -2.09017183e-03 9.99995146e-01 -1.87857449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.966502481 meters 0.10888229788868234 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.24, Z:-1.88 [[ 9.99995412e-01 -2.29390624e-03 1.97815107e-03 5.03550932e+00] [ 2.28977294e-03 9.99995196e-01 2.08921114e-03 -2.41132658e-01] [-1.98293402e-03 -2.08467204e-03 9.99995861e-01 -1.87882329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.996502481 meters 0.10852102189724115 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.24, Z:-1.88 [[ 9.99995466e-01 -2.31998659e-03 1.91969983e-03 5.03555853e+00] [ 2.31609960e-03 9.99995268e-01 2.02454151e-03 -2.41034609e-01] [-1.92438766e-03 -2.02008612e-03 9.99996108e-01 -1.87878201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.026502481 meters 0.10818485150715651 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.24, Z:-1.88 [[ 9.99995760e-01 -2.17974692e-03 1.93121774e-03 5.03564419e+00] [ 2.17529308e-03 9.99994977e-01 2.30534174e-03 -2.41809778e-01] [-1.93623310e-03 -2.30113100e-03 9.99995478e-01 -1.87900174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.056502481 meters 0.10809747440410432 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.24, Z:-1.88 [[ 9.99996421e-01 -1.85026253e-03 1.93270496e-03 5.03596390e+00] [ 1.84467779e-03 9.99994130e-01 2.88739400e-03 -2.43068747e-01] [-1.93803605e-03 -2.88381845e-03 9.99993964e-01 -1.87955166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.086502481 meters 0.10815185702060465 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.24, Z:-1.88 [[ 9.99980991e-01 -5.95025026e-03 1.61642581e-03 5.03641666e+00] [ 5.95210607e-03 9.99981630e-01 -1.14572120e-03 -2.43562027e-01] [-1.60957879e-03 1.15532056e-03 9.99998037e-01 -1.87938865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.116502481 meters 0.10819136699492968 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.24, Z:-1.88 [[ 9.99982491e-01 -5.69427640e-03 1.61022983e-03 5.03660157e+00] [ 5.69531930e-03 9.99983574e-01 -6.43828787e-04 -2.44721679e-01] [-1.60653724e-03 6.52988287e-04 9.99998496e-01 -1.87965951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.146502481 meters 0.1082879605648627 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.25, Z:-1.88 [[ 9.99985387e-01 -5.12593715e-03 1.71748634e-03 5.03704479e+00] [ 5.12500519e-03 9.99986718e-01 5.46593554e-04 -2.47344944e-01] [-1.72026533e-03 -5.37783440e-04 9.99998376e-01 -1.88064996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.176502481 meters 0.10831340782320271 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.25, Z:-1.88 [[ 9.99988598e-01 -4.36802187e-03 1.92978236e-03 5.03764434e+00] [ 4.36385924e-03 9.99988154e-01 2.15601949e-03 -2.50897325e-01] [-1.93917704e-03 -2.14757361e-03 9.99995814e-01 -1.88219842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.206502481 meters 0.10836221257564521 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.25, Z:-1.88 [[ 9.99990005e-01 -4.03606013e-03 1.92374837e-03 5.03791312e+00] [ 4.03068652e-03 9.99987987e-01 2.78904093e-03 -2.52392352e-01] [-1.93498199e-03 -2.78125903e-03 9.99994260e-01 -1.88263311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23650248099997 meters 0.10887300303964212 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.25, Z:-1.88 [[ 9.99990608e-01 -3.78748076e-03 2.10707045e-03 5.03771933e+00] [ 3.78018400e-03 9.99986882e-01 3.45625985e-03 -2.54335111e-01] [-2.12013333e-03 -3.44826228e-03 9.99991807e-01 -1.88282664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26650248099997 meters 0.10888463054913015 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.26, Z:-1.88 [[ 9.99990670e-01 -3.74318224e-03 2.15609588e-03 5.03752484e+00] [ 3.73534519e-03 9.99986444e-01 3.62746386e-03 -2.55026536e-01] [-2.16964491e-03 -3.61937626e-03 9.99991096e-01 -1.88267546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29650248099998 meters 0.10884846055258868 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.26, Z:-1.88 [[ 9.99991637e-01 -3.58043548e-03 1.97631024e-03 5.03787171e+00] [ 3.57274436e-03 9.99986084e-01 3.88156747e-03 -2.55560796e-01] [-1.99018044e-03 -3.87447416e-03 9.99990514e-01 -1.88274582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32650248099998 meters 0.10889475917554742 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.26, Z:-1.88 [[ 9.99991626e-01 -3.67731999e-03 1.79587660e-03 5.03787387e+00] [ 3.67064768e-03 9.99986401e-01 3.70461864e-03 -2.55330033e-01] [-1.80947524e-03 -3.69799559e-03 9.99991525e-01 -1.88227423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35650248099998 meters 0.10841550708451911 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.26, Z:-1.88 [[ 9.99992369e-01 -3.52276064e-03 1.68894790e-03 5.03829905e+00] [ 3.51611513e-03 9.99986129e-01 3.92166292e-03 -2.55602368e-01] [-1.70273955e-03 -3.91569445e-03 9.99990884e-01 -1.88265853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38650248099998 meters 0.10850785034899861 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.26, Z:-1.88 [[ 9.99992642e-01 -3.43923074e-03 1.69947462e-03 5.03826972e+00] [ 3.43212183e-03 9.99985423e-01 4.16836492e-03 -2.56450717e-01] [-1.71378581e-03 -4.16250144e-03 9.99989868e-01 -1.88269559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41650248099998 meters 0.10784345522966814 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.26, Z:-1.88 [[ 9.99994115e-01 -3.02423836e-03 1.61980643e-03 5.03905310e+00] [ 3.01641664e-03 9.99983884e-01 4.80966700e-03 -2.57481795e-01] [-1.63432591e-03 -4.80475268e-03 9.99987122e-01 -1.88371366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44650248099998 meters 0.10768448442259963 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.26, Z:-1.88 [[ 9.99994737e-01 -2.89630389e-03 1.46216197e-03 5.03953156e+00] [ 2.88898839e-03 9.99983423e-01 4.98076484e-03 -2.57621163e-01] [-1.47656354e-03 -4.97651446e-03 9.99986527e-01 -1.88401026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47650248099998 meters 0.10782235699462812 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.26, Z:-1.88 [[ 9.99995077e-01 -2.77494758e-03 1.46491448e-03 5.03954833e+00] [ 2.76716882e-03 9.99982202e-01 5.28563238e-03 -2.58520987e-01] [-1.47955576e-03 -5.28155270e-03 9.99984958e-01 -1.88403825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50650248099998 meters 0.10889667003047224 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.26, Z:-1.88 [[ 9.99974583e-01 -7.06091129e-03 9.88375821e-04 5.04037678e+00] [ 7.06027800e-03 9.99974869e-01 6.42773555e-04 -2.57109113e-01] [-9.92889550e-04 -6.35779009e-04 9.99999305e-01 -1.88403435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53650248099999 meters 0.10822160968623967 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.26, Z:-1.89 [[ 9.99978416e-01 -6.50172833e-03 9.46445742e-04 5.04117122e+00] [ 6.50020392e-03 9.99977586e-01 1.60493137e-03 -2.58939799e-01] [-9.56859356e-04 -1.59874463e-03 9.99998264e-01 -1.88515347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.566502481 meters 0.10821627580521652 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.26, Z:-1.89 [[ 9.99980452e-01 -6.18114808e-03 9.42404963e-04 5.04156175e+00] [ 6.17911044e-03 9.99978598e-01 2.14996321e-03 -2.59989819e-01] [-9.55674035e-04 -2.14409795e-03 9.99997245e-01 -1.88573854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.596502481 meters 0.10909461673576755 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.26, Z:-1.89 [[ 9.99982025e-01 -5.89418958e-03 1.09925207e-03 5.04159733e+00] [ 5.89103609e-03 9.99978586e-01 2.85026348e-03 -2.61679010e-01] [-1.11602852e-03 -2.84373652e-03 9.99995334e-01 -1.88614960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.626502481 meters 0.10919660401679139 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.26, Z:-1.89 [[ 9.99984041e-01 -5.53069001e-03 1.15298087e-03 5.04199566e+00] [ 5.52651607e-03 9.99978276e-01 3.59241497e-03 -2.63235686e-01] [-1.17282435e-03 -3.58598567e-03 9.99992883e-01 -1.88689021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.656502481 meters 0.10961651693552889 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.26, Z:-1.89 [[ 9.99985671e-01 -5.24336143e-03 1.07891235e-03 5.04250363e+00] [ 5.23896537e-03 9.99978124e-01 4.03779995e-03 -2.63988002e-01] [-1.10006040e-03 -4.03208971e-03 9.99991266e-01 -1.88746292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.686502481 meters 0.11011284452265213 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.26, Z:-1.89 [[ 9.99986585e-01 -5.08525542e-03 9.85175855e-04 5.04284254e+00] [ 5.08096355e-03 9.99977799e-01 4.31103981e-03 -2.64461927e-01] [-1.00707672e-03 -4.30597633e-03 9.99990222e-01 -1.88770518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.716502481 meters 0.11059533061644836 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.27, Z:-1.89 [[ 9.99987803e-01 -4.85995774e-03 8.79725758e-04 5.04333563e+00] [ 4.85580016e-03 9.99977315e-01 4.66800513e-03 -2.65069818e-01] [-9.02392109e-04 -4.66367642e-03 9.99988718e-01 -1.88819814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.746502481 meters 0.11056456055324118 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.26, Z:-1.89 [[ 9.99988394e-01 -4.77121064e-03 6.69128195e-04 5.04390558e+00] [ 4.76799684e-03 9.99977470e-01 4.72501717e-03 -2.64851298e-01] [-6.91657172e-04 -4.72177193e-03 9.99988613e-01 -1.88850533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.776502481 meters 0.11021710855278188 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.26, Z:-1.89 [[ 9.99987946e-01 -4.90739817e-03 1.56805438e-04 5.04489073e+00] [ 4.90669997e-03 9.99979227e-01 4.17969216e-03 -2.62714731e-01] [-1.77313594e-04 -4.17887238e-03 9.99991253e-01 -1.88862570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.806502481 meters 0.1100872743505183 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99987573e-01 -4.98490519e-03 -6.54940434e-05 5.04530928e+00] [ 4.98512282e-03 9.99979961e-01 3.90219001e-03 -2.61727672e-01] [ 4.60406837e-05 -3.90246801e-03 9.99992384e-01 -1.88865812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.836502481 meters 0.10985991642921134 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99987396e-01 -5.00625561e-03 -3.80672744e-04 5.04596332e+00] [ 5.00759352e-03 9.99980986e-01 3.59884598e-03 -2.60484433e-01] [ 3.62648763e-04 -3.60070688e-03 9.99993452e-01 -1.88885764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.866502481 meters 0.10966883046878909 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99987808e-01 -4.88906982e-03 -6.93119427e-04 5.04664492e+00] [ 4.89154747e-03 9.99981487e-01 3.61919311e-03 -2.60181591e-01] [ 6.75412107e-04 -3.62253941e-03 9.99993210e-01 -1.88908725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.896502481 meters 0.10868020740230819 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99987649e-01 -4.83791008e-03 -1.13869077e-03 5.04753791e+00] [ 4.84167903e-03 9.99982732e-01 3.33075252e-03 -2.58917433e-01] [ 1.12255723e-03 -3.33622456e-03 9.99993805e-01 -1.88938011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.926502481 meters 0.10811729772963717 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99986208e-01 -5.04512436e-03 -1.45931540e-03 5.04783823e+00] [ 5.04908040e-03 9.99983554e-01 2.72002216e-03 -2.57249308e-01] [ 1.44556855e-03 -2.72735285e-03 9.99995236e-01 -1.88904000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.956502481 meters 0.10786942593148494 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99986340e-01 -4.94022303e-03 -1.70728337e-03 5.04841721e+00] [ 4.94494563e-03 9.99983929e-01 2.77308634e-03 -2.57045245e-01] [ 1.69355627e-03 -2.78149088e-03 9.99994698e-01 -1.88926018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98650248099997 meters 0.1076796816069405 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99988026e-01 -4.51585832e-03 -1.88546881e-03 5.04917460e+00] [ 4.52218854e-03 9.99984107e-01 3.36671579e-03 -2.58077963e-01] [ 1.87023523e-03 -3.37520193e-03 9.99992555e-01 -1.88999913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01650248099997 meters 0.10748716294825954 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99988579e-01 -4.33007831e-03 -2.02287361e-03 5.04959211e+00] [ 4.33739486e-03 9.99984017e-01 3.62663674e-03 -2.58497689e-01] [ 2.00713766e-03 -3.63536932e-03 9.99991378e-01 -1.89028166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04650248099998 meters 0.10807748110241586 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99988262e-01 -4.29978235e-03 -2.23335628e-03 5.04977787e+00] [ 4.30795984e-03 9.99983987e-01 3.66971175e-03 -2.58527665e-01] [ 2.21754155e-03 -3.67928989e-03 9.99990773e-01 -1.89000533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07650248099998 meters 0.10798751342079432 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99988496e-01 -4.27509993e-03 -2.17502069e-03 5.04950202e+00] [ 4.28334297e-03 9.99983609e-01 3.79943001e-03 -2.59083601e-01] [ 2.15874210e-03 -3.80870266e-03 9.99990417e-01 -1.88971849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10650248099998 meters 0.10873350221699621 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99960310e-01 -8.53631308e-03 -2.55151525e-03 5.05008951e+00] [ 8.53505254e-03 9.99963449e-01 -5.04515145e-04 -2.58629591e-01] [ 2.55572868e-03 4.82717804e-04 9.99996618e-01 -1.88951293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13650248099998 meters 0.10946229035142237 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99963712e-01 -8.12630859e-03 -2.55688718e-03 5.05046222e+00] [ 8.12697979e-03 9.99966944e-01 2.52225560e-04 -2.60318850e-01] [ 2.55475300e-03 -2.72996178e-04 9.99996699e-01 -1.89009777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16650248099998 meters 0.1100708323269346 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99968363e-01 -7.61722666e-03 -2.29160671e-03 5.05074628e+00] [ 7.62033881e-03 9.99970050e-01 1.35241237e-03 -2.62919622e-01] [ 2.28123645e-03 -1.36983240e-03 9.99996460e-01 -1.89124280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19650248099998 meters 0.11083844621101649 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99970826e-01 -7.26309052e-03 -2.36530634e-03 5.05149852e+00] [ 7.26748061e-03 9.99971875e-01 1.85276130e-03 -2.63537968e-01] [ 2.35178305e-03 -1.86989706e-03 9.99995486e-01 -1.89219532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22650248099998 meters 0.11046809997534207 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99971121e-01 -7.18432634e-03 -2.47823093e-03 5.05188289e+00] [ 7.18907883e-03 9.99972326e-01 1.91414357e-03 -2.63352357e-01] [ 2.46441052e-03 -1.93190449e-03 9.99995097e-01 -1.89241687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25650248099998 meters 0.11137943179000469 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99969251e-01 -7.38453824e-03 -2.63913671e-03 5.05197870e+00] [ 7.38853353e-03 9.99971568e-01 1.50733323e-03 -2.62110467e-01] [ 2.62793071e-03 -1.52678623e-03 9.99995381e-01 -1.89204785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28650248099999 meters 0.11132989597875267 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99968913e-01 -7.41356276e-03 -2.68553153e-03 5.05202678e+00] [ 7.41737684e-03 9.99971492e-01 1.41306636e-03 -2.61827319e-01] [ 2.67497911e-03 -1.43294203e-03 9.99995396e-01 -1.89195624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.316502481 meters 0.11131571451905958 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99968962e-01 -7.38650791e-03 -2.74126010e-03 5.05224969e+00] [ 7.39028199e-03 9.99971754e-01 1.36920022e-03 -2.61519446e-01] [ 2.73106906e-03 -1.38941641e-03 9.99995305e-01 -1.89214479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.346502481 meters 0.1113016342469394 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99968412e-01 -7.44435871e-03 -2.78520428e-03 5.05234588e+00] [ 7.44773262e-03 9.99971542e-01 1.20296569e-03 -2.61036600e-01] [ 2.77616971e-03 -1.22367115e-03 9.99995398e-01 -1.89214030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.376502481 meters 0.11141074984237694 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99966020e-01 -7.60398393e-03 -3.18398356e-03 5.05290518e+00] [ 7.60592965e-03 9.99970895e-01 5.99433324e-04 -2.59072125e-01] [ 3.17933280e-03 -6.23630111e-04 9.99994751e-01 -1.89190651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.406502481 meters 0.11141074984237694 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99966020e-01 -7.60398393e-03 -3.18398356e-03 5.05290518e+00] [ 7.60592965e-03 9.99970895e-01 5.99433324e-04 -2.59072125e-01] [ 3.17933280e-03 -6.23630111e-04 9.99994751e-01 -1.89190651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.436502481 meters 0.11044573180411509 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99963889e-01 -7.64630439e-03 -3.70876795e-03 5.05378790e+00] [ 7.64649406e-03 9.99970764e-01 3.69653449e-05 -2.56987140e-01] [ 3.70837687e-03 -6.53230822e-05 9.99993122e-01 -1.89189562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.466502481 meters 0.11026143841625105 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.89 [[ 9.99963416e-01 -7.58787486e-03 -3.94851697e-03 5.05445867e+00] [ 7.58743203e-03 9.99971207e-01 -1.27119671e-04 -2.56043769e-01] [ 3.94936785e-03 9.71559159e-05 9.99992196e-01 -1.89226162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.496502481 meters 0.10950443725927991 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.89 [[ 9.99963971e-01 -7.12435920e-03 -4.61520584e-03 5.05633340e+00] [ 7.12405539e-03 9.99974620e-01 -8.22650712e-05 -2.54618737e-01] [ 4.61567479e-03 4.93831253e-05 9.99989346e-01 -1.89341516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.526502481 meters 0.10916696471024782 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.89 [[ 9.99961961e-01 -7.03347177e-03 -5.15821779e-03 5.05745947e+00] [ 7.03100179e-03 9.99975159e-01 -4.96821459e-04 -2.52746305e-01] [ 5.16158403e-03 4.60535122e-04 9.99986573e-01 -1.89375546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.556502481 meters 0.10872234087461205 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.89 [[ 9.99959971e-01 -7.06136111e-03 -5.49490538e-03 5.05811761e+00] [ 7.05698544e-03 9.99974767e-01 -8.15296525e-04 -2.51469831e-01] [ 5.50052383e-03 7.76486422e-04 9.99984571e-01 -1.89383473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.586502481 meters 0.10829729189969008 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.89 [[ 9.99957862e-01 -6.92523086e-03 -6.02616947e-03 5.05928199e+00] [ 6.91857117e-03 9.99975433e-01 -1.12527347e-03 -2.49786761e-01] [ 6.03381421e-03 1.08353357e-03 9.99981209e-01 -1.89419923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.616502481 meters 0.10823751204868448 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.89 [[ 9.99957417e-01 -6.94604604e-03 -6.07584265e-03 5.05941053e+00] [ 6.93871591e-03 9.99975174e-01 -1.22668774e-03 -2.49387553e-01] [ 6.08421245e-03 1.18447695e-03 9.99980790e-01 -1.89424534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.646502481 meters 0.10779737751135825 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.89 [[ 9.99956652e-01 -6.87541534e-03 -6.27882934e-03 5.05990896e+00] [ 6.86749347e-03 9.99975596e-01 -1.28237052e-03 -2.48809167e-01] [ 6.28749294e-03 1.23919511e-03 9.99979466e-01 -1.89443238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.676502481 meters 0.10791284101088192 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.89 [[ 9.99957029e-01 -6.71905814e-03 -6.38706490e-03 5.06036215e+00] [ 6.71211872e-03 9.99976860e-01 -1.10729607e-03 -2.48886682e-01] [ 6.39435709e-03 1.06437775e-03 9.99978989e-01 -1.89477345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.706502481 meters 0.10813379103432826 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.90 [[ 9.99958084e-01 -6.49255364e-03 -6.45581748e-03 5.06084977e+00] [ 6.48758232e-03 9.99978643e-01 -7.90696866e-04 -2.49260504e-01] [ 6.46081324e-03 7.48781075e-04 9.99978848e-01 -1.89526474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73650248099997 meters 0.10833696219970712 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.90 [[ 9.99960187e-01 -6.23381542e-03 -6.38467204e-03 5.06114457e+00] [ 6.23177958e-03 9.99980525e-01 -3.38709119e-04 -2.50084809e-01] [ 6.38665915e-03 2.98907765e-04 9.99979560e-01 -1.89583309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76650248099997 meters 0.1087512873504168 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.90 [[ 9.99961117e-01 -6.02919706e-03 -6.43524881e-03 5.06145604e+00] [ 6.02937247e-03 9.99981823e-01 7.85856451e-06 -2.50795460e-01] [ 6.43508446e-03 -4.66587710e-05 9.99979294e-01 -1.89613966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79650248099998 meters 0.10918923167203406 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.90 [[ 9.99963521e-01 -5.73120047e-03 -6.33325237e-03 5.06173930e+00] [ 5.73484963e-03 9.99983400e-01 5.58180520e-04 -2.51915775e-01] [ 6.32994820e-03 -5.94480408e-04 9.99979789e-01 -1.89678094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82650248099998 meters 0.1097897826533126 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.90 [[ 9.99964656e-01 -5.51500839e-03 -6.34604412e-03 5.06202770e+00] [ 5.52080703e-03 9.99984358e-01 8.96585359e-04 -2.52544227e-01] [ 6.34100018e-03 -9.31588954e-04 9.99979462e-01 -1.89716699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85650248099998 meters 0.1100552301262799 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.90 [[ 9.99965728e-01 -5.42124494e-03 -6.25725357e-03 5.06205008e+00] [ 5.42810475e-03 9.99984685e-01 1.07983491e-03 -2.52927087e-01] [ 6.25130369e-03 -1.11376293e-03 9.99979840e-01 -1.89737734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88650248099998 meters 0.11031543660582908 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.90 [[ 9.99965303e-01 -5.38783264e-03 -6.35334782e-03 5.06233598e+00] [ 5.39465940e-03 9.99984889e-01 1.05786726e-03 -2.52495329e-01] [ 6.34755221e-03 -1.09210470e-03 9.99979258e-01 -1.89749000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91650248099998 meters 0.11027769748713402 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.90 [[ 9.99966130e-01 -5.21077004e-03 -6.37072332e-03 5.06269690e+00] [ 5.21918220e-03 9.99985529e-01 1.30452791e-03 -2.52768189e-01] [ 6.36383354e-03 -1.33773369e-03 9.99978856e-01 -1.89794922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94650248099998 meters 0.11085986484927166 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.90 [[ 9.99967857e-01 -5.00475174e-03 -6.26398453e-03 5.06281967e+00] [ 5.01524425e-03 9.99986045e-01 1.66046774e-03 -2.53526490e-01] [ 6.25558689e-03 -1.69182978e-03 9.99979002e-01 -1.89839706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97650248099998 meters 0.11113539462734458 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.90 [[ 9.99968697e-01 -4.87075273e-03 -6.23539737e-03 5.06302679e+00] [ 4.88240165e-03 9.99986362e-01 1.85433464e-03 -2.53803254e-01] [ 6.22628032e-03 -1.88472030e-03 9.99978840e-01 -1.89878115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00650248099998 meters 0.11126898979948177 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.90 [[ 9.99968535e-01 -4.96983637e-03 -6.18304659e-03 5.06298680e+00] [ 4.97998264e-03 9.99986277e-01 1.62666913e-03 -2.53159511e-01] [ 6.17487746e-03 -1.65740941e-03 9.99979562e-01 -1.89886050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03650248099999 meters 0.11107638703673894 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.90 [[ 9.99967811e-01 -4.93920664e-03 -6.32307833e-03 5.06334344e+00] [ 4.94915521e-03 9.99986538e-01 1.55869442e-03 -2.52658154e-01] [ 6.31529449e-03 -1.58993815e-03 9.99978794e-01 -1.89900335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.066502481 meters 0.11079081095942422 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.90 [[ 9.99966115e-01 -4.91161995e-03 -6.60647291e-03 5.06393779e+00] [ 4.91986246e-03 9.99987139e-01 1.23196922e-03 -2.51292082e-01] [ 6.60033698e-03 -1.26443042e-03 9.99977418e-01 -1.89919251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.096502481 meters 0.11002156637805782 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.90 [[ 9.99965220e-01 -4.80540273e-03 -6.81672677e-03 5.06449551e+00] [ 4.81269222e-03 9.99987864e-01 1.05335386e-03 -2.50334848e-01] [ 6.81158225e-03 -1.08612403e-03 9.99976211e-01 -1.89953971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.126502481 meters 0.1099871196141162 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.90 [[ 9.99965257e-01 -4.77446575e-03 -6.83298969e-03 5.06464810e+00] [ 4.78151303e-03 9.99988053e-01 1.01539658e-03 -2.50080432e-01] [ 6.82806008e-03 -1.04803333e-03 9.99976139e-01 -1.89976032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.156502481 meters 0.10939837694098 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.25, Z:-1.90 [[ 9.99963914e-01 -4.94669703e-03 -6.90662701e-03 5.06458445e+00] [ 4.95075467e-03 9.99987582e-01 5.70525190e-04 -2.49034967e-01] [ 6.90371903e-03 -6.04697618e-04 9.99975986e-01 -1.89953218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.186502481 meters 0.10912499912116262 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.25, Z:-1.90 [[ 9.99963275e-01 -4.80803027e-03 -7.09444224e-03 5.06523711e+00] [ 4.81268714e-03 9.99988214e-01 6.39484996e-04 -2.48693909e-01] [ 7.09128397e-03 -6.73604842e-04 9.99974630e-01 -1.90002248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.216502481 meters 0.10923999390805429 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.25, Z:-1.90 [[ 9.99963016e-01 -4.66290798e-03 -7.22667300e-03 5.06578528e+00] [ 4.66809955e-03 9.99988858e-01 7.01688957e-04 -2.48279942e-01] [ 7.22332057e-03 -7.35397834e-04 9.99973641e-01 -1.90046713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.246502481 meters 0.10940333320562973 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.25, Z:-1.90 [[ 9.99964606e-01 -4.33638150e-03 -7.20990837e-03 5.06622705e+00] [ 4.34515367e-03 9.99989838e-01 1.20146396e-03 -2.49152590e-01] [ 7.20462510e-03 -1.23274959e-03 9.99973286e-01 -1.90119662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.276502481 meters 0.1094406114836785 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.25, Z:-1.90 [[ 9.99965077e-01 -4.30875797e-03 -7.16096884e-03 5.06619898e+00] [ 4.31801825e-03 9.99989860e-01 1.27820363e-03 -2.49461642e-01] [ 7.15538876e-03 -1.30908019e-03 9.99973543e-01 -1.90132234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.306502481 meters 0.10980706093538266 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.25, Z:-1.90 [[ 9.99966569e-01 -4.02084345e-03 -7.11994070e-03 5.06648857e+00] [ 4.03367017e-03 9.99990266e-01 1.78807728e-03 -2.50605021e-01] [ 7.11268182e-03 -1.81673700e-03 9.99973054e-01 -1.90189388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.336502481 meters 0.10977720997929681 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.25, Z:-1.90 [[ 9.99967483e-01 -3.72285022e-03 -7.15359234e-03 5.06695748e+00] [ 3.73902059e-03 9.99990482e-01 2.24841193e-03 -2.51377492e-01] [ 7.14515375e-03 -2.27508625e-03 9.99971885e-01 -1.90251116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.366502481 meters 0.11006968271037215 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.25, Z:-1.90 [[ 9.99968810e-01 -3.47283172e-03 -7.09356828e-03 5.06729225e+00] [ 3.49209787e-03 9.99990243e-01 2.70542561e-03 -2.52206152e-01] [ 7.08410358e-03 -2.73011266e-03 9.99971181e-01 -1.90314678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.396502481 meters 0.1102724742261615 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.25, Z:-1.90 [[ 9.99969642e-01 -3.11036483e-03 -7.14431907e-03 5.06783559e+00] [ 3.13412745e-03 9.99989586e-01 3.31730247e-03 -2.53393438e-01] [ 7.13392665e-03 -3.33959297e-03 9.99968977e-01 -1.90380814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.426502481 meters 0.11044685693113379 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.25, Z:-1.90 [[ 9.99969480e-01 -3.11998022e-03 -7.16273638e-03 5.06785458e+00] [ 3.14375767e-03 9.99989578e-01 3.31074877e-03 -2.53471628e-01] [ 7.15233226e-03 -3.33316563e-03 9.99968867e-01 -1.90378802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.456502481 meters 0.11052080424018818 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.25, Z:-1.90 [[ 9.99994465e-01 9.47133960e-04 -3.18937019e-03 5.07697991e+00] [-9.50924322e-04 9.99998843e-01 -1.18712920e-03 -2.53641362e-01] [ 3.18824213e-03 1.19015548e-03 9.99994209e-01 -1.90415708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48650248099997 meters 0.11024256660365096 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.25, Z:-1.90 [[ 9.99994193e-01 1.01001840e-03 -3.25493887e-03 5.07730926e+00] [-1.01393725e-03 9.99998763e-01 -1.20254477e-03 -2.53404638e-01] [ 3.25372025e-03 1.20583809e-03 9.99993980e-01 -1.90445515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51650248099997 meters 0.11041228027586483 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.25, Z:-1.90 [[ 9.99993040e-01 8.05224935e-04 -3.64305024e-03 5.07788298e+00] [-8.11875948e-04 9.99998006e-01 -1.82456129e-03 -2.51327550e-01] [ 3.64157379e-03 1.82750629e-03 9.99991700e-01 -1.90424240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54650248099998 meters 0.11049367801740481 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.25, Z:-1.90 [[ 9.99992236e-01 6.35218041e-04 -3.88895737e-03 5.07833271e+00] [-6.44292753e-04 9.99997072e-01 -2.33264819e-03 -2.49587179e-01] [ 3.88746424e-03 2.33513571e-03 9.99989717e-01 -1.90419394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57650248099998 meters 0.1104740433931794 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.25, Z:-1.90 [[ 9.99991613e-01 7.17678418e-04 -4.03211853e-03 5.07891661e+00] [-7.27093911e-04 9.99997012e-01 -2.33414280e-03 -2.49114429e-01] [ 4.03043132e-03 2.33705495e-03 9.99989147e-01 -1.90466110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60650248099998 meters 0.1103728614729667 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.25, Z:-1.91 [[ 9.99991431e-01 8.21103032e-04 -4.05747151e-03 5.07947880e+00] [-8.30520032e-04 9.99996964e-01 -2.31976405e-03 -2.48632627e-01] [ 4.05555443e-03 2.32311398e-03 9.99989078e-01 -1.90538236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63650248099998 meters 0.1105388425895533 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.25, Z:-1.91 [[ 9.99991024e-01 9.53347523e-04 -4.12840347e-03 5.07997486e+00] [-9.62399238e-04 9.99997136e-01 -2.19111504e-03 -2.48501562e-01] [ 4.12630275e-03 2.19506854e-03 9.99989078e-01 -1.90590513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66650248099998 meters 0.11097130490929509 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.25, Z:-1.91 [[ 9.99990035e-01 7.51181018e-04 -4.40064869e-03 5.08065340e+00] [-7.63267161e-04 9.99995940e-01 -2.74541032e-03 -2.46347370e-01] [ 4.39856852e-03 2.74874184e-03 9.99986548e-01 -1.90606626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69650248099998 meters 0.11127789028810547 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.25, Z:-1.91 [[ 9.99989466e-01 7.15631352e-04 -4.53383398e-03 5.08123998e+00] [-7.29144393e-04 9.99995295e-01 -2.97953724e-03 -2.45134310e-01] [ 4.53168040e-03 2.98281168e-03 9.99985283e-01 -1.90650224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72650248099998 meters 0.11068186999474651 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.24, Z:-1.91 [[ 9.99983003e-01 5.47341405e-03 -2.00899301e-03 5.09386793e+00] [-5.48475110e-03 9.99968817e-01 -5.68170279e-03 -2.43322302e-01] [ 1.97783205e-03 5.69262504e-03 9.99981841e-01 -1.90987527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75650248099998 meters 0.1105918113181473 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.24, Z:-1.91 [[ 9.99995592e-01 -2.96199799e-03 -2.04411517e-04 5.10262726e+00] [ 2.96182735e-03 9.99995269e-01 -8.30105772e-04 -2.40549830e-01] [ 2.06869321e-04 8.29496681e-04 9.99999635e-01 -1.91127886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78650248099999 meters 0.11061382726955717 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.24, Z:-1.91 [[ 9.99994748e-01 -3.20944106e-03 -4.51719025e-04 5.10302122e+00] [ 3.20876302e-03 9.99993736e-01 -1.49383208e-03 -2.38467651e-01] [ 4.56510562e-04 1.49237477e-03 9.99998782e-01 -1.91115652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.816502481 meters 0.11088538405683833 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.24, Z:-1.91 [[ 9.99994690e-01 -3.19677369e-03 -6.33136217e-04 5.10355293e+00] [ 3.19572946e-03 9.99993543e-01 -1.64350508e-03 -2.37574926e-01] [ 6.38386042e-04 1.64147302e-03 9.99998449e-01 -1.91146434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.846502481 meters 0.11069987140597985 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.24, Z:-1.91 [[ 9.99993943e-01 -3.33699353e-03 -9.89591706e-04 5.10435332e+00] [ 3.33475598e-03 9.99991899e-01 -2.25417690e-03 -2.35228908e-01] [ 9.97105863e-04 2.25086320e-03 9.99996970e-01 -1.91167672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.876502481 meters 0.11071628625154976 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.23, Z:-1.91 [[ 9.99993775e-01 -3.35887394e-03 -1.08113082e-03 5.10471369e+00] [ 3.35626492e-03 9.99991473e-01 -2.40606253e-03 -2.34396223e-01] [ 1.08920327e-03 2.40241899e-03 9.99996521e-01 -1.91191815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.906502481 meters 0.11110600030692933 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.23, Z:-1.91 [[ 9.99993312e-01 -3.45655097e-03 -1.19518894e-03 5.10510612e+00] [ 3.45326219e-03 9.99990276e-01 -2.74287937e-03 -2.33080841e-01] [ 1.20465822e-03 2.73873372e-03 9.99995524e-01 -1.91215919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.936502481 meters 0.11105307432519441 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.23, Z:-1.91 [[ 9.99993770e-01 -3.29823118e-03 -1.25766997e-03 5.10564918e+00] [ 3.29497655e-03 9.99991240e-01 -2.58117933e-03 -2.32974387e-01] [ 1.26617228e-03 2.57701926e-03 9.99995878e-01 -1.91277759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.966502481 meters 0.11104793558001003 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.23, Z:-1.91 [[ 9.99993872e-01 -3.20525684e-03 -1.40792839e-03 5.10634613e+00] [ 3.20161650e-03 9.99991546e-01 -2.58028530e-03 -2.32284912e-01] [ 1.41618696e-03 2.57576184e-03 9.99995680e-01 -1.91340653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.996502481 meters 0.11100981834960227 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.23, Z:-1.91 [[ 9.99994260e-01 -3.03779084e-03 -1.50088164e-03 5.10713080e+00] [ 3.03410093e-03 9.99992384e-01 -2.45468293e-03 -2.31736533e-01] [ 1.50832703e-03 2.45011502e-03 9.99995861e-01 -1.91430763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.026502481 meters 0.11093881777808022 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.23, Z:-1.92 [[ 9.99994780e-01 -2.84132800e-03 -1.53836894e-03 5.10768272e+00] [ 2.83793737e-03 9.99993549e-01 -2.20176035e-03 -2.31848993e-01] [ 1.54461494e-03 2.19738307e-03 9.99996393e-01 -1.91503050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.056502481 meters 0.1111122481229913 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.23, Z:-1.92 [[ 9.99995881e-01 -2.45300969e-03 -1.49052164e-03 5.10840546e+00] [ 2.45058026e-03 9.99995670e-01 -1.62956483e-03 -2.32557702e-01] [ 1.49451252e-03 1.62590548e-03 9.99997561e-01 -1.91624921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.086502481 meters 0.11109526289497368 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.23, Z:-1.92 [[ 9.99996147e-01 -2.32186827e-03 -1.52145928e-03 5.10863491e+00] [ 2.31969062e-03 9.99996285e-01 -1.43149589e-03 -2.32887804e-01] [ 1.52477737e-03 1.42796106e-03 9.99997818e-01 -1.91648581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.116502481 meters 0.11141866082242037 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.23, Z:-1.92 [[ 9.99996177e-01 -2.24826542e-03 -1.60953313e-03 5.10878251e+00] [ 2.24613140e-03 9.99996598e-01 -1.32644553e-03 -2.33124886e-01] [ 1.61250986e-03 1.32282523e-03 9.99997825e-01 -1.91642628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.146502481 meters 0.11138883177960228 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.23, Z:-1.92 [[ 9.99996562e-01 -2.03140627e-03 -1.65800815e-03 5.10921221e+00] [ 2.02974402e-03 9.99997436e-01 -1.00362593e-03 -2.33563237e-01] [ 1.66004267e-03 1.00025715e-03 9.99998122e-01 -1.91691545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.176502481 meters 0.11140675073368869 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.23, Z:-1.92 [[ 9.99996942e-01 -1.66230589e-03 -1.83096426e-03 5.11004134e+00] [ 1.66137639e-03 9.99998490e-01 -5.09057166e-04 -2.34254838e-01] [ 1.83180771e-03 5.06013688e-04 9.99998194e-01 -1.91769630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.206502481 meters 0.11148943085843697 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.23, Z:-1.92 [[ 9.99997029e-01 -1.50460544e-03 -1.91785198e-03 5.11026875e+00] [ 1.50406668e-03 9.99998829e-01 -2.82326863e-04 -2.34781802e-01] [ 1.91827452e-03 2.79441447e-04 9.99998121e-01 -1.91780856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23650248099997 meters 0.11148647460018395 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.24, Z:-1.92 [[ 9.99997149e-01 -1.28467403e-03 -2.01262189e-03 5.11059422e+00] [ 1.28474694e-03 9.99999174e-01 3.49341597e-05 -2.35452823e-01] [ 2.01257535e-03 -3.75197700e-05 9.99997974e-01 -1.91805422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26650248099997 meters 0.11144514119208528 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.24, Z:-1.92 [[ 9.99997891e-01 -8.66705495e-04 -1.86185905e-03 5.11085011e+00] [ 8.68192727e-04 9.99999305e-01 7.98128947e-04 -2.37278193e-01] [ 1.86116602e-03 -7.99743717e-04 9.99997948e-01 -1.91886864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29650248099998 meters 0.11149279624947997 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.24, Z:-1.92 [[ 9.99998098e-01 -5.87439879e-04 -1.86000529e-03 5.11113489e+00] [ 5.89798213e-04 9.99999023e-01 1.26762363e-03 -2.38401512e-01] [ 1.85925882e-03 -1.26871825e-03 9.99997467e-01 -1.91932210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32650248099998 meters 0.11149279624947997 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.24, Z:-1.92 [[ 9.99998098e-01 -5.87439879e-04 -1.86000529e-03 5.11113489e+00] [ 5.89798213e-04 9.99999023e-01 1.26762363e-03 -2.38401512e-01] [ 1.85925882e-03 -1.26871825e-03 9.99997467e-01 -1.91932210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35650248099998 meters 0.11162319094857305 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.24, Z:-1.92 [[ 9.99998330e-01 -5.09175073e-04 -1.75493699e-03 5.11093962e+00] [ 5.11842793e-04 9.99998714e-01 1.52000881e-03 -2.39359391e-01] [ 1.75416078e-03 -1.52090453e-03 9.99997305e-01 -1.91933817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38650248099998 meters 0.11130478843313094 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.24, Z:-1.92 [[ 9.99998245e-01 -3.78356245e-04 -1.83465415e-03 5.11107045e+00] [ 3.81521548e-04 9.99998439e-01 1.72524265e-03 -2.39969750e-01] [ 1.83399853e-03 -1.72593959e-03 9.99996829e-01 -1.91933884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41650248099998 meters 0.11164177588539517 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.24, Z:-1.92 [[ 9.99986794e-01 -4.43510896e-03 -2.59627461e-03 5.11233424e+00] [ 4.42805994e-03 9.99986512e-01 -2.71453237e-03 -2.38518659e-01] [ 2.60827884e-03 2.70300006e-03 9.99992945e-01 -1.91932128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44650248099998 meters 0.11133124319379294 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.24, Z:-1.92 [[ 9.99987215e-01 -4.29393046e-03 -2.67060274e-03 5.11249302e+00] [ 4.28725265e-03 9.99987682e-01 -2.50120729e-03 -2.39131214e-01] [ 2.68130985e-03 2.48972576e-03 9.99993306e-01 -1.91936941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47650248099998 meters 0.11121397932783732 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.24, Z:-1.92 [[ 9.99988251e-01 -3.98704153e-03 -2.75722291e-03 5.11297655e+00] [ 3.98140926e-03 9.99989983e-01 -2.04521225e-03 -2.39982287e-01] [ 2.76534964e-03 2.03421058e-03 9.99994107e-01 -1.91986075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50650248099998 meters 0.11126511437838507 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.24, Z:-1.92 [[ 9.99990497e-01 -3.46389056e-03 -2.64696804e-03 5.11337100e+00] [ 3.46095055e-03 9.99993390e-01 -1.11448274e-03 -2.42153996e-01] [ 2.65081099e-03 1.10531112e-03 9.99995876e-01 -1.92077672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53650248099999 meters 0.11120917870814861 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.24, Z:-1.92 [[ 9.99991510e-01 -3.10814716e-03 -2.70525119e-03 5.11376883e+00] [ 3.10671140e-03 9.99995031e-01 -5.34768655e-04 -2.43456153e-01] [ 2.70689989e-03 5.26359680e-04 9.99996198e-01 -1.92124481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.566502481 meters 0.11139927354989439 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.25, Z:-1.92 [[ 9.99992792e-01 -2.95738697e-03 -2.38130766e-03 5.11328723e+00] [ 2.95742574e-03 9.99995627e-01 1.27582217e-05 -2.45467359e-01] [ 2.38125952e-03 -1.98006703e-05 9.99997165e-01 -1.92136628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.596502481 meters 0.11157581874876497 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.25, Z:-1.92 [[ 9.99993863e-01 -2.55808429e-03 -2.39365778e-03 5.11376983e+00] [ 2.55968510e-03 9.99996502e-01 6.65945059e-04 -2.46810325e-01] [ 2.39194587e-03 -6.72067982e-04 9.99996913e-01 -1.92207798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.626502481 meters 0.11144372890649469 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.25, Z:-1.92 [[ 9.99995033e-01 -2.23228506e-03 -2.22512661e-03 5.11382134e+00] [ 2.23529884e-03 9.99996587e-01 1.35286768e-03 -2.48705977e-01] [ 2.22209903e-03 -1.35783478e-03 9.99996609e-01 -1.92261432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.656502481 meters 0.11205835486713497 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.25, Z:-1.92 [[ 9.99995576e-01 -1.96299470e-03 -2.23494309e-03 5.11397125e+00] [ 1.96705314e-03 9.99996418e-01 1.81515504e-03 -2.50019805e-01] [ 2.23137195e-03 -1.81954326e-03 9.99995855e-01 -1.92280600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.686502481 meters 0.11148794335439242 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.25, Z:-1.92 [[ 9.99996214e-01 -1.56550912e-03 -2.26289053e-03 5.11424499e+00] [ 1.57110499e-03 9.99995707e-01 2.47322878e-03 -2.51747077e-01] [ 2.25900895e-03 -2.47677466e-03 9.99994381e-01 -1.92315284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.716502481 meters 0.11146659639596379 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.25, Z:-1.92 [[ 9.99980204e-01 -5.59945056e-03 -2.87004720e-03 5.11553062e+00] [ 5.59429450e-03 9.99982729e-01 -1.80139849e-03 -2.50836715e-01] [ 2.88008447e-03 1.78530694e-03 9.99994259e-01 -1.92351216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.746502481 meters 0.11194301639775106 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.25, Z:-1.92 [[ 9.99983391e-01 -5.12938317e-03 -2.62802691e-03 5.11548500e+00] [ 5.12738283e-03 9.99986560e-01 -7.67327733e-04 -2.53679077e-01] [ 2.63192751e-03 7.53840089e-04 9.99996252e-01 -1.92410228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.776502481 meters 0.11213277782550674 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.26, Z:-1.92 [[ 9.99985150e-01 -4.76673582e-03 -2.64148533e-03 5.11582316e+00] [ 4.76641549e-03 9.99988632e-01 -1.27548985e-04 -2.55152555e-01] [ 2.64206330e-03 1.14956674e-04 9.99996503e-01 -1.92456892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.806502481 meters 0.11263295614407928 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.26, Z:-1.93 [[ 9.99988912e-01 -4.10131851e-03 -2.31407669e-03 5.11609431e+00] [ 4.10438623e-03 9.99990702e-01 1.32248784e-03 -2.58693868e-01] [ 2.30863123e-03 -1.33197104e-03 9.99996448e-01 -1.92581581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.836502481 meters 0.11297394639863632 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.26, Z:-1.93 [[ 9.99992193e-01 -3.55039058e-03 -1.73443588e-03 5.11606187e+00] [ 3.55522941e-03 9.99989775e-01 2.79478833e-03 -2.62719011e-01] [ 1.72449555e-03 -2.80093282e-03 9.99994590e-01 -1.92722145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.866502481 meters 0.11372858770349166 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.26, Z:-1.93 [[ 9.99993855e-01 -3.10543415e-03 -1.62659864e-03 5.11640679e+00] [ 3.11128477e-03 9.99988656e-01 3.60675107e-03 -2.64628235e-01] [ 1.61537966e-03 -3.61178971e-03 9.99992173e-01 -1.92802660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.896502481 meters 0.11450609293252842 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.27, Z:-1.93 [[ 9.99994502e-01 -3.10566997e-03 -1.16257068e-03 5.11555166e+00] [ 3.11035253e-03 9.99986970e-01 4.04786694e-03 -2.66633416e-01] [ 1.14998419e-03 -4.05146069e-03 9.99991132e-01 -1.92789185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.926502481 meters 0.11486748053310408 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.27, Z:-1.93 [[ 9.99971533e-01 -7.33575880e-03 -1.76627062e-03 5.11665700e+00] [ 7.33484641e-03 9.99972963e-01 -5.22483915e-04 -2.65104445e-01] [ 1.77005568e-03 5.09513718e-04 9.99998304e-01 -1.92795054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.956502481 meters 0.11561117428665582 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.27, Z:-1.93 [[ 9.99973096e-01 -7.10513834e-03 -1.82332597e-03 5.11695930e+00] [ 7.10488362e-03 9.99974749e-01 -1.46135245e-04 -2.65929839e-01] [ 1.82431824e-03 1.33176795e-04 9.99998327e-01 -1.92820161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98650248099997 meters 0.11556177228563515 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.27, Z:-1.93 [[ 9.99974214e-01 -6.92143437e-03 -1.91449127e-03 5.11742993e+00] [ 6.92161564e-03 9.99976041e-01 8.80752573e-05 -2.66150527e-01] [ 1.91383580e-03 -1.01324359e-04 9.99998163e-01 -1.92861490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01650248099997 meters 0.11544168685437295 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.27, Z:-1.93 [[ 9.99974750e-01 -6.77271337e-03 -2.15155345e-03 5.11823416e+00] [ 6.77310759e-03 9.99977047e-01 1.75992244e-04 -2.65680796e-01] [ 2.15031212e-03 -1.90560504e-04 9.99997670e-01 -1.92912712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04650248099998 meters 0.11510841422421374 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.27, Z:-1.93 [[ 9.99975812e-01 -6.54036238e-03 -2.36639427e-03 5.11899836e+00] [ 6.54135009e-03 9.99978521e-01 4.09890405e-04 -2.65705951e-01] [ 2.36366261e-03 -4.25359904e-04 9.99997116e-01 -1.92969145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07650248099998 meters 0.11412502716020564 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.27, Z:-1.93 [[ 9.99976609e-01 -6.38081288e-03 -2.46288686e-03 5.11939686e+00] [ 6.38224710e-03 9.99979468e-01 5.74913729e-04 -2.65908883e-01] [ 2.45916787e-03 -5.90619034e-04 9.99996802e-01 -1.93000944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10650248099998 meters 0.11436627292913869 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.26, Z:-1.93 [[ 9.99976113e-01 -6.29569726e-03 -2.85254709e-03 5.12037532e+00] [ 6.29680987e-03 9.99980102e-01 3.81228466e-04 -2.64599756e-01] [ 2.85009023e-03 -3.99181307e-04 9.99995859e-01 -1.93044377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13650248099998 meters 0.11333232496283814 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.26, Z:-1.93 [[ 9.99975304e-01 -6.28402565e-03 -3.14676812e-03 5.12105460e+00] [ 6.28465478e-03 9.99980233e-01 1.90081242e-04 -2.63563999e-01] [ 3.14551145e-03 -2.09852899e-04 9.99995031e-01 -1.93064961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16650248099998 meters 0.1130052929196597 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.26, Z:-1.93 [[ 9.99973822e-01 -6.29284834e-03 -3.57158419e-03 5.12183982e+00] [ 6.29212053e-03 9.99980181e-01 -2.14977596e-04 -2.61896065e-01] [ 3.57286623e-03 1.92499130e-04 9.99993599e-01 -1.93070691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19650248099998 meters 0.11252962111902415 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.26, Z:-1.93 [[ 9.99974781e-01 -5.86404373e-03 -4.00629233e-03 5.12335818e+00] [ 5.86421656e-03 9.99982805e-01 3.13919922e-05 -2.61215597e-01] [ 4.00603936e-03 -5.48849664e-05 9.99991974e-01 -1.93186413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22650248099998 meters 0.111884110471039 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.26, Z:-1.93 [[ 9.99974612e-01 -5.71933166e-03 -4.25014538e-03 5.12417491e+00] [ 5.71966260e-03 9.99983640e-01 6.57151521e-05 -2.60599508e-01] [ 4.24970000e-03 -9.00228814e-05 9.99990966e-01 -1.93243385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25650248099998 meters 0.11139811774489064 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.26, Z:-1.93 [[ 9.99973175e-01 -5.40571625e-03 -4.94232860e-03 5.12578830e+00] [ 5.40540488e-03 9.99985388e-01 -7.63574672e-05 -2.58875133e-01] [ 4.94266915e-03 4.96401318e-05 9.99987784e-01 -1.93309193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28650248099999 meters 0.11100546337054937 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.26, Z:-1.93 [[ 9.99972738e-01 -5.25348212e-03 -5.18893813e-03 5.12656235e+00] [ 5.25339576e-03 9.99986200e-01 -3.02726214e-05 -2.58277839e-01] [ 5.18902556e-03 3.01225049e-06 9.99986537e-01 -1.93357282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.316502481 meters 0.11064841816954715 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.26, Z:-1.93 [[ 9.99971930e-01 -5.17784007e-03 -5.41558778e-03 5.12717543e+00] [ 5.17728495e-03 9.99986591e-01 -1.16517490e-04 -2.57532100e-01] [ 5.41611847e-03 8.84761779e-05 9.99985329e-01 -1.93389765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.346502481 meters 0.11054468938735941 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.26, Z:-1.93 [[ 9.99971751e-01 -5.11207478e-03 -5.51036208e-03 5.12750802e+00] [ 5.11163035e-03 9.99986931e-01 -9.47350717e-05 -2.57259947e-01] [ 5.51077436e-03 6.65654615e-05 9.99984813e-01 -1.93412095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.376502481 meters 0.11017782927570433 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.26, Z:-1.93 [[ 9.99972516e-01 -4.83911576e-03 -5.61694827e-03 5.12812171e+00] [ 4.84072424e-03 9.99988246e-01 2.72801007e-04 -2.57686182e-01] [ 5.61556213e-03 -2.99983607e-04 9.99984188e-01 -1.93476366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.406502481 meters 0.11019770019357548 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.26, Z:-1.94 [[ 9.99973182e-01 -4.57988326e-03 -5.71496157e-03 5.12871812e+00] [ 4.58354297e-03 9.99989299e-01 6.27441301e-04 -2.58089719e-01] [ 5.71202680e-03 -6.53619246e-04 9.99983473e-01 -1.93538440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.436502481 meters 0.11029895345573468 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.26, Z:-1.94 [[ 9.99974163e-01 -4.30484957e-03 -5.75691762e-03 5.12926679e+00] [ 4.31076103e-03 9.99990194e-01 1.01483067e-03 -2.58561198e-01] [ 5.75249248e-03 -1.03962115e-03 9.99982914e-01 -1.93605495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.466502481 meters 0.11057208179308073 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.26, Z:-1.94 [[ 9.99975395e-01 -3.99239270e-03 -5.76803556e-03 5.12982039e+00] [ 4.00103665e-03 9.99990889e-01 1.48783469e-03 -2.59206231e-01] [ 5.76204299e-03 -1.51087620e-03 9.99982258e-01 -1.93680043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.496502481 meters 0.11043018761034612 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.26, Z:-1.94 [[ 9.99976780e-01 -3.71771048e-03 -5.71128348e-03 5.13011492e+00] [ 3.72876405e-03 9.99991193e-01 1.92596457e-03 -2.60113134e-01] [ 5.70407301e-03 -1.94721588e-03 9.99981836e-01 -1.93735073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.526502481 meters 0.11125418529486045 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.26, Z:-1.94 [[ 9.99949367e-01 -8.02972805e-03 -6.06529623e-03 5.13079932e+00] [ 8.01449005e-03 9.99964677e-01 -2.53246745e-03 -2.59055977e-01] [ 6.08541701e-03 2.48372896e-03 9.99978399e-01 -1.93735442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.556502481 meters 0.11190336691555723 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.26, Z:-1.94 [[ 9.99949296e-01 -8.09198151e-03 -5.99379760e-03 5.13048419e+00] [ 8.07685028e-03 9.99964145e-01 -2.54439994e-03 -2.59383418e-01] [ 6.01417192e-03 2.49585992e-03 9.99978800e-01 -1.93705420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.586502481 meters 0.11133134560617244 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.26, Z:-1.94 [[ 9.99948868e-01 -8.10166793e-03 -6.05186547e-03 5.13053149e+00] [ 8.08640549e-03 9.99964073e-01 -2.54216651e-03 -2.59256747e-01] [ 6.07224384e-03 2.49309868e-03 9.99978456e-01 -1.93692277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.616502481 meters 0.1112094014978255 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.26, Z:-1.94 [[ 9.99977623e-01 -3.44711541e-03 -5.73335494e-03 5.13064973e+00] [ 3.46104137e-03 9.99991080e-01 2.42079117e-03 -2.60654041e-01] [ 5.72495906e-03 -2.44058038e-03 9.99980634e-01 -1.93792336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.646502481 meters 0.11077593333650927 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.26, Z:-1.94 [[ 9.99997804e-01 1.07951745e-03 -1.79652150e-03 5.14129534e+00] [-1.08167959e-03 9.99998691e-01 -1.20297777e-03 -2.59803602e-01] [ 1.79522051e-03 1.20491839e-03 9.99997663e-01 -1.93990048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.676502481 meters 0.11041824299852332 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.26, Z:-1.94 [[ 9.99997570e-01 1.03451454e-03 -1.94683082e-03 5.14177819e+00] [-1.03733349e-03 9.99998414e-01 -1.44751520e-03 -2.58704112e-01] [ 1.94533026e-03 1.44953120e-03 9.99997057e-01 -1.94018989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.706502481 meters 0.11065461296672839 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.26, Z:-1.94 [[ 9.99997268e-01 1.18085548e-03 -2.01725487e-03 5.14216618e+00] [-1.18346595e-03 9.99998463e-01 -1.29337093e-03 -2.58762340e-01] [ 2.01572448e-03 1.29575475e-03 9.99997129e-01 -1.94055995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73650248099997 meters 0.11017901674757195 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.26, Z:-1.94 [[ 9.99997196e-01 1.14403583e-03 -2.07351707e-03 5.14247396e+00] [-1.14706960e-03 9.99998273e-01 -1.46250599e-03 -2.57886360e-01] [ 2.07184033e-03 1.46488035e-03 9.99996781e-01 -1.94083305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76650248099997 meters 0.11019617916767767 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.26, Z:-1.94 [[ 9.99996928e-01 1.13731417e-03 -2.20260925e-03 5.14280810e+00] [-1.14074365e-03 9.99998138e-01 -1.55638096e-03 -2.57261679e-01] [ 2.20083506e-03 1.55888879e-03 9.99996363e-01 -1.94094643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79650248099998 meters 0.11014228980741907 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.26, Z:-1.94 [[ 9.99996786e-01 1.05097847e-03 -2.30746116e-03 5.14315751e+00] [-1.05523683e-03 9.99997741e-01 -1.84503670e-03 -2.56018290e-01] [ 2.30551685e-03 1.84746569e-03 9.99995636e-01 -1.94111995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82650248099998 meters 0.1095562315754928 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.25, Z:-1.94 [[ 9.99996011e-01 1.09776094e-03 -2.60237738e-03 5.14401498e+00] [-1.10300000e-03 9.99997366e-01 -2.01260349e-03 -2.54755444e-01] [ 2.60016117e-03 2.01546588e-03 9.99994589e-01 -1.94159102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85650248099998 meters 0.10877585272663666 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.25, Z:-1.94 [[ 9.99995100e-01 1.24823454e-03 -2.87102127e-03 5.14501191e+00] [-1.25421547e-03 9.99997045e-01 -2.08235202e-03 -2.53660916e-01] [ 2.86841352e-03 2.08594270e-03 9.99993711e-01 -1.94237172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88650248099998 meters 0.10904098204780922 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.25, Z:-1.94 [[ 9.99994604e-01 1.27798429e-03 -3.02627168e-03 5.14546603e+00] [-1.28452863e-03 9.99996839e-01 -2.16155202e-03 -2.53030437e-01] [ 3.02349969e-03 2.16542769e-03 9.99993085e-01 -1.94264987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91650248099998 meters 0.10807508436471665 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.25, Z:-1.94 [[ 9.99993276e-01 1.07691774e-03 -3.50557230e-03 5.14617085e+00] [-1.08721638e-03 9.99995095e-01 -2.93721120e-03 -2.50434093e-01] [ 3.50239197e-03 2.94100276e-03 9.99989542e-01 -1.94245387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94650248099998 meters 0.10774455522579829 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.25, Z:-1.94 [[ 9.99991981e-01 1.10473232e-03 -3.84937673e-03 5.14703610e+00] [-1.11704928e-03 9.99994259e-01 -3.19905027e-03 -2.48924986e-01] [ 3.84582053e-03 3.20332456e-03 9.99987474e-01 -1.94276826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97650248099998 meters 0.10696855634303472 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.25, Z:-1.94 [[ 9.99989609e-01 1.01273542e-03 -4.44476366e-03 5.14798650e+00] [-1.03016916e-03 9.99991779e-01 -3.92177413e-03 -2.46248614e-01] [ 4.44075540e-03 3.92631223e-03 9.99982432e-01 -1.94262803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00650248099998 meters 0.1067701420666944 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.25, Z:-1.94 [[ 9.99988594e-01 1.02999107e-03 -4.66375184e-03 5.14850294e+00] [-1.04905725e-03 9.99991096e-01 -4.08756485e-03 -2.45345009e-01] [ 4.65950015e-03 4.09241077e-03 9.99980770e-01 -1.94276927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03650248099999 meters 0.10649804184201675 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-1.94 [[ 9.99987574e-01 9.17495564e-04 -4.90010482e-03 5.14883259e+00] [-9.39476290e-04 9.99989499e-01 -4.48535005e-03 -2.44014400e-01] [ 4.89593808e-03 4.48989784e-03 9.99977935e-01 -1.94260865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.066502481 meters 0.10647984891771368 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-1.94 [[ 9.99986575e-01 1.10103767e-03 -5.06343389e-03 5.14946900e+00] [-1.12287210e-03 9.99990076e-01 -4.31136054e-03 -2.43821281e-01] [ 5.05863667e-03 4.31698825e-03 9.99977887e-01 -1.94310996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.096502481 meters 0.10657153202805203 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-1.94 [[ 9.99985997e-01 1.23535777e-03 -5.14576959e-03 5.14987463e+00] [-1.25684178e-03 9.99990499e-01 -4.17394420e-03 -2.43812744e-01] [ 5.14056438e-03 4.18035317e-03 9.99978049e-01 -1.94347231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.126502481 meters 0.10631631359739617 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-1.94 [[ 9.99985142e-01 1.45745581e-03 -5.25278871e-03 5.15050137e+00] [-1.47807615e-03 9.99991209e-01 -3.92385688e-03 -2.43841883e-01] [ 5.24702369e-03 3.93156260e-03 9.99978506e-01 -1.94409971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.156502481 meters 0.10592004781849765 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-1.94 [[ 9.99984442e-01 1.66478621e-03 -5.32390935e-03 5.15090767e+00] [-1.68420021e-03 9.99991942e-01 -3.64416776e-03 -2.44293992e-01] [ 5.31779969e-03 3.65307760e-03 9.99979188e-01 -1.94449946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.186502481 meters 0.10592621023496963 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.25, Z:-1.95 [[ 9.99984649e-01 1.98450247e-03 -5.17325268e-03 5.15125523e+00] [-2.00065574e-03 9.99993134e-01 -3.11915561e-03 -2.45307999e-01] [ 5.16702719e-03 3.12945763e-03 9.99981754e-01 -1.94539525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.216502481 meters 0.10592621023496963 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.25, Z:-1.95 [[ 9.99984649e-01 1.98450247e-03 -5.17325268e-03 5.15125523e+00] [-2.00065574e-03 9.99993134e-01 -3.11915561e-03 -2.45307999e-01] [ 5.16702719e-03 3.12945763e-03 9.99981754e-01 -1.94539525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.246502481 meters 0.10593265530100453 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.25, Z:-1.95 [[ 9.99984923e-01 2.21708271e-03 -5.02386654e-03 5.15137851e+00] [-2.23042437e-03 9.99993997e-01 -2.65161014e-03 -2.46419140e-01] [ 5.01795754e-03 2.66277551e-03 9.99983865e-01 -1.94593577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.276502481 meters 0.10597136954918113 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-1.95 [[ 9.99981269e-01 -2.13109474e-03 -5.73754504e-03 5.15252805e+00] [ 2.08817081e-03 9.99969868e-01 -7.47686173e-03 -2.44050823e-01] [ 5.75330606e-03 7.46474071e-03 9.99955588e-01 -1.94580261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.306502481 meters 0.10660309496377095 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-1.95 [[ 9.99981408e-01 -1.97731075e-03 -5.76839319e-03 5.15286870e+00] [ 1.93551628e-03 9.99971903e-01 -7.24203385e-03 -2.44278237e-01] [ 5.78255087e-03 7.23073438e-03 9.99957138e-01 -1.94618192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.336502481 meters 0.10668606014669547 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-1.95 [[ 9.99981669e-01 -1.93217970e-03 -5.73827231e-03 5.15302420e+00] [ 1.89089933e-03 9.99972360e-01 -7.19059942e-03 -2.44058933e-01] [ 5.75200723e-03 7.17961711e-03 9.99957683e-01 -1.94642441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.366502481 meters 0.10682232262770525 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-1.95 [[ 9.99982111e-01 -1.64081870e-03 -5.75200804e-03 5.15358917e+00] [ 1.60204840e-03 9.99976013e-01 -6.73844732e-03 -2.44645924e-01] [ 5.76292664e-03 6.72911178e-03 9.99960753e-01 -1.94721834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.396502481 meters 0.10692296836168788 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-1.95 [[ 9.99982245e-01 -1.51040359e-03 -5.76443560e-03 5.15386824e+00] [ 1.47267205e-03 9.99977502e-01 -6.54421590e-03 -2.44909051e-01] [ 5.77419032e-03 6.53561058e-03 9.99961972e-01 -1.94758169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.426502481 meters 0.10729315359082818 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-1.95 [[ 9.99981721e-01 -1.62404327e-03 -5.82415403e-03 5.15397213e+00] [ 1.58469629e-03 9.99975935e-01 -6.75408936e-03 -2.44118713e-01] [ 5.83498281e-03 6.74473639e-03 9.99960230e-01 -1.94749923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.456502481 meters 0.10784861594865766 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-1.95 [[ 9.99980812e-01 -1.81153404e-03 -5.92408573e-03 5.15402282e+00] [ 1.76940013e-03 9.99973159e-01 -7.10982890e-03 -2.42953554e-01] [ 5.93680642e-03 7.09921039e-03 9.99957177e-01 -1.94722646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48650248099997 meters 0.1079726974661893 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-1.95 [[ 9.99980236e-01 -1.76568463e-03 -6.03405004e-03 5.15440948e+00] [ 1.72266344e-03 9.99973115e-01 -7.12751217e-03 -2.42510818e-01] [ 6.04647276e-03 7.11697667e-03 9.99956393e-01 -1.94746193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51650248099997 meters 0.10811135121709513 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-1.95 [[ 9.99979235e-01 -1.91415407e-03 -6.15347835e-03 5.15461637e+00] [ 1.86812388e-03 9.99970299e-01 -7.47741732e-03 -2.41287146e-01] [ 6.16760851e-03 7.46576660e-03 9.99953110e-01 -1.94738329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54650248099998 meters 0.10816639593161384 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.24, Z:-1.95 [[ 9.99978408e-01 -1.86328146e-03 -6.30172526e-03 5.15493362e+00] [ 1.81612543e-03 9.99970371e-01 -7.48049797e-03 -2.41019936e-01] [ 6.31547682e-03 7.46889172e-03 9.99952164e-01 -1.94745410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57650248099998 meters 0.10829698544164286 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.24, Z:-1.95 [[ 9.99976538e-01 -1.95650902e-03 -6.56474107e-03 5.15540148e+00] [ 1.90514917e-03 9.99967603e-01 -7.82074369e-03 -2.39590144e-01] [ 6.57982975e-03 7.80805339e-03 9.99947869e-01 -1.94741918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60650248099998 meters 0.10768472816634378 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.24, Z:-1.95 [[ 9.99973418e-01 -1.91504207e-03 -7.03529894e-03 5.15650084e+00] [ 1.85768816e-03 9.99965064e-01 -8.14981507e-03 -2.37652303e-01] [ 7.05066040e-03 8.13652904e-03 9.99942041e-01 -1.94778319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63650248099998 meters 0.10739626476953043 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.24, Z:-1.95 [[ 9.99972236e-01 -1.69205951e-03 -7.25704574e-03 5.15742512e+00] [ 1.63416179e-03 9.99966851e-01 -7.97666199e-03 -2.37203352e-01] [ 7.27030216e-03 7.96458133e-03 9.99941852e-01 -1.94856298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66650248099998 meters 0.10665955253216809 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.24, Z:-1.95 [[ 9.99969471e-01 -1.42020102e-03 -7.68381695e-03 5.15876971e+00] [ 1.35874809e-03 9.99967100e-01 -7.99702673e-03 -2.35746463e-01] [ 7.69492154e-03 7.98634221e-03 9.99938501e-01 -1.94944572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69650248099998 meters 0.1066403925818201 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.23, Z:-1.95 [[ 9.99967813e-01 -1.34297628e-03 -7.91004363e-03 5.15952650e+00] [ 1.27917482e-03 9.99966656e-01 -8.06542278e-03 -2.34807571e-01] [ 7.92061155e-03 8.05504485e-03 9.99936188e-01 -1.94994515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72650248099998 meters 0.10636757072332151 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.23, Z:-1.95 [[ 9.99963374e-01 -1.03940812e-03 -8.49529516e-03 5.16131312e+00] [ 9.70455646e-04 9.99966589e-01 -8.11664411e-03 -2.32865016e-01] [ 8.50344783e-03 8.10810252e-03 9.99930973e-01 -1.95103050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75650248099998 meters 0.10617125504722828 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.23, Z:-1.95 [[ 9.99962219e-01 -8.41558903e-04 -8.65169548e-03 5.16221464e+00] [ 7.72611206e-04 9.99967944e-01 -7.96952582e-03 -2.32303726e-01] [ 8.65812497e-03 7.96254033e-03 9.99930815e-01 -1.95190501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78650248099999 meters 0.10617723424991146 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.23, Z:-1.95 [[ 9.99961357e-01 -6.12554646e-04 -8.76978595e-03 5.16297825e+00] [ 5.44699346e-04 9.99969915e-01 -7.73769402e-03 -2.32125551e-01] [ 8.77426187e-03 7.73261812e-03 9.99931607e-01 -1.95268326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.816502481 meters 0.10609333202165713 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.23, Z:-1.95 [[ 9.99959811e-01 -3.92607554e-04 -8.95667289e-03 5.16383385e+00] [ 3.24888690e-04 9.99971363e-01 -7.56091894e-03 -2.31795390e-01] [ 8.95938488e-03 7.55770515e-03 9.99931303e-01 -1.95342543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.846502481 meters 0.10615996548624038 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.23, Z:-1.95 [[ 9.99957741e-01 -2.93489070e-04 -9.18858899e-03 5.16466780e+00] [ 2.23478371e-04 9.99970947e-01 -7.61940883e-03 -2.30789279e-01] [ 9.19055824e-03 7.61703339e-03 9.99928755e-01 -1.95400701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.876502481 meters 0.10638550212189773 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.23, Z:-1.96 [[ 9.99976008e-01 -1.27510110e-03 6.80861227e-03 5.16437936e+00] [ 1.28983872e-03 9.99996834e-01 -2.16060390e-03 -2.30712682e-01] [-6.80583573e-03 2.16933407e-03 9.99974487e-01 -1.96227104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.906502481 meters 0.10680670793014242 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.23, Z:-1.96 [[ 9.99977050e-01 -1.23045517e-03 6.66224532e-03 5.16487069e+00] [ 1.24509340e-03 9.99996819e-01 -2.19348957e-03 -2.30056645e-01] [-6.65952514e-03 2.20173435e-03 9.99975401e-01 -1.96254853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.936502481 meters 0.10715124116183167 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.23, Z:-1.96 [[ 9.99976935e-01 -1.18648071e-03 6.68742316e-03 5.16517781e+00] [ 1.20071251e-03 9.99997022e-01 -2.12453167e-03 -2.29628427e-01] [-6.68488253e-03 2.13251234e-03 9.99975382e-01 -1.96298709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.966502481 meters 0.10738661171925802 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.23, Z:-1.96 [[ 9.99977295e-01 -9.66568766e-04 6.66899411e-03 5.16554006e+00] [ 9.78383954e-04 9.99997957e-01 -1.76862463e-03 -2.30263867e-01] [-6.66727099e-03 1.77510931e-03 9.99976198e-01 -1.96346727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.996502481 meters 0.10828536123918128 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.23, Z:-1.96 [[ 9.99974610e-01 -8.10293366e-04 7.07975818e-03 5.16536021e+00] [ 8.18891421e-04 9.99998931e-01 -1.21164173e-03 -2.31831423e-01] [-7.07876883e-03 1.21740852e-03 9.99974204e-01 -1.96421988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.026502481 meters 0.10834598508706639 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.23, Z:-1.97 [[ 9.99974791e-01 -5.10886751e-04 7.08206697e-03 5.16590679e+00] [ 5.15907880e-04 9.99999617e-01 -7.07183329e-04 -2.32570168e-01] [-7.08170296e-03 7.10819196e-04 9.99974672e-01 -1.96505206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.056502481 meters 0.10934373699391467 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.23, Z:-1.97 [[ 9.99974682e-01 -2.48791338e-04 7.11154863e-03 5.16673153e+00] [ 2.50644453e-04 9.99999935e-01 -2.59688255e-04 -2.32528734e-01] [-7.11148356e-03 2.61464151e-04 9.99974679e-01 -1.96633730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.086502481 meters 0.10973277564493103 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.23, Z:-1.97 [[ 9.99974420e-01 -1.99979522e-04 7.14978348e-03 5.16703086e+00] [ 2.00750139e-04 9.99999974e-01 -1.07064335e-04 -2.32276831e-01] [-7.14976188e-03 1.08496916e-04 9.99974434e-01 -1.96682762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.116502481 meters 0.11040345979353162 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.23, Z:-1.97 [[ 9.99974670e-01 3.15851680e-05 7.11747261e-03 5.16749264e+00] [-3.34075922e-05 9.99999967e-01 2.55930598e-04 -2.32813731e-01] [-7.11746429e-03 -2.56161893e-04 9.99974638e-01 -1.96740903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.146502481 meters 0.1111630589290042 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.23, Z:-1.97 [[ 9.99969278e-01 -4.22312942e-03 6.60358783e-03 5.16841207e+00] [ 4.25194039e-03 9.99981477e-01 -4.35499090e-03 -2.31237298e-01] [-6.58507383e-03 4.38293517e-03 9.99968713e-01 -1.96737397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.176502481 meters 0.11109046612597007 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.23, Z:-1.97 [[ 9.99970224e-01 -4.06308855e-03 6.56068496e-03 5.16876280e+00] [ 4.09034218e-03 9.99983040e-01 -4.14602250e-03 -2.31460131e-01] [-6.54372803e-03 4.17273449e-03 9.99969884e-01 -1.96777815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.206502481 meters 0.11147991504681626 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.23, Z:-1.97 [[ 9.99971821e-01 -3.93829532e-03 6.39110766e-03 5.16944744e+00] [ 3.96419230e-03 9.99983964e-01 -4.04443793e-03 -2.30960180e-01] [-6.37507698e-03 4.06965955e-03 9.99971398e-01 -1.96833320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23650248099997 meters 0.1113991911781823 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.23, Z:-1.97 [[ 9.99973526e-01 -3.64090862e-03 6.30011908e-03 5.17027817e+00] [ 3.66400935e-03 9.99986593e-01 -3.65906354e-03 -2.31121141e-01] [-6.28671230e-03 3.68205036e-03 9.99973460e-01 -1.96931743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26650248099997 meters 0.11131659437038012 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.23, Z:-1.97 [[ 9.99975674e-01 -3.25833340e-03 6.16726468e-03 5.17135144e+00] [ 3.27813337e-03 9.99989497e-01 -3.20311338e-03 -2.31153556e-01] [-6.15676309e-03 3.22325257e-03 9.99975852e-01 -1.97054314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29650248099998 meters 0.1115523538837276 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.23, Z:-1.97 [[ 9.99977253e-01 -2.90230570e-03 6.08853166e-03 5.17210673e+00] [ 2.91871022e-03 9.99992130e-01 -2.68717750e-03 -2.31782299e-01] [-6.08068474e-03 2.70488704e-03 9.99977854e-01 -1.97147986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32650248099998 meters 0.11045376737033712 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.23, Z:-1.97 [[ 9.99979661e-01 -2.32519403e-03 5.93900492e-03 5.17316808e+00] [ 2.33660588e-03 9.99995436e-01 -1.91529316e-03 -2.33083142e-01] [-5.93452439e-03 1.92913132e-03 9.99980530e-01 -1.97270552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35650248099998 meters 0.11129891356117311 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.23, Z:-1.97 [[ 9.99981526e-01 -1.94099842e-03 5.76023744e-03 5.17400579e+00] [ 1.94936433e-03 9.99997053e-01 -1.44709587e-03 -2.33615634e-01] [-5.75741165e-03 1.45829794e-03 9.99982363e-01 -1.97351537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38650248099998 meters 0.11029044625524674 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.23, Z:-1.97 [[ 9.99983575e-01 -1.63638752e-03 5.49285273e-03 5.17484804e+00] [ 1.64246069e-03 9.99998045e-01 -1.10131953e-03 -2.33950815e-01] [-5.49103980e-03 1.11032323e-03 9.99984308e-01 -1.97405781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41650248099998 meters 0.10970103887364945 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.23, Z:-1.97 [[ 9.99984928e-01 -1.32304064e-03 5.32850630e-03 5.17558858e+00] [ 1.32698380e-03 9.99998848e-01 -7.36544352e-04 -2.34489028e-01] [-5.32752568e-03 7.43604092e-04 9.99985532e-01 -1.97475694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44650248099998 meters 0.10979953011400656 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.24, Z:-1.98 [[ 9.99985794e-01 -8.68560459e-04 5.25902517e-03 5.17633017e+00] [ 8.68985044e-04 9.99999619e-01 -7.84500372e-05 -2.35715771e-01] [-5.25895503e-03 8.30189370e-05 9.99986168e-01 -1.97573124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47650248099998 meters 0.10928011184590132 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.24, Z:-1.98 [[ 9.99984578e-01 -2.61586840e-04 5.54761495e-03 5.17657843e+00] [ 2.56046359e-04 9.99999468e-01 9.99400755e-04 -2.38828484e-01] [-5.54787343e-03 -9.97964895e-04 9.99984112e-01 -1.97697707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50650248099998 meters 0.11006765963585415 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.24, Z:-1.98 [[ 9.99980408e-01 -4.05135115e-03 4.77175306e-03 5.17838198e+00] [ 4.06620814e-03 9.99986903e-01 -3.10795343e-03 -2.37985344e-01] [-4.75909916e-03 3.12729548e-03 9.99983785e-01 -1.97769663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53650248099999 meters 0.10868019726115681 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.24, Z:-1.98 [[ 9.99984114e-01 -3.26330609e-03 4.59591791e-03 5.17965654e+00] [ 3.27238860e-03 9.99992705e-01 -1.97008144e-03 -2.40150083e-01] [-4.58945541e-03 1.98508977e-03 9.99987498e-01 -1.97922691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.566502481 meters 0.10814512609350585 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.24, Z:-1.98 [[ 9.99986479e-01 -2.75954745e-03 4.40746871e-03 5.18045194e+00] [ 2.76506262e-03 9.99995401e-01 -1.24572048e-03 -2.41716199e-01] [-4.40401082e-03 1.25789057e-03 9.99989511e-01 -1.97998923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.596502481 meters 0.10796826531294347 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.24, Z:-1.98 [[ 9.99988232e-01 -2.28674269e-03 4.27855504e-03 5.18110337e+00] [ 2.28908797e-03 9.99997232e-01 -5.43332522e-04 -2.43234170e-01] [-4.27730074e-03 5.53120117e-04 9.99990699e-01 -1.98065893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.626502481 meters 0.10783773069496183 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.25, Z:-1.98 [[ 9.99989592e-01 -1.71170047e-03 4.22915462e-03 5.18118623e+00] [ 1.70979197e-03 9.99998435e-01 4.54846103e-04 -2.46700289e-01] [-4.22992656e-03 -4.47610394e-04 9.99990954e-01 -1.98075829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.656502481 meters 0.10739263963383287 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.25, Z:-1.98 [[ 9.99990233e-01 -1.31112786e-03 4.22071310e-03 5.18128473e+00] [ 1.30612980e-03 9.99998443e-01 1.18671233e-03 -2.48939740e-01] [-4.22226246e-03 -1.18118794e-03 9.99990389e-01 -1.98096303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.686502481 meters 0.10710062408265379 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.25, Z:-1.98 [[ 9.99990507e-01 -9.25557983e-04 4.25773441e-03 5.18123557e+00] [ 9.17275464e-04 9.99997684e-01 1.94682943e-03 -2.51450390e-01] [-4.25952646e-03 -1.94290544e-03 9.99989041e-01 -1.98108002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.716502481 meters 0.10730803270765042 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.25, Z:-1.98 [[ 9.99983341e-01 -4.38506804e-03 3.75348817e-03 5.18256864e+00] [ 4.38953579e-03 9.99989666e-01 -1.18288374e-03 -2.54055419e-01] [-3.74826235e-03 1.19934011e-03 9.99992256e-01 -1.98181888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.746502481 meters 0.10730001653925893 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.26, Z:-1.98 [[ 9.99981897e-01 -4.12609919e-03 4.37960643e-03 5.18135729e+00] [ 4.12730067e-03 9.99991447e-01 -2.65332944e-04 -2.60715842e-01] [-4.37847418e-03 2.83404094e-04 9.99990374e-01 -1.98155039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.776502481 meters 0.1070273349249659 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.26, Z:-1.98 [[ 9.99984508e-01 -3.31371506e-03 4.47243484e-03 5.18187290e+00] [ 3.30813849e-03 9.99993742e-01 1.25369648e-03 -2.64545297e-01] [-4.47656125e-03 -1.23888162e-03 9.99989213e-01 -1.98266162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.806502481 meters 0.10706220027576527 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.27, Z:-1.98 [[ 9.99985732e-01 -2.69233629e-03 4.61384777e-03 5.18199161e+00] [ 2.68082541e-03 9.99993284e-01 2.49922546e-03 -2.68110011e-01] [-4.62054554e-03 -2.48682088e-03 9.99986233e-01 -1.98330083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.836502481 meters 0.10688113175144429 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.27, Z:-1.98 [[ 9.99972760e-01 -6.11322559e-03 4.13614916e-03 5.18282817e+00] [ 6.11488115e-03 9.99981229e-01 -3.87739016e-04 -2.72210662e-01] [-4.13370118e-03 4.13020515e-04 9.99991371e-01 -1.98333208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.866502481 meters 0.10681087024903994 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.28, Z:-1.98 [[ 9.99976753e-01 -5.22998212e-03 4.37508774e-03 5.18235775e+00] [ 5.22427708e-03 9.99985490e-01 1.31439687e-03 -2.79115337e-01] [-4.38189853e-03 -1.29150964e-03 9.99989565e-01 -1.98327357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.896502481 meters 0.10673548337215394 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.28, Z:-1.98 [[ 9.99980116e-01 -4.67717798e-03 4.22985985e-03 5.18275928e+00] [ 4.66746339e-03 9.99986454e-01 2.30363069e-03 -2.81828387e-01] [-4.24057704e-03 -2.28384217e-03 9.99988401e-01 -1.98356470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.926502481 meters 0.10665124776284365 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.29, Z:-1.98 [[ 9.99981799e-01 -4.26072518e-03 4.27179470e-03 5.18229666e+00] [ 4.24655913e-03 9.99985473e-01 3.31978740e-03 -2.85561333e-01] [-4.28587735e-03 -3.30158654e-03 9.99985365e-01 -1.98307452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.956502481 meters 0.10636192561711633 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.29, Z:-1.98 [[ 9.99983753e-01 -3.84200120e-03 4.21112109e-03 5.18247173e+00] [ 3.82471228e-03 9.99984256e-01 4.10593120e-03 -2.87871439e-01] [-4.22682979e-03 -4.08975817e-03 9.99982704e-01 -1.98323076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98650248099997 meters 0.10606933907003305 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.29, Z:-1.98 [[ 9.99985864e-01 -3.09091982e-03 4.32633848e-03 5.18244625e+00] [ 3.06710045e-03 9.99980163e-01 5.50151320e-03 -2.92476500e-01] [-4.34325739e-03 -5.48816612e-03 9.99975508e-01 -1.98357816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01650248099997 meters 0.10570596135626327 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.30, Z:-1.98 [[ 9.99987162e-01 -2.55513329e-03 4.37580900e-03 5.18224443e+00] [ 2.52623020e-03 9.99975042e-01 6.59803707e-03 -2.96333051e-01] [-4.39255865e-03 -6.58689806e-03 9.99968659e-01 -1.98349539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04650248099998 meters 0.10573055116416745 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.30, Z:-1.98 [[ 9.99970791e-01 -6.69507467e-03 3.68687698e-03 5.18316852e+00] [ 6.68729713e-03 9.99975397e-01 2.11782291e-03 -2.95388845e-01] [-3.70096526e-03 -2.09310580e-03 9.99990961e-01 -1.98319257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07650248099998 meters 0.10540940866537135 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.30, Z:-1.98 [[ 9.99974986e-01 -6.19550152e-03 3.41211250e-03 5.18365974e+00] [ 6.18539945e-03 9.99976480e-01 2.96328692e-03 -2.97760034e-01] [-3.43039129e-03 -2.94210752e-03 9.99989788e-01 -1.98329441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10650248099998 meters 0.10541924369150864 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.30, Z:-1.98 [[ 9.99977497e-01 -5.85737716e-03 3.27046905e-03 5.18392779e+00] [ 5.84576753e-03 9.99976618e-01 3.54818140e-03 -2.99422026e-01] [-3.29117562e-03 -3.52898315e-03 9.99988357e-01 -1.98337652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13650248099998 meters 0.10541924369150864 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.30, Z:-1.98 [[ 9.99977497e-01 -5.85737716e-03 3.27046905e-03 5.18392779e+00] [ 5.84576753e-03 9.99976618e-01 3.54818140e-03 -2.99422026e-01] [-3.29117562e-03 -3.52898315e-03 9.99988357e-01 -1.98337652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16650248099998 meters 0.10530215169750017 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.30, Z:-1.98 [[ 9.99981654e-01 -5.11995797e-03 3.23692891e-03 5.18420935e+00] [ 5.10405038e-03 9.99974951e-01 4.90371448e-03 -3.03396939e-01] [-3.26195464e-03 -4.88710307e-03 9.99982738e-01 -1.98376862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19650248099998 meters 0.10507084431198509 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.31, Z:-1.98 [[ 9.99980274e-01 -5.03907400e-03 3.74952003e-03 5.18285822e+00] [ 5.01814090e-03 9.99971888e-01 5.57149368e-03 -3.07029768e-01] [-3.77748979e-03 -5.55256816e-03 9.99977450e-01 -1.98311864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22650248099998 meters 0.10524308564542734 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.31, Z:-1.98 [[ 9.99981869e-01 -4.81379508e-03 3.61782173e-03 5.18302678e+00] [ 4.79203359e-03 9.99970519e-01 5.99986951e-03 -3.08324802e-01] [-3.64659721e-03 -5.98242400e-03 9.99975456e-01 -1.98306887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25650248099998 meters 0.10537668373186536 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.31, Z:-1.98 [[ 9.99982657e-01 -4.69991156e-03 3.54908081e-03 5.18291214e+00] [ 4.67730209e-03 9.99968886e-01 6.35216780e-03 -3.09537394e-01] [-3.57882501e-03 -6.33545751e-03 9.99973527e-01 -1.98271954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28650248099999 meters 0.10546208944139487 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.31, Z:-1.98 [[ 9.99984303e-01 -4.44395333e-03 3.41243193e-03 5.18325637e+00] [ 4.42068844e-03 9.99967141e-01 6.79522990e-03 -3.10624022e-01] [-3.44251748e-03 -6.78003793e-03 9.99971090e-01 -1.98289788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.316502481 meters 0.10554059039863428 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.31, Z:-1.98 [[ 9.99959621e-01 -8.41514152e-03 3.15313575e-03 5.18390117e+00] [ 8.40583092e-03 9.99960306e-01 2.95451480e-03 -3.11591144e-01] [-3.17787325e-03 -2.92789078e-03 9.99990664e-01 -1.98317280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.346502481 meters 0.10569890646361133 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.31, Z:-1.98 [[ 9.99964158e-01 -7.83929168e-03 3.19820603e-03 5.18436865e+00] [ 7.82626941e-03 9.99961115e-01 4.06413778e-03 -3.14171886e-01] [-3.22994163e-03 -4.03896209e-03 9.99986627e-01 -1.98405365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.376502481 meters 0.10631692279986131 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.32, Z:-1.98 [[ 9.99963939e-01 -7.61425516e-03 3.76074867e-03 5.18350485e+00] [ 7.59497030e-03 9.99958071e-01 5.11586746e-03 -3.18098201e-01] [-3.79954451e-03 -5.08712020e-03 9.99979842e-01 -1.98411454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.406502481 meters 0.107512953338644 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.32, Z:-1.98 [[ 9.99963941e-01 -7.44844026e-03 4.07896888e-03 5.18291482e+00] [ 7.42414445e-03 9.99954801e-01 5.93945743e-03 -3.20844450e-01] [-4.12302421e-03 -5.90896040e-03 9.99974042e-01 -1.98396347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.436502481 meters 0.1079314091824507 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.32, Z:-1.98 [[ 9.99965440e-01 -7.24601109e-03 4.07592882e-03 5.18293328e+00] [ 7.21976568e-03 9.99953345e-01 6.41739773e-03 -3.22178823e-01] [-4.12223919e-03 -6.38774869e-03 9.99971101e-01 -1.98398111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.466502481 meters 0.10902415468544353 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.32, Z:-1.98 [[ 9.99965048e-01 -7.19753295e-03 4.25420060e-03 5.18243507e+00] [ 7.16807659e-03 9.99950508e-01 6.89922511e-03 -3.23958500e-01] [-4.30364746e-03 -6.86848953e-03 9.99967151e-01 -1.98362123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.496502481 meters 0.10864918141868969 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.32, Z:-1.99 [[ 9.99991548e-01 -1.54860340e-03 3.80872148e-03 5.17722274e+00] [ 1.55147753e-03 9.99998514e-01 -7.51779612e-04 -3.23940088e-01] [-3.80755161e-03 7.57682404e-04 9.99992464e-01 -1.98643426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.526502481 meters 0.10924691740457848 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.33, Z:-1.99 [[ 9.99991195e-01 -1.10462834e-03 4.04835944e-03 5.17721163e+00] [ 1.10342134e-03 9.99999346e-01 3.00368004e-04 -3.26799838e-01] [-4.04868858e-03 -2.95898313e-04 9.99991760e-01 -1.98705783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.556502481 meters 0.11014520114220874 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.33, Z:-1.99 [[ 9.99991694e-01 -8.33441175e-04 3.98958418e-03 5.17759493e+00] [ 8.30506965e-04 9.99999383e-01 7.37067832e-04 -3.27628701e-01] [-3.99019602e-03 -7.33748333e-04 9.99991770e-01 -1.98748982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.586502481 meters 0.11281275176065743 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.33, Z:-1.99 [[ 9.99991538e-01 -9.15503395e-04 4.01078525e-03 5.17729011e+00] [ 9.12692509e-04 9.99999337e-01 7.02606264e-04 -3.27880860e-01] [-4.01142583e-03 -6.98939704e-04 9.99991710e-01 -1.98703804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.616502481 meters 0.1116574347274477 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.33, Z:-1.99 [[ 9.99991884e-01 -8.11922534e-04 3.94620697e-03 5.17756416e+00] [ 8.08566139e-04 9.99999310e-01 8.52057954e-04 -3.28078194e-01] [-3.94689605e-03 -8.48860269e-04 9.99991851e-01 -1.98724796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.646502481 meters 0.1116131562712977 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.33, Z:-1.99 [[ 9.99992364e-01 -6.94408856e-04 3.84566103e-03 5.17799605e+00] [ 6.90676433e-04 9.99999289e-01 9.71797288e-04 -3.27961741e-01] [-3.84633312e-03 -9.69133760e-04 9.99992133e-01 -1.98760504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.676502481 meters 0.11220835604610699 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.33, Z:-1.99 [[ 9.99992007e-01 -9.83649287e-04 3.87524931e-03 5.17762773e+00] [ 9.81595176e-04 9.99999377e-01 5.31925322e-04 -3.27208088e-01] [-3.87577012e-03 -5.28117144e-04 9.99992350e-01 -1.98708985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.706502481 meters 0.11275466363337873 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.33, Z:-1.99 [[ 9.99992336e-01 -8.75391194e-04 3.81592887e-03 5.17794139e+00] [ 8.72878285e-04 9.99999401e-01 6.60146956e-04 -3.27273183e-01] [-3.81650447e-03 -6.56811055e-04 9.99992501e-01 -1.98739919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73650248099997 meters 0.11316141740913406 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.33, Z:-1.99 [[ 9.99993078e-01 -8.56610676e-04 3.62077172e-03 5.17842965e+00] [ 8.54561597e-04 9.99999474e-01 5.67432353e-04 -3.26632819e-01] [-3.62125589e-03 -5.64334253e-04 9.99993284e-01 -1.98759364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76650248099997 meters 0.11370848549920332 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.33, Z:-1.99 [[ 9.99993797e-01 -7.70193637e-04 3.43693441e-03 5.17898024e+00] [ 7.68186325e-04 9.99999534e-01 5.85323474e-04 -3.26220873e-01] [-3.43738362e-03 -5.82679638e-04 9.99993922e-01 -1.98790934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79650248099998 meters 0.11390607674014071 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.33, Z:-1.99 [[ 9.99994542e-01 -7.50535413e-04 3.21747644e-03 5.17964564e+00] [ 7.49206672e-04 9.99999634e-01 4.14161591e-04 -3.25102309e-01] [-3.21778610e-03 -4.11748776e-04 9.99994738e-01 -1.98827950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82650248099998 meters 0.11393774311743946 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.33, Z:-1.99 [[ 9.99995210e-01 -5.07378330e-04 3.05322077e-03 5.18039355e+00] [ 5.05213895e-04 9.99999621e-01 7.09631514e-04 -3.25256305e-01] [-3.05357967e-03 -7.08085585e-04 9.99995087e-01 -1.98896805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85650248099998 meters 0.11232922187674355 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.32, Z:-1.99 [[ 9.99995898e-01 -3.14607322e-04 2.84682611e-03 5.18118201e+00] [ 3.12182313e-04 9.99999588e-01 8.52233145e-04 -3.24960650e-01] [-2.84709306e-03 -8.51340921e-04 9.99995585e-01 -1.98963018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88650248099998 meters 0.11149171071665553 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.32, Z:-1.99 [[ 9.99996919e-01 -4.24749459e-04 2.44553346e-03 5.18185763e+00] [ 4.23885752e-04 9.99999848e-01 3.53684786e-04 -3.23170379e-01] [-2.44568331e-03 -3.52647070e-04 9.99996947e-01 -1.98958122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91650248099998 meters 0.11157101502905509 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.32, Z:-1.99 [[ 9.99997707e-01 -4.12512263e-04 2.10156710e-03 5.18258660e+00] [ 4.12178643e-04 9.99999902e-01 1.59178995e-04 -3.22129720e-01] [-2.10163256e-03 -1.58312409e-04 9.99997779e-01 -1.98977403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94650248099998 meters 0.11058101506188907 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.32, Z:-1.99 [[ 9.99999164e-01 -2.49411661e-04 1.26841601e-03 5.18432226e+00] [ 2.49782564e-04 9.99999926e-01 -2.92264846e-04 -3.19512950e-01] [-1.26834302e-03 2.92581430e-04 9.99999153e-01 -1.99030489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97650248099998 meters 0.11039488122688981 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.32, Z:-1.99 [[ 9.99999522e-01 -1.48936663e-04 9.66630859e-04 5.18524304e+00] [ 1.49312533e-04 9.99999913e-01 -3.88785357e-04 -3.18463922e-01] [-9.66572871e-04 3.88929501e-04 9.99999457e-01 -1.99088214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00650248099998 meters 0.10994550742903773 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.32, Z:-1.99 [[ 9.99999849e-01 -1.65978277e-05 5.48877723e-04 5.18637881e+00] [ 1.68950963e-05 9.99999853e-01 -5.41593333e-04 -3.17155844e-01] [-5.48868653e-04 5.41602525e-04 9.99999703e-01 -1.99148329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03650248099999 meters 0.11026665745281566 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.32, Z:-1.99 [[ 9.99999925e-01 1.59634080e-04 3.54195911e-04 5.18709302e+00] [-1.59481915e-04 9.99999895e-01 -4.29594766e-04 -3.16854215e-01] [-3.54264451e-04 4.29538246e-04 9.99999845e-01 -1.99204959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.066502481 meters 0.11032978572157255 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.32, Z:-1.99 [[ 9.99999932e-01 2.69906479e-04 2.51185232e-04 5.18754329e+00] [-2.69820625e-04 9.99999905e-01 -3.41766031e-04 -3.16711361e-01] [-2.51277453e-04 3.41698233e-04 9.99999910e-01 -1.99241389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.096502481 meters 0.11054905394823795 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.32, Z:-1.99 [[ 9.99999941e-01 3.26535334e-04 1.04043897e-04 5.18796626e+00] [-3.26499802e-04 9.99999888e-01 -3.41339461e-04 -3.16397699e-01] [-1.04155345e-04 3.41305470e-04 9.99999936e-01 -1.99264193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.126502481 meters 0.11102952847558971 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.32, Z:-1.99 [[ 9.99992474e-01 -2.93524163e-03 2.53682297e-03 5.20603661e+00] [ 2.93032624e-03 9.99993826e-01 1.93916710e-03 -3.15587899e-01] [-2.54249923e-03 -1.93171878e-03 9.99994902e-01 -1.99306979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.156502481 meters 0.1104471135266356 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.31, Z:-1.99 [[ 9.99991897e-01 -3.27867678e-03 2.33598404e-03 5.20612669e+00] [ 3.27579380e-03 9.99993870e-01 1.23691793e-03 -3.13871542e-01] [-2.34002517e-03 -1.22925570e-03 9.99996507e-01 -1.99263722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.186502481 meters 0.11029494082629805 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.31, Z:-1.99 [[ 9.99992366e-01 -3.27877577e-03 2.12543027e-03 5.20660799e+00] [ 3.27640815e-03 9.99994009e-01 1.11647734e-03 -3.13266225e-01] [-2.12907821e-03 -1.10950504e-03 9.99997118e-01 -1.99279851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.216502481 meters 0.10943004753848332 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.31, Z:-1.99 [[ 9.99993167e-01 -3.26504301e-03 1.73377340e-03 5.20752782e+00] [ 3.26362067e-03 9.99994336e-01 8.22571366e-04 -3.11798490e-01] [-1.73644931e-03 -8.16907367e-04 9.99998159e-01 -1.99315230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.246502481 meters 0.10903151815155777 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.31, Z:-1.99 [[ 9.99993743e-01 -3.23882363e-03 1.42299467e-03 5.20818442e+00] [ 3.23787384e-03 9.99994534e-01 6.69257641e-04 -3.10920200e-01] [-1.42515450e-03 -6.64645976e-04 9.99998764e-01 -1.99330506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.276502481 meters 0.10859355801771814 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.31, Z:-1.99 [[ 9.99994235e-01 -3.23802586e-03 1.02254305e-03 5.20907959e+00] [ 3.23775636e-03 9.99994723e-01 2.65110857e-04 -3.09103395e-01] [-1.02339609e-03 -2.61798583e-04 9.99999442e-01 -1.99360965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.306502481 meters 0.10845968694099294 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.31, Z:-1.99 [[ 9.99994259e-01 -3.30431380e-03 7.50257184e-04 5.20951675e+00] [ 3.30436764e-03 9.99994538e-01 -7.05395723e-05 -3.07887542e-01] [-7.50020002e-04 7.30182929e-05 9.99999716e-01 -1.99353982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.336502481 meters 0.10832857393913653 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.31, Z:-1.99 [[ 9.99994539e-01 -3.25475075e-03 5.72489420e-04 5.20996080e+00] [ 3.25482144e-03 9.99994696e-01 -1.22588144e-04 -3.07377075e-01] [-5.72087389e-04 1.24450826e-04 9.99999829e-01 -1.99371934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.366502481 meters 0.1078247824867444 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.31, Z:-1.99 [[ 9.99994623e-01 -3.27838134e-03 7.89752088e-05 5.21093334e+00] [ 3.27842367e-03 9.99994479e-01 -5.41984927e-04 -3.05493536e-01] [-7.71979395e-05 5.42240927e-04 9.99999850e-01 -1.99388062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.396502481 meters 0.10803103930666934 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.31, Z:-1.99 [[ 9.99994903e-01 -3.19046257e-03 -1.23773797e-04 5.21145936e+00] [ 3.19039331e-03 9.99994756e-01 -5.55810467e-04 -3.05046610e-01] [ 1.25546440e-04 5.55412746e-04 9.99999838e-01 -1.99412560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.426502481 meters 0.10783427673750492 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.30, Z:-1.99 [[ 9.99995149e-01 -3.09437249e-03 -3.57191555e-04 5.21205691e+00] [ 3.09415862e-03 9.99995034e-01 -5.97784441e-04 -3.04514917e-01] [ 3.59039549e-04 5.96676333e-04 9.99999758e-01 -1.99443959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.456502481 meters 0.10768064681161756 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.30, Z:-1.99 [[ 9.99995584e-01 -2.92954489e-03 -5.00079254e-04 5.21264303e+00] [ 2.92931094e-03 9.99995600e-01 -4.67916913e-04 -3.04341340e-01] [ 5.01447837e-04 4.66449959e-04 9.99999765e-01 -1.99495297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48650248099997 meters 0.1074153161513556 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.30, Z:-2.00 [[ 9.99995528e-01 -2.87380300e-03 -8.27953143e-04 5.21349865e+00] [ 2.87321840e-03 9.99995623e-01 -7.06406941e-04 -3.03001138e-01] [ 8.29979594e-04 7.04024891e-04 9.99999408e-01 -1.99540941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51650248099997 meters 0.1070672455781395 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.30, Z:-2.00 [[ 9.99995551e-01 -2.79478837e-03 -1.04302965e-03 5.21401880e+00] [ 2.79404471e-03 9.99995842e-01 -7.13753879e-04 -3.02549000e-01] [ 1.04502011e-03 7.10836432e-04 9.99999201e-01 -1.99563047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54650248099998 meters 0.10689337290813532 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.30, Z:-2.00 [[ 9.99995376e-01 -2.71479279e-03 -1.37026768e-03 5.21467215e+00] [ 2.71360028e-03 9.99995939e-01 -8.71386637e-04 -3.01664904e-01] [ 1.37262775e-03 8.67664249e-04 9.99998682e-01 -1.99577857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57650248099998 meters 0.10625178029925818 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.30, Z:-2.00 [[ 9.99995896e-01 -2.40008828e-03 -1.56441198e-03 5.21552080e+00] [ 2.39924835e-03 9.99996977e-01 -5.38556601e-04 -3.01821408e-01] [ 1.56569983e-03 5.34800978e-04 9.99998631e-01 -1.99658726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60650248099998 meters 0.10641050762205495 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.30, Z:-2.00 [[ 9.99996231e-01 -2.23496028e-03 -1.59466830e-03 5.21578899e+00] [ 2.23450544e-03 9.99997462e-01 -2.86950757e-04 -3.02337137e-01] [ 1.59530558e-03 2.83386380e-04 9.99998687e-01 -1.99695758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63650248099998 meters 0.10575707259359698 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.30, Z:-2.00 [[ 9.99996736e-01 -1.92595932e-03 -1.67871423e-03 5.21644204e+00] [ 1.92615134e-03 9.99998139e-01 1.12778856e-04 -3.02891097e-01] [ 1.67849390e-03 -1.16011946e-04 9.99998585e-01 -1.99775727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66650248099998 meters 0.10580588162299813 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.30, Z:-2.00 [[ 9.99997015e-01 -1.64201616e-03 -1.80925120e-03 5.21697109e+00] [ 1.64296675e-03 9.99998513e-01 5.24041449e-04 -3.03634283e-01] [ 1.80838802e-03 -5.27012424e-04 9.99998226e-01 -1.99821162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69650248099998 meters 0.10605298320734809 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.31, Z:-2.00 [[ 9.99997653e-01 -1.27059044e-03 -1.75487204e-03 5.21707599e+00] [ 1.27282426e-03 9.99998380e-01 1.27239293e-03 -3.05635713e-01] [ 1.75325251e-03 -1.27462359e-03 9.99997651e-01 -1.99852114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72650248099998 meters 0.10596752599903485 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.31, Z:-2.00 [[ 9.99998037e-01 -9.63212311e-04 -1.73160233e-03 5.21719376e+00] [ 9.66445116e-04 9.99997790e-01 1.86707804e-03 -3.07221054e-01] [ 1.72980011e-03 -1.86874787e-03 9.99996758e-01 -1.99877510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75650248099998 meters 0.1064085482100076 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.31, Z:-2.00 [[ 9.99985227e-01 -5.08304145e-03 -1.92560714e-03 5.21751118e+00] [ 5.07900045e-03 9.99984902e-01 -2.09767036e-03 -3.08000598e-01] [ 1.93624061e-03 2.08785921e-03 9.99995946e-01 -1.99873118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78650248099999 meters 0.10671895473684204 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.31, Z:-2.00 [[ 9.99988242e-01 -4.44953846e-03 -1.92800786e-03 5.21823643e+00] [ 4.44776441e-03 9.99989682e-01 -9.23459299e-04 -3.10480299e-01] [ 1.93209694e-03 9.14873116e-04 9.99997715e-01 -1.99990409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.816502481 meters 0.106829314952256 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.31, Z:-2.00 [[ 9.99989677e-01 -4.05761836e-03 -2.04491560e-03 5.21882892e+00] [ 4.05702123e-03 9.99991726e-01 -2.96070983e-04 -3.11682909e-01] [ 2.04610003e-03 2.87771661e-04 9.99997865e-01 -2.00050401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.846502481 meters 0.10659671603722892 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.31, Z:-2.00 [[ 9.99992137e-01 -3.39348378e-03 -2.05180065e-03 5.21951630e+00] [ 3.39527850e-03 9.99993856e-01 8.71855500e-04 -3.14192047e-01] [ 2.04882941e-03 -8.78815080e-04 9.99997515e-01 -2.00158825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.876502481 meters 0.10674702811482042 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.32, Z:-2.00 [[ 9.99993085e-01 -3.11877584e-03 -2.02581278e-03 5.21965844e+00] [ 3.12162328e-03 9.99994142e-01 1.40394044e-03 -3.15585854e-01] [ 2.02142234e-03 -1.41025456e-03 9.99996963e-01 -2.00191648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.906502481 meters 0.10640081138481174 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.32, Z:-2.00 [[ 9.99994039e-01 -2.74159854e-03 -2.09886938e-03 5.22000670e+00] [ 2.74602063e-03 9.99994010e-01 2.10691406e-03 -3.17309175e-01] [ 2.09308049e-03 -2.11266504e-03 9.99995578e-01 -2.00233426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.936502481 meters 0.10617156394259766 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.32, Z:-2.00 [[ 9.99994079e-01 -2.69402421e-03 -2.14092968e-03 5.22000637e+00] [ 2.69875346e-03 9.99993918e-01 2.20916188e-03 -3.17723706e-01] [ 2.13496512e-03 -2.21492664e-03 9.99995268e-01 -2.00223027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.966502481 meters 0.10619281343788246 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.32, Z:-2.00 [[ 9.99993676e-01 -2.84730023e-03 -2.13093986e-03 5.21952373e+00] [ 2.85169597e-03 9.99993807e-01 2.06262864e-03 -3.17899345e-01] [ 2.12505374e-03 -2.06869238e-03 9.99995602e-01 -2.00150024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.996502481 meters 0.10565587433609533 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.32, Z:-2.00 [[ 9.99994389e-01 -2.52558557e-03 -2.20071925e-03 5.21995060e+00] [ 2.53128860e-03 9.99993436e-01 2.59251902e-03 -3.19045688e-01] [ 2.19415718e-03 -2.59807513e-03 9.99994218e-01 -2.00200728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.026502481 meters 0.10565587433609533 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.32, Z:-2.00 [[ 9.99994389e-01 -2.52558557e-03 -2.20071925e-03 5.21995060e+00] [ 2.53128860e-03 9.99993436e-01 2.59251902e-03 -3.19045688e-01] [ 2.19415718e-03 -2.59807513e-03 9.99994218e-01 -2.00200728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.056502481 meters 0.10561969486133437 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.32, Z:-2.00 [[ 9.99994747e-01 -2.35776754e-03 -2.22429974e-03 5.22009192e+00] [ 2.36423167e-03 9.99992977e-01 2.90800038e-03 -3.19904487e-01] [ 2.21742773e-03 -2.91324386e-03 9.99993298e-01 -2.00221509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.086502481 meters 0.10543730160457579 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.32, Z:-2.00 [[ 9.99975907e-01 -6.35249433e-03 -2.79835172e-03 5.22137865e+00] [ 6.34899988e-03 9.99979056e-01 -1.25587203e-03 -3.19392488e-01] [ 2.80627103e-03 1.23807504e-03 9.99995296e-01 -2.00272638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.116502481 meters 0.1054246755837501 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.32, Z:-2.00 [[ 9.99977749e-01 -6.04667259e-03 -2.81769953e-03 5.22178979e+00] [ 6.04458318e-03 9.99981450e-01 -7.49457101e-04 -3.20394307e-01] [ 2.82217899e-03 7.32408606e-04 9.99995749e-01 -2.00333444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.146502481 meters 0.10496281025425089 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.32, Z:-2.00 [[ 9.99979456e-01 -5.65277821e-03 -3.02216450e-03 5.22257954e+00] [ 5.65221958e-03 9.99984007e-01 -1.93354100e-04 -3.21256634e-01] [ 3.02320916e-03 1.76268190e-04 9.99995415e-01 -2.00400958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.176502481 meters 0.10490634659692066 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.32, Z:-2.00 [[ 9.99979969e-01 -5.50638079e-03 -3.12107353e-03 5.22283104e+00] [ 5.50652522e-03 9.99984838e-01 3.76848041e-05 -3.21716643e-01] [ 3.12081870e-03 -5.48703193e-05 9.99995129e-01 -2.00411745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.206502481 meters 0.10525895057527009 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.32, Z:-2.00 [[ 9.99981253e-01 -5.22073922e-03 -3.19967626e-03 5.22296068e+00] [ 5.22281804e-03 9.99986155e-01 6.41685360e-04 -3.23329939e-01] [ 3.19628189e-03 -6.58384657e-04 9.99994675e-01 -2.00411010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23650248099997 meters 0.10548325667322317 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.32, Z:-2.00 [[ 9.99982785e-01 -4.88199087e-03 -3.25512104e-03 5.22333907e+00] [ 4.88600910e-03 9.99987310e-01 1.22762451e-03 -3.24581814e-01] [ 3.24908648e-03 -1.24350793e-03 9.99993949e-01 -2.00456137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26650248099997 meters 0.10555554266520949 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.33, Z:-2.00 [[ 9.99984230e-01 -4.61588434e-03 -3.19905305e-03 5.22325221e+00] [ 4.62195053e-03 9.99987530e-01 1.89145491e-03 -3.26537814e-01] [ 3.19028242e-03 -1.90621095e-03 9.99993094e-01 -2.00456768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29650248099998 meters 0.10579037951583756 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.33, Z:-2.00 [[ 9.99986283e-01 -4.36976254e-03 -2.88768443e-03 5.22276916e+00] [ 4.37753374e-03 9.99986800e-01 2.69033547e-03 -3.29189864e-01] [ 2.87589019e-03 -2.70293950e-03 9.99992212e-01 -2.00466085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32650248099998 meters 0.10589020301325602 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.33, Z:-2.01 [[ 9.99988254e-01 -3.85266070e-03 -2.94105064e-03 5.22329062e+00] [ 3.86325318e-03 9.99986042e-01 3.60445245e-03 -3.31222163e-01] [ 2.92712286e-03 -3.61577213e-03 9.99989179e-01 -2.00535613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35650248099998 meters 0.10576806531728711 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.33, Z:-2.01 [[ 9.99990232e-01 -3.44745108e-03 -2.76608352e-03 5.22340222e+00] [ 3.45983681e-03 9.99983955e-01 4.48549269e-03 -3.33612499e-01] [ 2.75057562e-03 -4.49501907e-03 9.99986114e-01 -2.00604784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38650248099998 meters 0.10602370209154993 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.34, Z:-2.01 [[ 9.99991663e-01 -2.86022957e-03 -2.91418702e-03 5.22424926e+00] [ 2.87612612e-03 9.99980929e-01 5.46537491e-03 -3.35640064e-01] [ 2.89849921e-03 -5.47371091e-03 9.99980818e-01 -2.00697642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41650248099998 meters 0.10501315976486383 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.34, Z:-2.01 [[ 9.99991850e-01 -2.78404250e-03 -2.92392824e-03 5.22415843e+00] [ 2.80066355e-03 9.99979857e-01 5.69586448e-03 -3.36460895e-01] [ 2.90801182e-03 -5.70400700e-03 9.99979504e-01 -2.00682522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44650248099998 meters 0.10600667461694813 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.34, Z:-2.01 [[ 9.99970224e-01 -6.87508427e-03 -3.50495193e-03 5.22512255e+00] [ 6.88044381e-03 9.99975175e-01 1.51937757e-03 -3.36119082e-01] [ 3.49441907e-03 -1.54344796e-03 9.99992703e-01 -2.00675811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47650248099998 meters 0.10553415763459635 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.34, Z:-2.01 [[ 9.99972921e-01 -6.44936799e-03 -3.54447549e-03 5.22550373e+00] [ 6.45738855e-03 9.99976606e-01 2.25606566e-03 -3.37787529e-01] [ 3.52984238e-03 -2.27889262e-03 9.99991173e-01 -2.00724949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50650248099998 meters 0.10670877633906645 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.34, Z:-2.01 [[ 9.99975684e-01 -5.95360152e-03 -3.63118200e-03 5.22604086e+00] [ 5.96491523e-03 9.99977365e-01 3.11288128e-03 -3.39708461e-01] [ 3.61256695e-03 -3.13446528e-03 9.99988562e-01 -2.00787985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53650248099999 meters 0.1055856832641856 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.34, Z:-2.01 [[ 9.99978854e-01 -5.32161018e-03 -3.73788716e-03 5.22681230e+00] [ 5.33729838e-03 9.99976938e-01 4.19971461e-03 -3.42011929e-01] [ 3.71545172e-03 -4.21957602e-03 9.99984195e-01 -2.00882503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.566502481 meters 0.10684819944535542 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.34, Z:-2.01 [[ 9.99979643e-01 -5.01390753e-03 -3.94646283e-03 5.22754471e+00] [ 5.03217403e-03 9.99976609e-01 4.63233619e-03 -3.42600559e-01] [ 3.92314442e-03 -4.65210118e-03 9.99981483e-01 -2.00936037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.596502481 meters 0.10680124803556315 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.34, Z:-2.01 [[ 9.99980104e-01 -4.81156877e-03 -4.07916208e-03 5.22804679e+00] [ 4.83152615e-03 9.99976338e-01 4.89686457e-03 -3.42985482e-01] [ 4.05550396e-03 -4.91647572e-03 9.99979690e-01 -2.00976742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.626502481 meters 0.10511205194293538 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.34, Z:-2.01 [[ 9.99980924e-01 -4.48006955e-03 -4.25209190e-03 5.22860080e+00] [ 4.50320751e-03 9.99975022e-01 5.44766299e-03 -3.44148131e-01] [ 4.22757978e-03 -5.46670712e-03 9.99976121e-01 -2.01018887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.656502481 meters 0.10554638102437208 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.35, Z:-2.01 [[ 9.99981689e-01 -4.21520172e-03 -4.34213818e-03 5.22892463e+00] [ 4.24073704e-03 9.99973671e-01 5.88849335e-03 -3.45144076e-01] [ 4.31720267e-03 -5.90679939e-03 9.99973235e-01 -2.01046929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.686502481 meters 0.10516273799837744 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.35, Z:-2.01 [[ 9.99981849e-01 -4.18943122e-03 -4.33019547e-03 5.22863322e+00] [ 4.21583785e-03 9.99972464e-01 6.10722385e-03 -3.46212314e-01] [ 4.30449044e-03 -6.12536840e-03 9.99971975e-01 -2.01008943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.716502481 meters 0.10608464592303184 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.35, Z:-2.01 [[ 9.99997587e-01 -4.57871146e-04 -2.14856746e-03 5.23634638e+00] [ 4.59630478e-04 9.99999559e-01 8.18417245e-04 -3.46677545e-01] [ 2.14819178e-03 -8.19402817e-04 9.99997357e-01 -2.00790314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.746502481 meters 0.10597038517553445 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.35, Z:-2.01 [[ 9.99997552e-01 -3.44248851e-05 -2.21255104e-03 5.23661160e+00] [ 3.80712221e-05 9.99998641e-01 1.64800290e-03 -3.48681017e-01] [ 2.21249131e-03 -1.64808310e-03 9.99996194e-01 -2.00814124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.776502481 meters 0.10603441303603614 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.35, Z:-2.01 [[ 9.99988103e-01 -4.09145300e-03 -2.65592228e-03 5.23752143e+00] [ 4.08508547e-03 9.99988780e-01 -2.39849956e-03 -3.48704663e-01] [ 2.66570583e-03 2.38762135e-03 9.99993597e-01 -2.00833735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.806502481 meters 0.10628255614411912 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.35, Z:-2.01 [[ 9.99989565e-01 -3.67614930e-03 -2.71228020e-03 5.23796919e+00] [ 3.67158491e-03 9.99991839e-01 -1.68592537e-03 -3.50256927e-01] [ 2.71845578e-03 1.67594941e-03 9.99994901e-01 -2.00889174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.836502481 meters 0.1062284863702629 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.35, Z:-2.01 [[ 9.99990849e-01 -3.25395111e-03 -2.77742981e-03 5.23834854e+00] [ 3.25138340e-03 9.99994283e-01 -9.28505302e-04 -3.52048029e-01] [ 2.78043525e-03 9.19466316e-04 9.99995712e-01 -2.00930748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.866502481 meters 0.10634703988525143 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.35, Z:-2.01 [[ 9.99991518e-01 -2.92736322e-03 -2.89718981e-03 5.23878741e+00] [ 2.92619407e-03 9.99995636e-01 -4.07705025e-04 -3.53119857e-01] [ 2.89837066e-03 3.99223828e-04 9.99995720e-01 -2.00966679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.896502481 meters 0.10604351308674288 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.35, Z:-2.01 [[ 9.99991662e-01 -2.78043283e-03 -2.99079051e-03 5.23883170e+00] [ 2.78013666e-03 9.99996130e-01 -1.03179962e-04 -3.54100382e-01] [ 2.99106582e-03 9.48642951e-05 9.99995522e-01 -2.00950813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.926502481 meters 0.10570294571012102 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.35, Z:-2.01 [[ 9.99992023e-01 -2.57606339e-03 -3.05266030e-03 5.23905703e+00] [ 2.57681111e-03 9.99996651e-01 2.41032558e-04 -3.54854560e-01] [ 3.05202916e-03 -2.48896764e-04 9.99995312e-01 -2.00969143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.956502481 meters 0.10540590919910271 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.36, Z:-2.01 [[ 9.99991845e-01 -2.57390121e-03 -3.11207455e-03 5.23881350e+00] [ 2.57501873e-03 9.99996622e-01 3.55140331e-04 -3.55492102e-01] [ 3.11114994e-03 -3.63151085e-04 9.99995094e-01 -2.00920184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98650248099997 meters 0.10538304182452592 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.36, Z:-2.01 [[ 9.99992492e-01 -2.25912187e-03 -3.14840544e-03 5.23887847e+00] [ 2.26222600e-03 9.99996958e-01 9.82723412e-04 -3.57214496e-01] [ 3.14617577e-03 -9.89838438e-04 9.99994561e-01 -2.00923875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01650248099997 meters 0.10506915223052544 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.36, Z:-2.01 [[ 9.99993488e-01 -1.94935540e-03 -3.03705672e-03 5.23863498e+00] [ 1.95454913e-03 9.99996631e-01 1.70808965e-03 -3.59493686e-01] [ 3.03371681e-03 -1.71401460e-03 9.99993929e-01 -2.00919293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04650248099998 meters 0.10509607108777892 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.36, Z:-2.01 [[ 9.99993971e-01 -1.77334658e-03 -2.98554088e-03 5.23854004e+00] [ 1.77966528e-03 9.99996180e-01 2.11510994e-03 -3.60741052e-01] [ 2.98177865e-03 -2.12041045e-03 9.99993306e-01 -2.00918986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07650248099998 meters 0.1055044609457131 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.36, Z:-2.01 [[ 9.99978064e-01 -5.79359125e-03 -3.21025211e-03 5.23899539e+00] [ 5.78819234e-03 9.99981823e-01 -1.68851799e-03 -3.61712894e-01] [ 3.21997634e-03 1.66989939e-03 9.99993422e-01 -2.00923358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10650248099998 meters 0.10577778786265085 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.36, Z:-2.01 [[ 9.99980661e-01 -5.31020042e-03 -3.23728122e-03 5.23940249e+00] [ 5.30757387e-03 9.99985579e-01 -8.19399047e-04 -3.63667043e-01] [ 3.24158571e-03 8.02201091e-04 9.99994424e-01 -2.00978279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13650248099998 meters 0.10620189908684685 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.37, Z:-2.01 [[ 9.99983765e-01 -4.87629383e-03 -2.94825045e-03 5.23899135e+00] [ 4.87775977e-03 9.99987983e-01 4.90238174e-04 -3.67362786e-01] [ 2.94582448e-03 -5.04611072e-04 9.99995534e-01 -2.00984360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16650248099998 meters 0.10732486515750549 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.37, Z:-2.01 [[ 9.99986736e-01 -4.31156017e-03 -2.81756159e-03 5.23917509e+00] [ 4.31615647e-03 9.99989361e-01 1.62726794e-03 -3.70157099e-01] [ 2.81051555e-03 -1.63940739e-03 9.99994707e-01 -2.01045874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19650248099998 meters 0.1081544144939574 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.37, Z:-2.01 [[ 9.99989787e-01 -3.87220401e-03 -2.33086116e-03 5.23855669e+00] [ 3.87960372e-03 9.99987423e-01 3.17856173e-03 -3.74969390e-01] [ 2.31852380e-03 -3.18757208e-03 9.99992232e-01 -2.01072381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22650248099998 meters 0.10884696238338094 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.38, Z:-2.01 [[ 9.99991844e-01 -3.31625119e-03 -2.30548718e-03 5.23886511e+00] [ 3.32607181e-03 9.99985356e-01 4.26896733e-03 -3.77544470e-01] [ 2.29129645e-03 -4.27660073e-03 9.99988230e-01 -2.01127900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25650248099998 meters 0.11005452479897848 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.38, Z:-2.01 [[ 9.99970981e-01 -7.22041169e-03 -2.42944030e-03 5.23917259e+00] [ 7.22219649e-03 9.99973656e-01 7.26686930e-04 -3.79192172e-01] [ 2.42412932e-03 -7.44211738e-04 9.99996785e-01 -2.01132100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28650248099999 meters 0.11183358382293081 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.38, Z:-2.01 [[ 9.99974674e-01 -6.75388571e-03 -2.24439791e-03 5.23894220e+00] [ 6.75813633e-03 9.99975374e-01 1.89172314e-03 -3.82347505e-01] [ 2.23156616e-03 -1.90684317e-03 9.99995692e-01 -2.01142420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.316502481 meters 0.11210229753476757 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.38, Z:-2.01 [[ 9.99977171e-01 -6.35390063e-03 -2.29890914e-03 5.23931117e+00] [ 6.35985457e-03 9.99976417e-01 2.59192591e-03 -3.83898493e-01] [ 2.28238608e-03 -2.60648747e-03 9.99993998e-01 -2.01186652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.346502481 meters 0.11311855142640594 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.39, Z:-2.01 [[ 9.99980298e-01 -5.86620181e-03 -2.23390642e-03 5.23944210e+00] [ 5.87417245e-03 9.99976345e-01 3.57834007e-03 -3.86357851e-01] [ 2.21286232e-03 -3.59139192e-03 9.99991103e-01 -2.01224512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.376502481 meters 0.11359574941185728 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.39, Z:-2.01 [[ 9.99981717e-01 -5.58453281e-03 -2.31933921e-03 5.23986310e+00] [ 5.59384140e-03 9.99976248e-01 4.02656338e-03 -3.87223307e-01] [ 2.29679765e-03 -4.03946377e-03 9.99989204e-01 -2.01266437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.406502481 meters 0.11363685625330976 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.39, Z:-2.01 [[ 9.99983803e-01 -5.17498544e-03 -2.36916497e-03 5.24026348e+00] [ 5.18614247e-03 9.99975377e-01 4.72759973e-03 -3.88645449e-01] [ 2.34464137e-03 -4.73980998e-03 9.99986018e-01 -2.01314644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.436502481 meters 0.11477128951916056 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.39, Z:-2.01 [[ 9.99984688e-01 -5.01263446e-03 -2.34460699e-03 5.24031417e+00] [ 5.02435027e-03 9.99974787e-01 5.01801204e-03 -3.89405464e-01] [ 2.31939442e-03 -5.02971533e-03 9.99984661e-01 -2.01329303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.466502481 meters 0.11426822685246427 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.39, Z:-2.01 [[ 9.99986681e-01 -4.57976890e-03 -2.38002673e-03 5.24089394e+00] [ 4.59325191e-03 9.99973258e-01 5.69081864e-03 -3.90629160e-01] [ 2.35390044e-03 -5.70167490e-03 9.99980975e-01 -2.01410339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.496502481 meters 0.1124730068641541 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.39, Z:-2.01 [[ 9.99987497e-01 -4.34648003e-03 -2.47246761e-03 5.24141489e+00] [ 4.36126855e-03 9.99972443e-01 6.00766811e-03 -3.91066389e-01] [ 2.44628727e-03 -6.01837610e-03 9.99978897e-01 -2.01466827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.526502481 meters 0.11303483530289965 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.39, Z:-2.02 [[ 9.99987084e-01 -4.34294264e-03 -2.64020987e-03 5.24197883e+00] [ 4.35829891e-03 9.99973457e-01 5.83864405e-03 -3.90180194e-01] [ 2.61478289e-03 -5.85007546e-03 9.99979470e-01 -2.01514309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.556502481 meters 0.11144920977372702 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.39, Z:-2.01 [[ 9.99984967e-01 -4.72549370e-03 -2.78110274e-03 5.24198605e+00] [ 4.73950907e-03 9.99975993e-01 5.05467561e-03 -3.88164919e-01] [ 2.75715014e-03 -5.06778069e-03 9.99983358e-01 -2.01478689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.586502481 meters 0.11183475148602906 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.39, Z:-2.01 [[ 9.99983782e-01 -4.80757367e-03 -3.05340937e-03 5.24243522e+00] [ 4.82220571e-03 9.99976839e-01 4.80288804e-03 -3.87228966e-01] [ 3.03024841e-03 -4.81753431e-03 9.99983804e-01 -2.01478496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.616502481 meters 0.11066321867792842 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.39, Z:-2.02 [[ 9.99981637e-01 -4.97755479e-03 -3.45681924e-03 5.24324456e+00] [ 4.99195959e-03 9.99978841e-01 4.17101753e-03 -3.85047269e-01] [ 3.43598463e-03 -4.18819724e-03 9.99985326e-01 -2.01501707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.646502481 meters 0.11056908973459238 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.38, Z:-2.02 [[ 9.99980765e-01 -5.00204651e-03 -3.66718425e-03 5.24379119e+00] [ 5.01655176e-03 9.99979588e-01 3.95694869e-03 -3.84109190e-01] [ 3.64731656e-03 -3.97526920e-03 9.99985447e-01 -2.01530334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.676502481 meters 0.11067378990068967 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.38, Z:-2.02 [[ 9.99977640e-01 -5.26607159e-03 -4.12175471e-03 5.24467789e+00] [ 5.27828966e-03 9.99981692e-01 2.95904437e-03 -3.80617836e-01] [ 4.10609671e-03 -2.98073402e-03 9.99987128e-01 -2.01550839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.706502481 meters 0.10826525098745017 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.38, Z:-2.02 [[ 9.99973124e-01 -5.74595286e-03 -4.55350788e-03 5.24535583e+00] [ 5.75216809e-03 9.99982541e-01 1.35301158e-03 -3.75757135e-01] [ 4.54565404e-03 -1.37916776e-03 9.99988717e-01 -2.01542262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73650248099997 meters 0.10761719733631488 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.37, Z:-2.02 [[ 9.99971383e-01 -5.79969109e-03 -4.85757571e-03 5.24617756e+00] [ 5.80424768e-03 9.99982728e-01 9.24465383e-04 -3.73912375e-01] [ 4.85213020e-03 -9.52633500e-04 9.99987775e-01 -2.01587028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76650248099997 meters 0.10681355897510561 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.37, Z:-2.02 [[ 9.99969378e-01 -5.53303492e-03 -5.53438758e-03 5.24831448e+00] [ 5.53552394e-03 9.99984584e-01 4.34519031e-04 -3.69961584e-01] [ 5.53189806e-03 -4.65141460e-04 9.99984591e-01 -2.01732072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79650248099998 meters 0.10642652999101251 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.37, Z:-2.02 [[ 9.99966911e-01 -5.66714264e-03 -5.83612082e-03 5.24914091e+00] [ 5.66648910e-03 9.99983937e-01 -1.28511358e-04 -3.67789921e-01] [ 5.83675537e-03 9.54367905e-05 9.99982961e-01 -2.01778195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82650248099998 meters 0.10602582329643297 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.36, Z:-2.02 [[ 9.99970304e-01 -3.64552804e-03 -6.78981956e-03 5.25263590e+00] [ 3.65314421e-03 9.99992712e-01 1.10964001e-03 -3.63121472e-01] [ 6.78572485e-03 -1.13441125e-03 9.99976333e-01 -2.02058299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85650248099998 meters 0.10571625840409678 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.36, Z:-2.02 [[ 9.99967132e-01 -3.88170727e-03 -7.11808135e-03 5.25334515e+00] [ 3.88466666e-03 9.99992374e-01 4.01977736e-04 -3.60679444e-01] [ 7.11646671e-03 -4.29615897e-04 9.99974585e-01 -2.02075327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88650248099998 meters 0.10590537080912409 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.36, Z:-2.02 [[ 9.99963449e-01 -2.69002751e-03 -8.11569609e-03 5.25636990e+00] [ 2.69780033e-03 9.99995913e-01 9.46955642e-04 -3.55477573e-01] [ 8.11311558e-03 -9.68815558e-04 9.99966619e-01 -2.02270186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91650248099998 meters 0.10596101705206841 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.35, Z:-2.02 [[ 9.99961110e-01 -2.79508793e-03 -8.36462288e-03 5.25718008e+00] [ 2.79943374e-03 9.99995953e-01 5.07883824e-04 -3.53647666e-01] [ 8.36316944e-03 -5.31280280e-04 9.99964887e-01 -2.02319215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94650248099998 meters 0.10596101705206841 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.35, Z:-2.02 [[ 9.99961110e-01 -2.79508793e-03 -8.36462288e-03 5.25718008e+00] [ 2.79943374e-03 9.99995953e-01 5.07883824e-04 -3.53647666e-01] [ 8.36316944e-03 -5.31280280e-04 9.99964887e-01 -2.02319215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97650248099998 meters 0.10601711131805926 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.35, Z:-2.02 [[ 9.99957990e-01 -2.63876816e-03 -8.77809920e-03 5.25918241e+00] [ 2.64066011e-03 9.99996493e-01 2.03947354e-04 -3.50155708e-01] [ 8.77753025e-03 -2.27118763e-04 9.99961451e-01 -2.02495678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00650248099998 meters 0.10639921242243047 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.35, Z:-2.03 [[ 9.99956708e-01 -2.71574961e-03 -8.89984901e-03 5.25975335e+00] [ 2.71491705e-03 9.99996309e-01 -1.05627057e-04 -3.48815760e-01] [ 8.90010302e-03 8.14601325e-05 9.99960390e-01 -2.02541403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03650248099999 meters 0.10686637680525896 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.35, Z:-2.03 [[ 9.99954686e-01 -3.05688332e-03 -9.01563253e-03 5.26024429e+00] [ 3.04830541e-03 9.99994888e-01 -9.65036269e-04 -3.45992216e-01] [ 9.01853644e-03 9.37510138e-04 9.99958893e-01 -2.02571610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.066502481 meters 0.10773338498149729 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.34, Z:-2.03 [[ 9.99951727e-01 -3.52337758e-03 -9.17223896e-03 5.26071640e+00] [ 3.50545501e-03 9.99991917e-01 -1.96934521e-03 -3.42748665e-01] [ 9.17910357e-03 1.93709728e-03 9.99955995e-01 -2.02584526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.096502481 meters 0.10881961331956656 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.34, Z:-2.03 [[ 9.99995934e-01 1.19203014e-03 -2.59041803e-03 5.26910509e+00] [-1.20501841e-03 9.99986683e-01 -5.01820576e-03 -3.41066161e-01] [ 2.58440168e-03 5.02130686e-03 9.99984054e-01 -2.02843104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.126502481 meters 0.11030862612756347 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.34, Z:-2.03 [[ 9.99995921e-01 5.63904676e-04 -2.79982935e-03 5.26913436e+00] [-5.81413807e-04 9.99980257e-01 -6.25677156e-03 -3.37682404e-01] [ 2.79624585e-03 6.25837390e-03 9.99976507e-01 -2.02774210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.156502481 meters 0.10974131428600976 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.34, Z:-2.03 [[ 9.99995549e-01 2.65999135e-04 -2.97159199e-03 5.26932277e+00] [-2.86518764e-04 9.99976106e-01 -6.90697438e-03 -3.35826266e-01] [ 2.96968374e-03 6.90779505e-03 9.99971731e-01 -2.02746723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.186502481 meters 0.11015238089301259 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.33, Z:-2.03 [[ 9.99994053e-01 -4.79804641e-04 -3.41514792e-03 5.26962902e+00] [ 4.50582296e-04 9.99963327e-01 -8.55231753e-03 -3.31098401e-01] [ 3.41912612e-03 8.55072786e-03 9.99957596e-01 -2.02657247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.216502481 meters 0.10980945034224628 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.33, Z:-2.03 [[ 9.99992949e-01 -8.09506911e-04 -3.66689880e-03 5.27003386e+00] [ 7.75243718e-04 9.99956121e-01 -9.33571948e-03 -3.28704287e-01] [ 3.67429523e-03 9.33281092e-03 9.99949698e-01 -2.02640666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.246502481 meters 0.10966593222807498 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.33, Z:-2.03 [[ 9.99988658e-01 3.09669641e-03 -3.61852979e-03 5.27007301e+00] [-3.11803018e-03 9.99977704e-01 -5.90500675e-03 -3.26232533e-01] [ 3.60016309e-03 5.91622246e-03 9.99976018e-01 -2.02644629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.276502481 meters 0.10942085059571567 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.32, Z:-2.03 [[ 9.99985194e-01 3.28497028e-03 -4.33823359e-03 5.27239462e+00] [-3.31191853e-03 9.99975175e-01 -6.21929739e-03 -3.21859571e-01] [ 4.31769569e-03 6.23357318e-03 9.99971250e-01 -2.02786686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.306502481 meters 0.10934496157127434 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.32, Z:-2.03 [[ 9.99985451e-01 -4.15498860e-03 -3.43993083e-03 5.28172485e+00] [ 4.15339174e-03 9.99991264e-01 -4.71225208e-04 -3.19846500e-01] [ 3.44185871e-03 4.56930972e-04 9.99993972e-01 -2.02919369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.336502481 meters 0.1097778902482463 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.32, Z:-2.03 [[ 9.99983721e-01 -4.23162841e-03 -3.82759354e-03 5.28307353e+00] [ 4.22760861e-03 9.99990504e-01 -1.05769773e-03 -3.16815132e-01] [ 3.83203298e-03 1.04149894e-03 9.99992115e-01 -2.03006550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.366502481 meters 0.11016121468309177 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.32, Z:-2.03 [[ 9.99982368e-01 -4.37552231e-03 -4.01473273e-03 5.28351592e+00] [ 4.36966457e-03 9.99989377e-01 -1.46667479e-03 -3.15387545e-01] [ 4.02110755e-03 1.44910590e-03 9.99990865e-01 -2.03015920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.396502481 meters 0.11012128230984052 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.31, Z:-2.03 [[ 9.99978867e-01 -4.79227431e-03 -4.39310361e-03 5.28422366e+00] [ 4.78120927e-03 9.99985380e-01 -2.52578100e-03 -3.11863048e-01] [ 4.40514362e-03 2.50472328e-03 9.99987160e-01 -2.03009572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.426502481 meters 0.1101613987876657 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.31, Z:-2.03 [[ 9.99977326e-01 -4.90537429e-03 -4.61352894e-03 5.28474635e+00] [ 4.89204887e-03 9.99983843e-01 -2.89519891e-03 -3.10439203e-01] [ 4.62765643e-03 2.87256366e-03 9.99985166e-01 -2.03024447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.456502481 meters 0.10995055672813758 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.31, Z:-2.03 [[ 9.99973110e-01 -5.31077176e-03 -5.05720098e-03 5.28540102e+00] [ 5.29092890e-03 9.99978284e-01 -3.92901270e-03 -3.07087859e-01] [ 5.07795725e-03 3.90214976e-03 9.99979494e-01 -2.02995933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48650248099997 meters 0.11012131169998723 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.31, Z:-2.03 [[ 9.99970793e-01 -5.55353518e-03 -5.25081027e-03 5.28576773e+00] [ 5.53000708e-03 9.99974652e-01 -4.48480348e-03 -3.05222598e-01] [ 5.27558369e-03 4.45563547e-03 9.99976157e-01 -2.02989987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51650248099997 meters 0.10961919614225313 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.30, Z:-2.03 [[ 9.99986177e-01 -1.14283295e-03 -5.13226109e-03 5.28608197e+00] [ 1.14223948e-03 9.99999341e-01 -1.18564480e-04 -3.04830712e-01] [ 5.13239320e-03 1.12700570e-04 9.99986823e-01 -2.03065716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54650248099998 meters 0.1096168501593564 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.30, Z:-2.03 [[ 9.99984136e-01 -1.34080758e-03 -5.47086313e-03 5.28668297e+00] [ 1.33710114e-03 9.99998874e-01 -6.81089597e-04 -3.02885549e-01] [ 5.47177018e-03 6.73763694e-04 9.99984803e-01 -2.03059065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57650248099998 meters 0.11084955024200085 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.30, Z:-2.03 [[ 9.99983362e-01 -1.41074476e-03 -5.59339192e-03 5.28695743e+00] [ 1.40563475e-03 9.99998591e-01 -9.17405858e-04 -3.02045751e-01] [ 5.59467827e-03 9.09528328e-04 9.99983936e-01 -2.03063493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60650248099998 meters 0.11093539487638485 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.30, Z:-2.03 [[ 9.99980220e-01 -1.75382383e-03 -6.04018835e-03 5.28749177e+00] [ 1.74314319e-03 9.99996909e-01 -1.77307349e-03 -2.99261616e-01] [ 6.04327934e-03 1.76250950e-03 9.99980186e-01 -2.03017698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63650248099998 meters 0.1093775972077259 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.30, Z:-2.03 [[ 9.99978710e-01 -1.78281261e-03 -6.27697226e-03 5.28796762e+00] [ 1.77059562e-03 9.99996529e-01 -1.95133812e-03 -2.98445938e-01] [ 6.28042934e-03 1.94018260e-03 9.99978396e-01 -2.03022066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66650248099998 meters 0.10939393445152289 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.30, Z:-2.03 [[ 9.99976353e-01 -1.89767837e-03 -6.61000292e-03 5.28849519e+00] [ 1.88223154e-03 9.99995485e-01 -2.34232481e-03 -2.96980242e-01] [ 6.61441806e-03 2.32982787e-03 9.99975410e-01 -2.03007754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69650248099998 meters 0.1100506129678177 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.30, Z:-2.03 [[ 9.99974235e-01 -1.84295499e-03 -6.93774890e-03 5.28917156e+00] [ 1.82633277e-03 9.99995449e-01 -2.40148341e-03 -2.96333387e-01] [ 6.94214315e-03 2.38875090e-03 9.99973050e-01 -2.03019437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72650248099998 meters 0.10969890142668119 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.30, Z:-2.03 [[ 9.99973994e-01 -1.52822056e-03 -7.04811027e-03 5.28984130e+00] [ 1.51452743e-03 9.99996956e-01 -1.94773737e-03 -2.97009097e-01] [ 7.05106539e-03 1.93701216e-03 9.99973265e-01 -2.03092260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75650248099998 meters 0.10952475103940107 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.30, Z:-2.03 [[ 9.99974129e-01 -1.22870035e-03 -7.08737336e-03 5.29044010e+00] [ 1.21795744e-03 9.99998103e-01 -1.51989910e-03 -2.97633467e-01] [ 7.08922741e-03 1.51122766e-03 9.99973729e-01 -2.03170544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78650248099999 meters 0.10962068696428581 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.30, Z:-2.03 [[ 9.99972488e-01 -1.10493785e-03 -7.33500989e-03 5.29112275e+00] [ 1.09458741e-03 9.99998400e-01 -1.41496484e-03 -2.97388801e-01] [ 7.33656160e-03 1.40689710e-03 9.99972097e-01 -2.03201003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.816502481 meters 0.11014369259068524 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.30, Z:-2.03 [[ 9.99971256e-01 -9.29513023e-04 -7.52488677e-03 5.29177085e+00] [ 9.20624575e-04 9.99998875e-01 -1.18458453e-03 -2.97400899e-01] [ 7.52597939e-03 1.17762289e-03 9.99970986e-01 -2.03240463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.846502481 meters 0.11028618502975492 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.30, Z:-2.03 [[ 9.99971446e-01 -5.56789183e-04 -7.53633067e-03 5.29227759e+00] [ 5.52446621e-04 9.99999680e-01 -5.78286510e-04 -2.98562474e-01] [ 7.53665025e-03 5.74106578e-04 9.99971434e-01 -2.03312831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.876502481 meters 0.109830737347769 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.30, Z:-2.03 [[ 9.99973022e-01 -6.35816971e-05 -7.34509932e-03 5.29255024e+00] [ 6.63143640e-05 9.99999929e-01 3.71796528e-04 -3.00937068e-01] [ 7.34507516e-03 -3.72273584e-04 9.99972955e-01 -2.03405586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.906502481 meters 0.11073110756623042 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.30, Z:-2.03 [[ 9.99959172e-01 -4.38009541e-03 -7.90374947e-03 5.29337912e+00] [ 4.34753884e-03 9.99982014e-01 -4.13162069e-03 -2.99917546e-01] [ 7.92170421e-03 4.09709015e-03 9.99960229e-01 -2.03380155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.936502481 meters 0.11023845011393955 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.30, Z:-2.03 [[ 9.99959486e-01 -4.17479592e-03 -7.97479349e-03 5.29362728e+00] [ 4.14453560e-03 9.99984164e-01 -3.80726052e-03 -3.00630759e-01] [ 7.99056173e-03 3.77405445e-03 9.99960953e-01 -2.03397828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.966502481 meters 0.11107631864341909 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.30, Z:-2.03 [[ 9.99959265e-01 -3.92774540e-03 -8.12659133e-03 5.29399308e+00] [ 3.90018863e-03 9.99986601e-01 -3.40401223e-03 -3.01536731e-01] [ 8.13985253e-03 3.37217832e-03 9.99961185e-01 -2.03411596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.996502481 meters 0.11018601113978288 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.30, Z:-2.03 [[ 9.99959497e-01 -3.66249400e-03 -8.22129915e-03 5.29449170e+00] [ 3.63788707e-03 9.99988865e-01 -3.00603180e-03 -3.02174935e-01] [ 8.23221717e-03 2.97600189e-03 9.99961686e-01 -2.03458988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.026502481 meters 0.11083508038968896 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.30, Z:-2.04 [[ 9.99961172e-01 -2.91583689e-03 -8.31577275e-03 5.29561828e+00] [ 2.90048196e-03 9.99994068e-01 -1.85794561e-03 -3.04264114e-01] [ 8.32114089e-03 1.83375372e-03 9.99963697e-01 -2.03603558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.056502481 meters 0.10970375596970815 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.31, Z:-2.04 [[ 9.99962502e-01 -2.32148483e-03 -8.34296047e-03 5.29613130e+00] [ 2.31469903e-03 9.99996982e-01 -8.22919429e-04 -3.06808384e-01] [ 8.34484569e-03 8.03577128e-04 9.99964858e-01 -2.03680835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.086502481 meters 0.11005675612791453 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.31, Z:-2.04 [[ 9.99962717e-01 -2.03888250e-03 -8.39090347e-03 5.29640708e+00] [ 2.03596728e-03 9.99997864e-01 -3.55954223e-04 -3.07852498e-01] [ 8.39161129e-03 3.38857347e-04 9.99964732e-01 -2.03711658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.116502481 meters 0.10902701402341772 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.31, Z:-2.04 [[ 9.99962430e-01 -2.06831548e-03 -8.41784068e-03 5.29576700e+00] [ 2.06623928e-03 9.99997833e-01 -2.55331402e-04 -3.09112502e-01] [ 8.41835054e-03 2.37928536e-04 9.99964537e-01 -2.03614492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.146502481 meters 0.10892137059380293 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.31, Z:-2.04 [[ 9.99962526e-01 -1.72556518e-03 -8.48342018e-03 5.29613147e+00] [ 1.72815297e-03 9.99998462e-01 2.97720257e-04 -3.10367320e-01] [ 8.48289340e-03 -3.12369748e-04 9.99963971e-01 -2.03654015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.176502481 meters 0.10885533249265537 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.31, Z:-2.04 [[ 9.99963345e-01 -1.04665107e-03 -8.49784946e-03 5.29678302e+00] [ 1.05883034e-03 9.99998419e-01 1.42884513e-03 -3.13013900e-01] [ 8.49634051e-03 -1.43779054e-03 9.99962872e-01 -2.03756628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.206502481 meters 0.10844750195096355 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.31, Z:-2.04 [[ 9.99963728e-01 -7.14684745e-04 -8.48720165e-03 5.29706998e+00] [ 7.31875405e-04 9.99997687e-01 2.02254719e-03 -3.14461770e-01] [ 8.48573653e-03 -2.02868540e-03 9.99961938e-01 -2.03808321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23650248099997 meters 0.10831941326739558 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.32, Z:-2.04 [[ 9.99950039e-01 -4.46066712e-03 -8.94551887e-03 5.29833311e+00] [ 4.44735397e-03 9.99988974e-01 -1.50758924e-03 -3.15754212e-01] [ 8.95214509e-03 1.46773003e-03 9.99958852e-01 -2.03883981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26650248099997 meters 0.10849509961326802 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.32, Z:-2.04 [[ 9.99952795e-01 -3.85012859e-03 -8.92097571e-03 5.29884293e+00] [ 3.84637664e-03 9.99992507e-01 -4.37695699e-04 -3.18163962e-01] [ 8.92259405e-03 4.03361605e-04 9.99960112e-01 -2.03975613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29650248099998 meters 0.10847949789252939 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.32, Z:-2.04 [[ 9.99956336e-01 -3.52240579e-03 -8.65554754e-03 5.29834972e+00] [ 3.52681589e-03 9.99993659e-01 4.94301053e-04 -3.21293272e-01] [ 8.65375152e-03 -5.24805992e-04 9.99962418e-01 -2.03981490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32650248099998 meters 0.10857140578607553 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.32, Z:-2.04 [[ 9.99958980e-01 -3.22939465e-03 -8.46217503e-03 5.29799429e+00] [ 3.24009245e-03 9.99993969e-01 1.25078552e-03 -3.23785281e-01] [ 8.45808471e-03 -1.27815244e-03 9.99963413e-01 -2.03988051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35650248099998 meters 0.10891562182104321 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.33, Z:-2.04 [[ 9.99959358e-01 -2.86998138e-03 -8.54664061e-03 5.29833784e+00] [ 2.88603255e-03 9.99994094e-01 1.86632733e-03 -3.25204518e-01] [ 8.54123380e-03 -1.89091736e-03 9.99961735e-01 -2.04020223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38650248099998 meters 0.10842951298378399 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.33, Z:-2.04 [[ 9.99960599e-01 -2.79576947e-03 -8.42520924e-03 5.29767114e+00] [ 2.81464414e-03 9.99993554e-01 2.22923673e-03 -3.26953276e-01] [ 8.41892250e-03 -2.25286286e-03 9.99962022e-01 -2.03958510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41650248099998 meters 0.10917733622182091 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.33, Z:-2.04 [[ 9.99961133e-01 -2.58231036e-03 -8.42999537e-03 5.29765284e+00] [ 2.60488023e-03 9.99993050e-01 2.66744790e-03 -3.28308843e-01] [ 8.42304860e-03 -2.68930335e-03 9.99960909e-01 -2.03960497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44650248099998 meters 0.10878264724344959 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.33, Z:-2.04 [[ 9.99940455e-01 -6.44969347e-03 -8.80272728e-03 5.29844824e+00] [ 6.44138643e-03 9.99978782e-01 -9.71714007e-04 -3.29622581e-01] [ 8.80880776e-03 9.14954378e-04 9.99960783e-01 -2.03985568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47650248099998 meters 0.10859184163544379 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.33, Z:-2.04 [[ 9.99943839e-01 -5.88438059e-03 -8.81440501e-03 5.29907027e+00] [ 5.88420424e-03 9.99982687e-01 -4.59402331e-05 -3.31545984e-01] [ 8.81452274e-03 -5.92810633e-06 9.99961151e-01 -2.04080073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50650248099998 meters 0.10793809144652858 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.33, Z:-2.04 [[ 9.99947331e-01 -5.23218304e-03 -8.82944523e-03 5.29973691e+00] [ 5.24137826e-03 9.99985745e-01 1.01860816e-03 -3.33854134e-01] [ 8.82398982e-03 -1.06483298e-03 9.99960501e-01 -2.04180797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53650248099999 meters 0.10802246248675537 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.34, Z:-2.04 [[ 9.99948852e-01 -4.89629181e-03 -8.84987321e-03 5.30005260e+00] [ 4.91034197e-03 9.99986717e-01 1.56658021e-03 -3.35085682e-01] [ 8.84208523e-03 -1.60995598e-03 9.99959612e-01 -2.04225014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.566502481 meters 0.1081195955061624 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.34, Z:-2.04 [[ 9.99949909e-01 -4.75457426e-03 -8.80759607e-03 5.29979289e+00] [ 4.77176763e-03 9.99986748e-01 1.93212207e-03 -3.36526624e-01] [ 8.79829293e-03 -1.97405309e-03 9.99959346e-01 -2.04201078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.596502481 meters 0.10811047184632552 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.34, Z:-2.04 [[ 9.99953439e-01 -4.30358101e-03 -8.63703725e-03 5.29969536e+00] [ 4.32882542e-03 9.99986407e-01 2.90624616e-03 -3.39347400e-01] [ 8.62441258e-03 -2.94349907e-03 9.99958477e-01 -2.04237595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.626502481 meters 0.10801602829103565 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.34, Z:-2.04 [[ 9.99955746e-01 -3.71570810e-03 -8.64287725e-03 5.30029995e+00] [ 3.74949054e-03 9.99985382e-01 3.89578911e-03 -3.41511097e-01] [ 8.62827529e-03 -3.92802309e-03 9.99955061e-01 -2.04329770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.656502481 meters 0.10829360693957027 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.34, Z:-2.04 [[ 9.99932160e-01 -7.48319521e-03 -8.92616612e-03 5.30154154e+00] [ 7.48683481e-03 9.99971903e-01 3.74398897e-04 -3.42639694e-01] [ 8.92311363e-03 -4.41202229e-04 9.99960091e-01 -2.04434911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.686502481 meters 0.10801387643780565 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.34, Z:-2.04 [[ 9.99934809e-01 -7.13396355e-03 -8.91541847e-03 5.30192362e+00] [ 7.14267464e-03 9.99974044e-01 9.45622822e-04 -3.43860359e-01] [ 8.90844102e-03 -1.00924111e-03 9.99959810e-01 -2.04494288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.716502481 meters 0.10850993938269395 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.35, Z:-2.05 [[ 9.99938140e-01 -6.66060382e-03 -8.90796248e-03 5.30242994e+00] [ 6.67658624e-03 9.99976153e-01 1.76563937e-03 -3.45584398e-01] [ 8.89598982e-03 -1.82500493e-03 9.99958765e-01 -2.04571308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.746502481 meters 0.10792166673245193 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.35, Z:-2.05 [[ 9.99940313e-01 -6.22328237e-03 -8.97999382e-03 5.30302833e+00] [ 6.24560910e-03 9.99977469e-01 2.46037634e-03 -3.46978993e-01] [ 8.96447988e-03 -2.51631502e-03 9.99956652e-01 -2.04644995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.776502481 meters 0.10831171714444474 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.35, Z:-2.05 [[ 9.99941689e-01 -5.83227647e-03 -9.08863986e-03 5.30355823e+00] [ 5.86048263e-03 9.99978084e-01 3.07991595e-03 -3.48323087e-01] [ 9.07047775e-03 -3.13300017e-03 9.99953954e-01 -2.04702505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.806502481 meters 0.10747726110635358 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.35, Z:-2.05 [[ 9.99938680e-01 -6.05845359e-03 -9.26990952e-03 5.30352157e+00] [ 6.08275857e-03 9.99978130e-01 2.59597776e-03 -3.47122085e-01] [ 9.25397918e-03 -2.65220520e-03 9.99953664e-01 -2.04650305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.836502481 meters 0.10747726110635358 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.35, Z:-2.05 [[ 9.99938680e-01 -6.05845359e-03 -9.26990952e-03 5.30352157e+00] [ 6.08275857e-03 9.99978130e-01 2.59597776e-03 -3.47122085e-01] [ 9.25397918e-03 -2.65220520e-03 9.99953664e-01 -2.04650305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.866502481 meters 0.10739513406176113 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.35, Z:-2.05 [[ 9.99936693e-01 -6.17113528e-03 -9.40890085e-03 5.30365088e+00] [ 6.19317581e-03 9.99978142e-01 2.31518424e-03 -3.46322112e-01] [ 9.39440788e-03 -2.37330865e-03 9.99953055e-01 -2.04632632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.896502481 meters 0.10676037436789862 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.34, Z:-2.05 [[ 9.99934774e-01 -6.30459040e-03 -9.52362498e-03 5.30378912e+00] [ 6.32270171e-03 9.99978258e-01 1.87281405e-03 -3.44939922e-01] [ 9.51161059e-03 -1.93290693e-03 9.99952895e-01 -2.04626072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.926502481 meters 0.10654824036209763 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.34, Z:-2.05 [[ 9.99933403e-01 -6.24848831e-03 -9.70292014e-03 5.30425392e+00] [ 6.26660202e-03 9.99978676e-01 1.83755194e-03 -3.44546558e-01] [ 9.69123131e-03 -1.89823390e-03 9.99951237e-01 -2.04650075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.956502481 meters 0.1061124004956985 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.34, Z:-2.05 [[ 9.99981879e-01 -7.38621816e-04 -5.97455407e-03 5.31192100e+00] [ 7.28808092e-04 9.99998382e-01 -1.64459716e-03 -3.44560651e-01] [ 5.97575914e-03 1.64021305e-03 9.99980800e-01 -2.04530876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98650248099997 meters 0.10604843552794026 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.34, Z:-2.05 [[ 9.99981188e-01 -5.61928905e-04 -6.10808573e-03 5.31244620e+00] [ 5.53109837e-04 9.99998802e-01 -1.44542847e-03 -3.44667850e-01] [ 6.10889064e-03 1.44202284e-03 9.99980301e-01 -2.04575780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01650248099997 meters 0.10621364913109953 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.34, Z:-2.05 [[ 9.99979834e-01 -6.06434844e-04 -6.32166863e-03 5.31289778e+00] [ 5.95789235e-04 9.99998402e-01 -1.68573451e-03 -3.43630884e-01] [ 6.32268081e-03 1.68193413e-03 9.99978597e-01 -2.04585162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04650248099998 meters 0.10593517731418571 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.34, Z:-2.05 [[ 9.99979450e-01 -5.20163758e-04 -6.38972903e-03 5.31318542e+00] [ 5.09941432e-04 9.99998588e-01 -1.60133090e-03 -3.43565580e-01] [ 6.39055296e-03 1.59803960e-03 9.99978303e-01 -2.04607451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07650248099998 meters 0.10619074706993364 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.34, Z:-2.05 [[ 9.99978933e-01 -2.55298365e-04 -6.48595828e-03 5.31364512e+00] [ 2.47595091e-04 9.99999263e-01 -1.18846006e-03 -3.44267345e-01] [ 6.48625691e-03 1.18682913e-03 9.99978260e-01 -2.04649046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10650248099998 meters 0.10656525627780748 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.35, Z:-2.05 [[ 9.99979627e-01 1.22872882e-04 -6.38208344e-03 5.31396506e+00] [-1.25984529e-04 9.99999873e-01 -4.87159924e-04 -3.45891630e-01] [ 6.38202277e-03 4.87954043e-04 9.99979516e-01 -2.04725968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13650248099998 meters 0.10716139851027057 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.35, Z:-2.05 [[ 9.99979374e-01 4.52684460e-04 -6.40679694e-03 5.31451645e+00] [-4.52642301e-04 9.99999898e-01 8.03046738e-06 -3.46699527e-01] [ 6.40679991e-03 -5.13031444e-06 9.99979476e-01 -2.04803001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16650248099998 meters 0.10682936971564548 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.35, Z:-2.05 [[ 9.99979210e-01 6.96978558e-04 -6.41050351e-03 5.31492478e+00] [-6.94204919e-04 9.99999664e-01 4.34885915e-04 -3.47493634e-01] [ 6.41080447e-03 -4.30426670e-04 9.99979358e-01 -2.04858103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19650248099998 meters 0.10729439284163239 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.05 [[ 9.99978897e-01 8.66400495e-04 -6.43856105e-03 5.31523906e+00] [-8.61919415e-04 9.99999384e-01 6.98717562e-04 -3.47922221e-01] [ 6.43916246e-03 -6.93153297e-04 9.99979028e-01 -2.04892977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22650248099998 meters 0.10740221722801656 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.05 [[ 9.99978319e-01 9.58968489e-04 -6.51476129e-03 5.31555043e+00] [-9.53722028e-04 9.99999218e-01 8.08378040e-04 -3.47943615e-01] [ 6.51553140e-03 -8.02147242e-04 9.99978452e-01 -2.04916540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25650248099998 meters 0.1076201873046023 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.05 [[ 9.99969533e-01 -3.17006576e-03 -7.13327618e-03 5.31692119e+00] [ 3.14441640e-03 9.99988562e-01 -3.60408080e-03 -3.46503102e-01] [ 7.14461976e-03 3.58154101e-03 9.99968063e-01 -2.04959375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28650248099999 meters 0.10770415713998428 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.05 [[ 9.99970261e-01 -2.88784859e-03 -7.15099924e-03 5.31716361e+00] [ 2.86556039e-03 9.99991011e-01 -3.12508127e-03 -3.47575046e-01] [ 7.15995972e-03 3.10449672e-03 9.99969548e-01 -2.04992857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.316502481 meters 0.10829841134864489 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.05 [[ 9.99971112e-01 -2.77385463e-03 -7.07685426e-03 5.31706292e+00] [ 2.75351859e-03 9.99992057e-01 -2.88172559e-03 -3.48254073e-01] [ 7.08479153e-03 2.86215609e-03 9.99970806e-01 -2.04991983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.346502481 meters 0.10883146826846662 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.05 [[ 9.99971592e-01 -2.65808100e-03 -7.05342112e-03 5.31711584e+00] [ 2.63939891e-03 9.99992988e-01 -2.65664437e-03 -3.48684157e-01] [ 7.06043324e-03 2.63795211e-03 9.99971595e-01 -2.04997894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.376502481 meters 0.10915356164177863 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.05 [[ 9.99971864e-01 -2.40080080e-03 -7.10683787e-03 5.31753736e+00] [ 2.38476989e-03 9.99994595e-01 -2.26331763e-03 -3.49327934e-01] [ 7.11223323e-03 2.24630577e-03 9.99972185e-01 -2.05045947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.406502481 meters 0.10941801362824448 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.05 [[ 9.99972619e-01 -2.02738329e-03 -7.11698597e-03 5.31799751e+00] [ 2.01554430e-03 9.99996574e-01 -1.67026253e-03 -3.50425883e-01] [ 7.12034785e-03 1.65587220e-03 9.99973279e-01 -2.05114822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.436502481 meters 0.10940456558187237 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.05 [[ 9.99972762e-01 -1.83299400e-03 -7.14952419e-03 5.31826632e+00] [ 1.82317196e-03 9.99997386e-01 -1.38007977e-03 -3.50996399e-01] [ 7.15203518e-03 1.36700737e-03 9.99973489e-01 -2.05145881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.466502481 meters 0.10859083560069628 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.05 [[ 9.99972796e-01 -1.60073912e-03 -7.20032802e-03 5.31872528e+00] [ 1.59297624e-03 9.99998144e-01 -1.08373417e-03 -3.51391369e-01] [ 7.20204944e-03 1.07223474e-03 9.99973490e-01 -2.05201940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.496502481 meters 0.1096295718761715 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.05 [[ 9.99971304e-01 -1.47696959e-03 -7.43037160e-03 5.31941889e+00] [ 1.46936160e-03 9.99998391e-01 -1.02925875e-03 -3.51016157e-01] [ 7.43187983e-03 1.01831132e-03 9.99971865e-01 -2.05243818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.526502481 meters 0.10811489445657807 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.05 [[ 9.99967819e-01 -1.53621664e-03 -7.87409680e-03 5.32035845e+00] [ 1.52413091e-03 9.99997652e-01 -1.54064290e-03 -3.48852919e-01] [ 7.87644507e-03 1.52859216e-03 9.99967812e-01 -2.05266348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.556502481 meters 0.10725777856012529 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.05 [[ 9.99966259e-01 -1.52370264e-03 -8.07207256e-03 5.32092437e+00] [ 1.50992028e-03 9.99997392e-01 -1.71323147e-03 -3.47907917e-01] [ 8.07466196e-03 1.70098548e-03 9.99965953e-01 -2.05294158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.586502481 meters 0.10675246327220328 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.05 [[ 9.99964677e-01 -1.46128229e-03 -8.27709621e-03 5.32163589e+00] [ 1.44479237e-03 9.99996961e-01 -1.99786390e-03 -3.46568107e-01] [ 8.27999050e-03 1.98583465e-03 9.99963748e-01 -2.05349857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.616502481 meters 0.10634608377065724 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.05 [[ 9.99963057e-01 -1.40242553e-03 -8.48045595e-03 5.32225136e+00] [ 1.38410448e-03 9.99996697e-01 -2.16586837e-03 -3.45593186e-01] [ 8.48346540e-03 2.15405052e-03 9.99961695e-01 -2.05392339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.646502481 meters 0.10605292097809835 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.05 [[ 9.99962620e-01 -1.25285200e-03 -8.55509941e-03 5.32264068e+00] [ 1.23577050e-03 9.99997233e-01 -2.00163901e-03 -3.45670226e-01] [ 8.55758350e-03 1.99099205e-03 9.99961401e-01 -2.05433114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.676502481 meters 0.10631576447601636 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.05 [[ 9.99962703e-01 -1.05034828e-03 -8.57260062e-03 5.32295738e+00] [ 1.03555239e-03 9.99997967e-01 -1.73020710e-03 -3.46043787e-01] [ 8.57440051e-03 1.72126520e-03 9.99961758e-01 -2.05475032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.706502481 meters 0.10660604971868107 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.05 [[ 9.99962871e-01 -9.25563333e-04 -8.56741950e-03 5.32307007e+00] [ 9.12413573e-04 9.99998400e-01 -1.53863795e-03 -3.46430829e-01] [ 8.56882990e-03 1.53076380e-03 9.99962115e-01 -2.05491597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73650248099997 meters 0.1067381448374201 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.06 [[ 9.99963383e-01 -6.63453444e-04 -8.53181557e-03 5.32319748e+00] [ 6.54736676e-04 9.99999261e-01 -1.02443047e-03 -3.47550506e-01] [ 8.53248892e-03 1.01880686e-03 9.99963079e-01 -2.05515460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76650248099997 meters 0.10686632882582137 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.06 [[ 9.99963915e-01 -3.49790287e-04 -8.48797568e-03 5.32345828e+00] [ 3.45876535e-04 9.99999833e-01 -4.62557290e-04 -3.48759834e-01] [ 8.48813607e-03 4.59604807e-04 9.99963870e-01 -2.05567272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79650248099998 meters 0.10768279772627841 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.06 [[ 9.99966698e-01 -2.20010393e-04 -8.15807311e-03 5.32298551e+00] [ 2.21021141e-04 9.99999968e-01 1.22994000e-04 -3.50690410e-01] [ 8.15804578e-03 -1.24793011e-04 9.99966715e-01 -2.05580966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82650248099998 meters 0.10780392163390942 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.06 [[ 9.99967291e-01 1.56790654e-04 -8.08658785e-03 5.32331104e+00] [-1.50276211e-04 9.99999664e-01 8.06187456e-04 -3.52088051e-01] [ 8.08671154e-03 -8.04945864e-04 9.99966978e-01 -2.05647551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85650248099998 meters 0.1086910327385878 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.06 [[ 9.99957803e-01 -4.12051103e-03 -8.21058524e-03 5.32358999e+00] [ 4.09258384e-03 9.99985793e-01 -3.41526731e-03 -3.52140581e-01] [ 8.22454124e-03 3.38152068e-03 9.99960460e-01 -2.05650321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88650248099998 meters 0.10910841194077119 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.06 [[ 9.99961396e-01 -3.51704789e-03 -8.05210670e-03 5.32411493e+00] [ 3.49871218e-03 9.99991257e-01 -2.29008691e-03 -3.54521759e-01] [ 8.06009065e-03 2.26182650e-03 9.99964959e-01 -2.05776120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91650248099998 meters 0.10961900579961432 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.06 [[ 9.99961546e-01 -3.36872999e-03 -8.09684120e-03 5.32442546e+00] [ 3.35209575e-03 9.99992245e-01 -2.06710468e-03 -3.54804926e-01] [ 8.10374193e-03 2.03988380e-03 9.99965084e-01 -2.05808915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94650248099998 meters 0.11021861152724222 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.35, Z:-2.06 [[ 9.99961501e-01 -3.34042237e-03 -8.11406319e-03 5.32448312e+00] [ 3.32412651e-03 9.99992433e-01 -2.02100372e-03 -3.54802723e-01] [ 8.12075280e-03 1.99395375e-03 9.99965038e-01 -2.05804442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97650248099998 meters 0.11104722067062321 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.36, Z:-2.06 [[ 9.99961657e-01 -3.14310607e-03 -8.17341588e-03 5.32485885e+00] [ 3.12902430e-03 9.99993599e-01 -1.73509179e-03 -3.55226720e-01] [ 8.17881715e-03 1.70945044e-03 9.99965092e-01 -2.05844694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00650248099998 meters 0.11180247835873278 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.36, Z:-2.06 [[ 9.99963109e-01 -2.90425440e-03 -8.08370581e-03 5.32510327e+00] [ 2.89356949e-03 9.99994925e-01 -1.33316551e-03 -3.56065234e-01] [ 8.08753664e-03 1.30972556e-03 9.99966438e-01 -2.05904905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03650248099999 meters 0.11236929354327733 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.36, Z:-2.06 [[ 9.99962712e-01 -2.73400959e-03 -8.19150690e-03 5.32560839e+00] [ 2.72495287e-03 9.99995664e-01 -1.11658007e-03 -3.56214859e-01] [ 8.19452412e-03 1.09421696e-03 9.99965826e-01 -2.05950285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.066502481 meters 0.11280844681347572 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.35, Z:-2.06 [[ 9.99960274e-01 -2.87157229e-03 -8.43825073e-03 5.32619630e+00] [ 2.85875652e-03 9.99994743e-01 -1.53044076e-03 -3.54609859e-01] [ 8.44260114e-03 1.50625706e-03 9.99963226e-01 -2.05964781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.096502481 meters 0.11232991976604528 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.35, Z:-2.06 [[ 9.99958137e-01 -2.96360176e-03 -8.65691194e-03 5.32683900e+00] [ 2.94746016e-03 9.99993895e-01 -1.87675418e-03 -3.53103659e-01] [ 8.66242104e-03 1.85115971e-03 9.99960767e-01 -2.05993061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.126502481 meters 0.11242399294004911 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.35, Z:-2.06 [[ 9.99956797e-01 -3.04099972e-03 -8.78391302e-03 5.32712225e+00] [ 3.02275004e-03 9.99993247e-01 -2.09015502e-03 -3.52351121e-01] [ 8.79020987e-03 2.06351315e-03 9.99959236e-01 -2.05996744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.156502481 meters 0.1133948488654845 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.35, Z:-2.06 [[ 9.99953515e-01 -3.28348596e-03 -9.06568591e-03 5.32760578e+00] [ 3.25880198e-03 9.99990947e-01 -2.73622264e-03 -3.50269888e-01] [ 9.07458819e-03 2.70655217e-03 9.99955162e-01 -2.05985379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.186502481 meters 0.11230939922321559 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.35, Z:-2.06 [[ 9.99951727e-01 -3.31872810e-03 -9.24822319e-03 5.32805579e+00] [ 3.29164463e-03 9.99990254e-01 -2.94218892e-03 -3.49386046e-01] [ 9.25789738e-03 2.91160502e-03 9.99952906e-01 -2.05999840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.216502481 meters 0.11158738088754074 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.35, Z:-2.06 [[ 9.99947885e-01 -3.47256208e-03 -9.60048161e-03 5.32874444e+00] [ 3.43925482e-03 9.99988018e-01 -3.48366740e-03 -3.47412188e-01] [ 9.61246382e-03 3.45046735e-03 9.99947846e-01 -2.06005054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.246502481 meters 0.11229537580667134 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.35, Z:-2.06 [[ 9.99945355e-01 -3.53597321e-03 -9.83785265e-03 5.32922572e+00] [ 3.49927386e-03 9.99986864e-01 -3.74513846e-03 -3.46397374e-01] [ 9.85096614e-03 3.71050846e-03 9.99944594e-01 -2.06010546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.276502481 meters 0.11027477520963057 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.34, Z:-2.06 [[ 9.99942121e-01 -3.52773904e-03 -1.01641136e-02 5.33002031e+00] [ 3.48678932e-03 9.99985745e-01 -4.04376093e-03 -3.44946556e-01] [ 1.01782340e-02 4.00808676e-03 9.99940168e-01 -2.06040062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.306502481 meters 0.11061294633437158 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.34, Z:-2.06 [[ 9.99940012e-01 -3.47119726e-03 -1.03886145e-02 5.33065513e+00] [ 3.42883060e-03 9.99985744e-01 -4.09321798e-03 -3.44347430e-01] [ 1.04026748e-02 4.05735164e-03 9.99937659e-01 -2.06073283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.336502481 meters 0.10984993333401506 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.34, Z:-2.06 [[ 9.99936657e-01 -3.54174771e-03 -1.06835496e-02 5.33125345e+00] [ 3.49386617e-03 9.99983784e-01 -4.49714029e-03 -3.42836490e-01] [ 1.06993041e-02 4.45952853e-03 9.99932816e-01 -2.06084074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.366502481 meters 0.10927698169369937 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.34, Z:-2.06 [[ 9.99933127e-01 -3.56571366e-03 -1.10012257e-02 5.33191388e+00] [ 3.51352387e-03 9.99982500e-01 -4.75968345e-03 -3.41717598e-01] [ 1.10180048e-02 4.72071209e-03 9.99928157e-01 -2.06098198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.396502481 meters 0.10928105844872954 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.34, Z:-2.06 [[ 9.99931460e-01 -3.39677125e-03 -1.12043135e-02 5.33272336e+00] [ 3.34501698e-03 9.99983665e-01 -4.63464776e-03 -3.41397417e-01] [ 1.12198733e-02 4.59685149e-03 9.99926489e-01 -2.06165142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.426502481 meters 0.10904637961424851 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.34, Z:-2.06 [[ 9.99927639e-01 -2.98341338e-03 -1.16539869e-02 5.33449032e+00] [ 2.93248381e-03 9.99986087e-01 -4.38478755e-03 -3.40447168e-01] [ 1.16669064e-02 4.35029514e-03 9.99922476e-01 -2.06304939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.456502481 meters 0.10857563170138931 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.34, Z:-2.06 [[ 9.99925510e-01 -2.83499419e-03 -1.18717367e-02 5.33524273e+00] [ 2.78433568e-03 9.99986958e-01 -4.28150885e-03 -3.40170463e-01] [ 1.18837199e-02 4.24813502e-03 9.99920362e-01 -2.06356164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48650248099997 meters 0.10857028103274517 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.34, Z:-2.06 [[ 9.99976757e-01 1.94171302e-03 -6.53563518e-03 5.34395831e+00] [-1.99229340e-03 9.99968049e-01 -7.74157530e-03 -3.39393700e-01] [ 6.52039444e-03 7.75441627e-03 9.99948675e-01 -2.06474786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51650248099997 meters 0.10868460979516985 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.34, Z:-2.06 [[ 9.99975082e-01 1.89906088e-03 -6.79925087e-03 5.34426970e+00] [-1.95277749e-03 9.99966868e-01 -7.90246987e-03 -3.38847756e-01] [ 6.78401833e-03 7.91555037e-03 9.99945659e-01 -2.06451134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54650248099998 meters 0.10838665709909505 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.34, Z:-2.06 [[ 9.99973683e-01 1.96448160e-03 -6.98388946e-03 5.34475880e+00] [-2.01966368e-03 9.99966731e-01 -7.90308692e-03 -3.38488220e-01] [ 6.96813164e-03 7.91698404e-03 9.99944382e-01 -2.06471036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57650248099998 meters 0.1084787216139417 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-2.07 [[ 9.99987353e-01 -4.25725643e-03 -2.67751502e-03 5.35138260e+00] [ 4.25549870e-03 9.99990726e-01 -6.61830650e-04 -3.38479086e-01] [ 2.68030777e-03 6.50428119e-04 9.99996196e-01 -2.06634661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60650248099998 meters 0.1075460290036118 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-2.07 [[ 9.99986546e-01 -4.24861734e-03 -2.97623562e-03 5.35189314e+00] [ 4.24625713e-03 9.99990665e-01 -7.98890789e-04 -3.37814743e-01] [ 2.97960202e-03 7.86242179e-04 9.99995252e-01 -2.06630497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63650248099998 meters 0.10753508383639043 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-2.07 [[ 9.99987481e-01 -3.92681043e-03 -3.10113598e-03 5.35256162e+00] [ 3.92570421e-03 9.99992229e-01 -3.62723190e-04 -3.38470450e-01] [ 3.10253622e-03 3.50544507e-04 9.99995126e-01 -2.06700583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66650248099998 meters 0.10777787629004576 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-2.07 [[ 9.99988499e-01 -3.60111637e-03 -3.16766666e-03 5.35310984e+00] [ 3.60152566e-03 9.99993507e-01 1.23515492e-04 -3.39308261e-01] [ 3.16720130e-03 -1.34922505e-04 9.99994975e-01 -2.06765058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69650248099998 meters 0.10762988031047842 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-2.07 [[ 9.99990073e-01 -3.17304207e-03 -3.12814517e-03 5.35352279e+00] [ 3.17581770e-03 9.99994567e-01 8.82739471e-04 -3.40995421e-01] [ 3.12532721e-03 -8.92665127e-04 9.99994718e-01 -2.06842046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72650248099998 meters 0.10799643386501792 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-2.07 [[ 9.99990578e-01 -2.95696146e-03 -3.17820871e-03 5.35390593e+00] [ 2.96083569e-03 9.99994879e-01 1.21498475e-03 -3.41534836e-01] [ 3.17459977e-03 -1.22438345e-03 9.99994211e-01 -2.06885743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75650248099998 meters 0.10799643386501792 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-2.07 [[ 9.99990578e-01 -2.95696146e-03 -3.17820871e-03 5.35390593e+00] [ 2.96083569e-03 9.99994879e-01 1.21498475e-03 -3.41534836e-01] [ 3.17459977e-03 -1.22438345e-03 9.99994211e-01 -2.06885743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78650248099999 meters 0.1079679659869145 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-2.07 [[ 9.99990320e-01 -2.87374610e-03 -3.33202966e-03 5.35401612e+00] [ 2.87836758e-03 9.99994901e-01 1.38301994e-03 -3.41922718e-01] [ 3.32803822e-03 -1.39259736e-03 9.99993492e-01 -2.06857561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.816502481 meters 0.1084962957191156 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-2.07 [[ 9.99991674e-01 -2.58178746e-03 -3.16021386e-03 5.35387435e+00] [ 2.58833318e-03 9.99994510e-01 2.06895585e-03 -3.43855201e-01] [ 3.15485490e-03 -2.07711831e-03 9.99992866e-01 -2.06882315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.846502481 meters 0.10852358441779064 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-2.07 [[ 9.99992333e-01 -2.42405131e-03 -3.07547533e-03 5.35380316e+00] [ 2.43156231e-03 9.99994065e-01 2.44084000e-03 -3.44951298e-01] [ 3.06954035e-03 -2.44829950e-03 9.99992292e-01 -2.06896885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.876502481 meters 0.10866651717877002 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.35, Z:-2.07 [[ 9.99993056e-01 -2.10126257e-03 -3.07776576e-03 5.35403574e+00] [ 2.11066829e-03 9.99993103e-01 3.05596862e-03 -3.46434399e-01] [ 3.07132314e-03 -3.06244354e-03 9.99990594e-01 -2.06936092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.906502481 meters 0.10856623079342713 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.35, Z:-2.07 [[ 9.99993260e-01 -1.96558220e-03 -3.10112089e-03 5.35416398e+00] [ 1.97574381e-03 9.99992679e-01 3.27709759e-03 -3.46956553e-01] [ 3.09465678e-03 -3.28320252e-03 9.99989822e-01 -2.06949881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.936502481 meters 0.10838837309689786 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.35, Z:-2.07 [[ 9.99993257e-01 -1.86021783e-03 -3.16627649e-03 5.35450515e+00] [ 1.87092730e-03 9.99992528e-01 3.38276082e-03 -3.47048861e-01] [ 3.15996016e-03 -3.38866188e-03 9.99989266e-01 -2.06987715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.966502481 meters 0.10763445007536522 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.35, Z:-2.07 [[ 9.99992432e-01 -1.75952359e-03 -3.46974044e-03 5.35535026e+00] [ 1.77082921e-03 9.99993125e-01 3.25797092e-03 -3.46177212e-01] [ 3.46398410e-03 -3.26409058e-03 9.99988673e-01 -2.07039164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.996502481 meters 0.10732493156827011 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.35, Z:-2.07 [[ 9.99991699e-01 -1.86781314e-03 -3.62115336e-03 5.35548836e+00] [ 1.87858980e-03 9.99993810e-01 2.97491533e-03 -3.45492469e-01] [ 3.61557437e-03 -2.98169330e-03 9.99989019e-01 -2.07021584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.026502481 meters 0.10704633378052893 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.35, Z:-2.07 [[ 9.99991049e-01 -1.85394911e-03 -3.80321615e-03 5.35576302e+00] [ 1.86491980e-03 9.99994105e-01 2.88306648e-03 -3.45215074e-01] [ 3.79784867e-03 -2.89013337e-03 9.99988612e-01 -2.07017296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.056502481 meters 0.10661723512438621 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.34, Z:-2.07 [[ 9.99989955e-01 -2.04319981e-03 -3.98926723e-03 5.35568159e+00] [ 2.05260106e-03 9.99995123e-01 2.35396446e-03 -3.44030590e-01] [ 3.98443815e-03 -2.36212919e-03 9.99989272e-01 -2.06961414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.086502481 meters 0.1060535398819646 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.34, Z:-2.07 [[ 9.99989007e-01 -2.01531586e-03 -4.23368792e-03 5.35614478e+00] [ 2.02420471e-03 9.99995754e-01 2.09631734e-03 -3.43018905e-01] [ 4.22944520e-03 -2.10486414e-03 9.99988841e-01 -2.06971723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.116502481 meters 0.10597110853721858 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.34, Z:-2.07 [[ 9.99988545e-01 -2.14565277e-03 -4.27848036e-03 5.35602445e+00] [ 2.15360896e-03 9.99995959e-01 1.85584443e-03 -3.42586428e-01] [ 4.27448107e-03 -1.86503735e-03 9.99989125e-01 -2.06942126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.146502481 meters 0.10570948362541911 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.34, Z:-2.07 [[ 9.99988529e-01 -2.10440475e-03 -4.30267933e-03 5.35595291e+00] [ 2.11275913e-03 9.99995890e-01 1.93804599e-03 -3.42968713e-01] [ 4.29858321e-03 -1.94711429e-03 9.99988865e-01 -2.06927500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.176502481 meters 0.10570037079341242 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.34, Z:-2.07 [[ 9.99989008e-01 -1.83753765e-03 -4.31353793e-03 5.35617379e+00] [ 1.84799420e-03 9.99995361e-01 2.42139308e-03 -3.44173892e-01] [ 4.30906851e-03 -2.42933786e-03 9.99987765e-01 -2.06962625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.206502481 meters 0.10574888192296855 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.34, Z:-2.07 [[ 9.99972963e-01 -5.56030845e-03 -4.81212051e-03 5.35790762e+00] [ 5.55418025e-03 9.99983749e-01 -1.28592060e-03 -3.44300141e-01] [ 4.81919242e-03 1.25915845e-03 9.99987595e-01 -2.07092435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23650248099997 meters 0.10560161890659278 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.35, Z:-2.07 [[ 9.99975632e-01 -5.07557008e-03 -4.79305237e-03 5.35843135e+00] [ 5.07343636e-03 9.99987026e-01 -4.57222542e-04 -3.46040627e-01] [ 4.79531085e-03 4.32894154e-04 9.99988409e-01 -2.07178242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26650248099997 meters 0.10579183155969225 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.35, Z:-2.07 [[ 9.99976746e-01 -4.82280691e-03 -4.82169798e-03 5.35876860e+00] [ 4.82260925e-03 9.99988370e-01 -5.26185352e-05 -3.46805663e-01] [ 4.82189568e-03 2.93641463e-05 9.99988374e-01 -2.07220609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29650248099998 meters 0.10572107402636824 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.35, Z:-2.07 [[ 9.99977717e-01 -4.58233656e-03 -4.85475290e-03 5.35895043e+00] [ 4.58413472e-03 9.99989428e-01 3.59328528e-04 -3.47782895e-01] [ 4.85305501e-03 -3.81575362e-04 9.99988151e-01 -2.07238072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32650248099998 meters 0.10575491392053264 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.35, Z:-2.07 [[ 9.99978364e-01 -4.35907067e-03 -4.92636403e-03 5.35928424e+00] [ 4.36248400e-03 9.99990252e-01 6.82337232e-04 -3.48390271e-01] [ 4.92334165e-03 -7.03813654e-04 9.99987633e-01 -2.07268179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35650248099998 meters 0.10566116164495783 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.35, Z:-2.07 [[ 9.99980491e-01 -3.91777703e-03 -4.86497402e-03 5.35964867e+00] [ 3.92475094e-03 9.99991283e-01 1.42477548e-03 -3.50008923e-01] [ 4.85934966e-03 -1.44384149e-03 9.99987151e-01 -2.07342211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38650248099998 meters 0.10584836486634512 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.35, Z:-2.07 [[ 9.99981621e-01 -3.57289743e-03 -4.89816488e-03 5.36004845e+00] [ 3.58268005e-03 9.99991602e-01 1.98988393e-03 -3.51203645e-01] [ 4.89101410e-03 -2.00739592e-03 9.99986024e-01 -2.07394719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41650248099998 meters 0.10590304235080707 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.35, Z:-2.07 [[ 9.99982054e-01 -3.41740134e-03 -4.92071866e-03 5.36030784e+00] [ 3.42838497e-03 9.99991647e-01 2.22541719e-03 -3.51573805e-01] [ 4.91307241e-03 -2.24224737e-03 9.99985417e-01 -2.07423687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44650248099998 meters 0.10594740635471248 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.35, Z:-2.07 [[ 9.99982771e-01 -3.10748941e-03 -4.98016862e-03 5.36084431e+00] [ 3.12092560e-03 9.99991505e-01 2.69244180e-03 -3.52343528e-01] [ 4.97175958e-03 -2.70793814e-03 9.99983974e-01 -2.07485008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47650248099998 meters 0.10609910897168981 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.35, Z:-2.08 [[ 9.99983618e-01 -2.88597792e-03 -4.94309667e-03 5.36102881e+00] [ 2.90121532e-03 9.99991054e-01 3.07816985e-03 -3.53223174e-01] [ 4.93416892e-03 -3.09246041e-03 9.99983045e-01 -2.07522388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50650248099998 meters 0.1063924911355956 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.36, Z:-2.08 [[ 9.99985219e-01 -2.51678260e-03 -4.81950218e-03 5.36111244e+00] [ 2.53505455e-03 9.99989609e-01 3.78890548e-03 -3.55172687e-01] [ 4.80991624e-03 -3.80106718e-03 9.99981208e-01 -2.07569675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53650248099999 meters 0.10650221309890918 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.36, Z:-2.08 [[ 9.99986053e-01 -2.15322087e-03 -4.82252526e-03 5.36157640e+00] [ 2.17433038e-03 9.99988060e-01 4.37631548e-03 -3.56339800e-01] [ 4.81304450e-03 -4.38674021e-03 9.99978795e-01 -2.07638463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.566502481 meters 0.10670210647456607 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.36, Z:-2.08 [[ 9.99985771e-01 -2.29494299e-03 -4.81561455e-03 5.36141367e+00] [ 2.31499151e-03 9.99988660e-01 4.16179789e-03 -3.55981848e-01] [ 4.80600886e-03 -4.17288678e-03 9.99979744e-01 -2.07613767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.596502481 meters 0.10647638074216283 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.36, Z:-2.08 [[ 9.99984287e-01 -2.35719920e-03 -5.08616329e-03 5.36154855e+00] [ 2.37760061e-03 9.99989138e-01 4.00884666e-03 -3.55594899e-01] [ 5.07665839e-03 -4.02087654e-03 9.99979030e-01 -2.07559188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.626502481 meters 0.10672385435566621 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.36, Z:-2.08 [[ 9.99984765e-01 -2.17229337e-03 -5.07460885e-03 5.36175961e+00] [ 2.19415127e-03 9.99988323e-01 4.30571839e-03 -3.56253555e-01] [ 5.06519631e-03 -4.31678725e-03 9.99977854e-01 -2.07593440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.656502481 meters 0.10686893453643413 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.36, Z:-2.08 [[ 9.99966100e-01 -5.92290400e-03 -5.71992577e-03 5.36370392e+00] [ 5.92519040e-03 9.99982373e-01 3.82862096e-04 -3.55607439e-01] [ 5.71755729e-03 -4.16740766e-04 9.99983568e-01 -2.07717088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.686502481 meters 0.10619051527344382 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.36, Z:-2.08 [[ 9.99968795e-01 -5.32898043e-03 -5.83193729e-03 5.36500715e+00] [ 5.33583873e-03 9.99985090e-01 1.16106171e-03 -3.56465464e-01] [ 5.82566306e-03 -1.19214376e-03 9.99982320e-01 -2.07878729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.716502481 meters 0.10633268872838203 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.36, Z:-2.08 [[ 9.99968730e-01 -5.32462287e-03 -5.84706456e-03 5.36508848e+00] [ 5.33148124e-03 9.99985117e-01 1.15799974e-03 -3.56389848e-01] [ 5.84081162e-03 -1.18913705e-03 9.99982235e-01 -2.07884378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.746502481 meters 0.1066766463397329 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.36, Z:-2.08 [[ 9.99967804e-01 -5.29223848e-03 -6.03185028e-03 5.36551610e+00] [ 5.29901505e-03 9.99985346e-01 1.10803732e-03 -3.55932645e-01] [ 6.02589790e-03 -1.13996451e-03 9.99981194e-01 -2.07895689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.776502481 meters 0.10662474122946206 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.36, Z:-2.08 [[ 9.99966639e-01 -5.32305286e-03 -6.19560254e-03 5.36571387e+00] [ 5.32903306e-03 9.99985350e-01 9.49125711e-04 -3.55284030e-01] [ 6.19045953e-03 -9.82110618e-04 9.99980357e-01 -2.07877844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.806502481 meters 0.10666003256892398 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.36, Z:-2.08 [[ 9.99966923e-01 -5.26336621e-03 -6.20076072e-03 5.36564895e+00] [ 5.27009440e-03 9.99985541e-01 1.06921889e-03 -3.55720510e-01] [ 6.19504338e-03 -1.10186212e-03 9.99980203e-01 -2.07866645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.836502481 meters 0.10687594431805683 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.36, Z:-2.08 [[ 9.99967817e-01 -5.07099690e-03 -6.21684119e-03 5.36588076e+00] [ 5.07972613e-03 9.99986133e-01 1.38914056e-03 -3.56348262e-01] [ 6.20971065e-03 -1.42067571e-03 9.99979710e-01 -2.07896121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.866502481 meters 0.10732623757729913 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.36, Z:-2.08 [[ 9.99969187e-01 -4.81543224e-03 -6.19972097e-03 5.36613937e+00] [ 4.82701807e-03 9.99986629e-01 1.85516047e-03 -3.57328091e-01] [ 6.19070468e-03 -1.88502947e-03 9.99979061e-01 -2.07937677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.896502481 meters 0.10744988212953485 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.36, Z:-2.08 [[ 9.99970036e-01 -4.55170618e-03 -6.26178313e-03 5.36666183e+00] [ 4.56585969e-03 9.99987050e-01 2.24786438e-03 -3.57927385e-01] [ 6.25147042e-03 -2.27638745e-03 9.99977868e-01 -2.07998233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.926502481 meters 0.10765011887472647 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.36, Z:-2.08 [[ 9.99971690e-01 -4.07737930e-03 -6.32404848e-03 5.36758938e+00] [ 4.09614238e-03 9.99987239e-01 2.95683072e-03 -3.58879868e-01] [ 6.31191166e-03 -2.98265121e-03 9.99975631e-01 -2.08116356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.956502481 meters 0.1075526110732044 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.36, Z:-2.08 [[ 9.99972575e-01 -3.81756904e-03 -6.34635723e-03 5.36803688e+00] [ 3.83908294e-03 9.99986914e-01 3.38124111e-03 -3.59602969e-01] [ 6.33336606e-03 -3.40551257e-03 9.99974145e-01 -2.08175963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98650248099997 meters 0.108144109858359 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.36, Z:-2.08 [[ 9.99972235e-01 -3.64456054e-03 -6.49973062e-03 5.36850909e+00] [ 3.66797207e-03 9.99986816e-01 3.59364675e-03 -3.59814146e-01] [ 6.48654766e-03 -3.61738780e-03 9.99972419e-01 -2.08205200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01650248099997 meters 0.10786650365216792 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.36, Z:-2.08 [[ 9.99970843e-01 -3.81316482e-03 -6.61609379e-03 5.36870346e+00] [ 3.83428961e-03 9.99987583e-01 3.18319874e-03 -3.58527266e-01] [ 6.60387357e-03 -3.20847395e-03 9.99973047e-01 -2.08199036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04650248099998 meters 0.10801399600448468 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.36, Z:-2.08 [[ 9.99969920e-01 -3.81501583e-03 -6.75309583e-03 5.36906738e+00] [ 3.83575209e-03 9.99987961e-01 3.06034676e-03 -3.57901996e-01] [ 6.74133925e-03 -3.08615790e-03 9.99972515e-01 -2.08214800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07650248099998 meters 0.10760865247721052 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.36, Z:-2.08 [[ 9.99966699e-01 -3.99402461e-03 -7.11671987e-03 5.36973238e+00] [ 4.01112053e-03 9.99989100e-01 2.38956695e-03 -3.55615203e-01] [ 7.10709831e-03 -2.41803339e-03 9.99971821e-01 -2.08216779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10650248099998 meters 0.10755835963657678 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.35, Z:-2.08 [[ 9.99963407e-01 -3.99997796e-03 -7.56201531e-03 5.37078892e+00] [ 4.01471321e-03 9.99990070e-01 1.93441317e-03 -3.53522009e-01] [ 7.55420261e-03 -1.96470171e-03 9.99969537e-01 -2.08258373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13650248099998 meters 0.10713954608512494 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.35, Z:-2.08 [[ 9.99963256e-01 -3.92854887e-03 -7.61922327e-03 5.37113013e+00] [ 3.94358744e-03 9.99990304e-01 1.95974904e-03 -3.53296055e-01] [ 7.61145042e-03 -1.98972410e-03 9.99969053e-01 -2.08292711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16650248099998 meters 0.10731515391209634 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.35, Z:-2.08 [[ 9.99961979e-01 -3.94583398e-03 -7.77633833e-03 5.37163654e+00] [ 3.95959982e-03 9.99990620e-01 1.75562140e-03 -3.52284569e-01] [ 7.76933799e-03 -1.78634584e-03 9.99968223e-01 -2.08323535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19650248099998 meters 0.10790862013509633 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.35, Z:-2.08 [[ 9.99960012e-01 -4.13058003e-03 -7.93169861e-03 5.37179493e+00] [ 4.14147890e-03 9.99990502e-01 1.35815856e-03 -3.50996376e-01] [ 7.92601329e-03 -1.39095321e-03 9.99967621e-01 -2.08296323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22650248099998 meters 0.1077445750024145 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.35, Z:-2.08 [[ 9.99960171e-01 -3.97260622e-03 -7.99219482e-03 5.37210142e+00] [ 3.98543022e-03 9.99990795e-01 1.58927862e-03 -3.51321536e-01] [ 7.98580768e-03 -1.62106766e-03 9.99966799e-01 -2.08323355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25650248099998 meters 0.10813440569213235 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.35, Z:-2.08 [[ 9.99961331e-01 -3.97876121e-03 -7.84255437e-03 5.37176947e+00] [ 3.99256008e-03 9.99990508e-01 1.74461606e-03 -3.52032269e-01] [ 7.83553851e-03 -1.77586047e-03 9.99967725e-01 -2.08308978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28650248099999 meters 0.10865386115069191 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.35, Z:-2.08 [[ 9.99962154e-01 -3.75392298e-03 -7.84844436e-03 5.37204190e+00] [ 3.77068082e-03 9.99990641e-01 2.12147352e-03 -3.52755808e-01] [ 7.84040706e-03 -2.15098721e-03 9.99966950e-01 -2.08345042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.316502481 meters 0.10925580070615436 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.35, Z:-2.08 [[ 9.99963226e-01 -3.52881497e-03 -7.81631762e-03 5.37218614e+00] [ 3.54917879e-03 9.99990340e-01 2.59295827e-03 -3.53868518e-01] [ 7.80709205e-03 -2.62060443e-03 9.99966090e-01 -2.08372044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.346502481 meters 0.11012022448272375 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.35, Z:-2.08 [[ 9.99963472e-01 -3.35643214e-03 -7.86058218e-03 5.37250814e+00] [ 3.37945852e-03 9.99990033e-01 2.91789893e-03 -3.54440898e-01] [ 7.85071010e-03 -2.94435686e-03 9.99964848e-01 -2.08403734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.376502481 meters 0.11055450684777299 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.35, Z:-2.08 [[ 9.99963618e-01 -3.21229385e-03 -7.90216297e-03 5.37287920e+00] [ 3.23709116e-03 9.99989871e-01 3.12725567e-03 -3.54620027e-01] [ 7.89203726e-03 -3.15272192e-03 9.99963887e-01 -2.08442930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.406502481 meters 0.11099102644471344 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.35, Z:-2.08 [[ 9.99963875e-01 -3.08074220e-03 -7.92195767e-03 5.37316861e+00] [ 3.10713973e-03 9.99989655e-01 3.32205153e-03 -3.54816318e-01] [ 7.91164133e-03 -3.34654615e-03 9.99963103e-01 -2.08476566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.436502481 meters 0.11159839331061729 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.36, Z:-2.09 [[ 9.99965431e-01 -2.85807464e-03 -7.80816497e-03 5.37337769e+00] [ 2.88780714e-03 9.99988613e-01 3.79925586e-03 -3.55826278e-01] [ 7.79721750e-03 -3.82167300e-03 9.99962298e-01 -2.08530347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.466502481 meters 0.11317400877886616 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.36, Z:-2.09 [[ 9.99966757e-01 -2.68696211e-03 -7.69841408e-03 5.37358079e+00] [ 2.71875802e-03 9.99987806e-01 4.12270584e-03 -3.56328842e-01] [ 7.68724265e-03 -4.14349891e-03 9.99961868e-01 -2.08586572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.496502481 meters 0.11290553040789018 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.36, Z:-2.09 [[ 9.99966343e-01 -2.69907544e-03 -7.74772727e-03 5.37380940e+00] [ 2.73056678e-03 9.99988043e-01 4.05689381e-03 -3.55966203e-01] [ 7.73668476e-03 -4.07791295e-03 9.99961756e-01 -2.08603689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.526502481 meters 0.11312841245321423 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.35, Z:-2.09 [[ 9.99994093e-01 1.22445105e-03 -3.21179463e-03 5.38177246e+00] [-1.22724841e-03 9.99998869e-01 -8.69138476e-04 -3.53673901e-01] [ 3.21072678e-03 8.73075011e-04 9.99994464e-01 -2.08576636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.556502481 meters 0.11333920515157034 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.35, Z:-2.09 [[ 9.99993577e-01 1.17739130e-03 -3.38512918e-03 5.38213240e+00] [-1.18100420e-03 9.99998735e-01 -1.06548674e-03 -3.52895844e-01] [ 3.38387041e-03 1.06947774e-03 9.99993703e-01 -2.08580101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.586502481 meters 0.11375406260854723 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.35, Z:-2.09 [[ 9.99992799e-01 9.63937931e-04 -3.67065617e-03 5.38257848e+00] [-9.70081411e-04 9.99998131e-01 -1.67226093e-03 -3.50947637e-01] [ 3.66903736e-03 1.67580972e-03 9.99991865e-01 -2.08564666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.616502481 meters 0.11155697398595761 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.35, Z:-2.09 [[ 9.99990995e-01 9.82474978e-04 -4.12851481e-03 5.38348721e+00] [-9.90855120e-04 9.99997452e-01 -2.02826499e-03 -3.49342193e-01] [ 4.12651157e-03 2.03233748e-03 9.99989421e-01 -2.08582439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.646502481 meters 0.11155697398595761 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.35, Z:-2.09 [[ 9.99990995e-01 9.82474978e-04 -4.12851481e-03 5.38348721e+00] [-9.90855120e-04 9.99997452e-01 -2.02826499e-03 -3.49342193e-01] [ 4.12651157e-03 2.03233748e-03 9.99989421e-01 -2.08582439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.676502481 meters 0.11060478703036751 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.35, Z:-2.09 [[ 9.99989595e-01 1.04674104e-03 -4.44007950e-03 5.38425298e+00] [-1.05632336e-03 9.99997117e-01 -2.15634754e-03 -3.48492710e-01] [ 4.43780957e-03 2.16101526e-03 9.99987818e-01 -2.08617252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.706502481 meters 0.11040597949398478 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.35, Z:-2.09 [[ 9.99988306e-01 1.13612881e-03 -4.70080485e-03 5.38489269e+00] [-1.14664587e-03 9.99996845e-01 -2.23519943e-03 -3.47823891e-01] [ 4.69825054e-03 2.24056345e-03 9.99986453e-01 -2.08648418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73650248099997 meters 0.10881339362630273 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.34, Z:-2.09 [[ 9.99983466e-01 1.26503297e-03 -5.60956749e-03 5.38650919e+00] [-1.28099015e-03 9.99995141e-01 -2.84195537e-03 -3.44855464e-01] [ 5.60594507e-03 2.84909418e-03 9.99980228e-01 -2.08665420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76650248099997 meters 0.10862173180219696 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.34, Z:-2.09 [[ 9.99981330e-01 1.22766940e-03 -5.98599650e-03 5.38727021e+00] [-1.24692467e-03 9.99994058e-01 -3.21404821e-03 -3.43327887e-01] [ 5.98201514e-03 3.22145229e-03 9.99976919e-01 -2.08678725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79650248099998 meters 0.10815982275485968 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.34, Z:-2.09 [[ 9.99977654e-01 1.36849112e-03 -6.54360441e-03 5.38843173e+00] [-1.39111761e-03 9.99993066e-01 -3.45450066e-03 -3.41898976e-01] [ 6.53883158e-03 3.46352639e-03 9.99972623e-01 -2.08710412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82650248099998 meters 0.10870791065423127 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.34, Z:-2.09 [[ 9.99977031e-01 1.65088893e-03 -6.57365097e-03 5.38871180e+00] [-1.67073105e-03 9.99994062e-01 -3.01408590e-03 -3.42896280e-01] [ 6.56863601e-03 3.02499947e-03 9.99973851e-01 -2.08748892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85650248099998 meters 0.10898529334684129 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.34, Z:-2.09 [[ 9.99976720e-01 1.84469178e-03 -6.56939666e-03 5.38888302e+00] [-1.86241897e-03 9.99994639e-01 -2.69335580e-03 -3.43606137e-01] [ 6.56439302e-03 2.70552806e-03 9.99974794e-01 -2.08776211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88650248099998 meters 0.10856946459787087 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.34, Z:-2.09 [[ 9.99975570e-01 2.06191343e-03 -6.67889118e-03 5.38916861e+00] [-2.07731277e-03 9.99995198e-01 -2.29955706e-03 -3.44458883e-01] [ 6.67411763e-03 2.31337502e-03 9.99975052e-01 -2.08785969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91650248099998 meters 0.10909785524912036 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.34, Z:-2.09 [[ 9.99972463e-01 -1.94544976e-03 -7.16154271e-03 5.39043626e+00] [ 1.90023022e-03 9.99978251e-01 -6.31561627e-03 -3.44174116e-01] [ 7.17367366e-03 6.30183378e-03 9.99954412e-01 -2.08850040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94650248099998 meters 0.10916196047721993 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-2.09 [[ 9.99973659e-01 -1.32599544e-03 -7.13599202e-03 5.39120223e+00] [ 1.28842862e-03 9.99985302e-01 -5.26643958e-03 -3.46237554e-01] [ 7.14287041e-03 5.25710664e-03 9.99960670e-01 -2.08978713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97650248099998 meters 0.1096040529926535 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-2.09 [[ 9.99975987e-01 -6.98905991e-04 -6.89471226e-03 5.39149937e+00] [ 6.71497675e-04 9.99991867e-01 -3.97678029e-03 -3.49379799e-01] [ 6.89743558e-03 3.97205501e-03 9.99968324e-01 -2.09096430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00650248099998 meters 0.10944946060748423 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-2.09 [[ 9.99975400e-01 -3.32671309e-04 -7.00626799e-03 5.39206038e+00] [ 3.08957965e-04 9.99994222e-01 -3.38540042e-03 -3.50539369e-01] [ 7.00735373e-03 3.38315249e-03 9.99969725e-01 -2.09156587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03650248099999 meters 0.10984618849011638 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-2.09 [[ 9.99974122e-01 -2.91221761e-04 -7.18817668e-03 5.39243845e+00] [ 2.66761306e-04 9.99994172e-01 -3.40359762e-03 -3.50272305e-01] [ 7.18912599e-03 3.40159202e-03 9.99968372e-01 -2.09162870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.066502481 meters 0.10935266525092446 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-2.09 [[ 9.99970654e-01 -3.58039063e-04 -7.65259657e-03 5.39286596e+00] [ 3.29230560e-04 9.99992856e-01 -3.76546800e-03 -3.49163144e-01] [ 7.65389009e-03 3.76283803e-03 9.99963629e-01 -2.09104230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.096502481 meters 0.10934102993777794 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-2.09 [[ 9.99969709e-01 -2.48649619e-04 -7.77935402e-03 5.39309716e+00] [ 2.20380054e-04 9.99993371e-01 -3.63456816e-03 -3.49444904e-01] [ 7.78020618e-03 3.63274365e-03 9.99963135e-01 -2.09109678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.126502481 meters 0.10897631832253088 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-2.09 [[ 9.99969576e-01 -5.80125664e-05 -7.80021388e-03 5.39322862e+00] [ 3.21860487e-05 9.99994518e-01 -3.31108599e-03 -3.50426843e-01] [ 7.80036320e-03 3.31073420e-03 9.99964096e-01 -2.09134259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.156502481 meters 0.10880521929071157 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-2.09 [[ 9.99968355e-01 1.99063583e-04 -7.95292150e-03 5.39382653e+00] [-2.22846521e-04 9.99995506e-01 -2.98969144e-03 -3.50868493e-01] [ 7.95229062e-03 2.99136912e-03 9.99963906e-01 -2.09187115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.186502481 meters 0.10826870539893219 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-2.09 [[ 9.99966005e-01 3.03203898e-04 -8.23997963e-03 5.39435669e+00] [-3.27398187e-04 9.99995639e-01 -2.93501711e-03 -3.50682603e-01] [ 8.23905379e-03 2.93761509e-03 9.99961743e-01 -2.09192466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.216502481 meters 0.10824672557602956 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-2.09 [[ 9.99964271e-01 6.65142537e-04 -8.42703516e-03 5.39488548e+00] [-6.85140470e-04 9.99996956e-01 -2.37040403e-03 -3.51820400e-01] [ 8.42543285e-03 2.37609304e-03 9.99961682e-01 -2.09224533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.246502481 meters 0.10834651780855956 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.35, Z:-2.09 [[ 9.99964242e-01 1.03414698e-03 -8.39320042e-03 5.39511662e+00] [-1.04826740e-03 9.99998042e-01 -1.67814006e-03 -3.53471067e-01] [ 8.39144854e-03 1.68687837e-03 9.99963368e-01 -2.09273111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.276502481 meters 0.10878605216579243 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.36, Z:-2.09 [[ 9.99967502e-01 1.33177545e-03 -7.95122031e-03 5.39446094e+00] [-1.33723909e-03 9.99998873e-01 -6.81867261e-04 -3.56717085e-01] [ 7.95030326e-03 6.92477784e-04 9.99968156e-01 -2.09297795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.306502481 meters 0.10861645081013237 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.36, Z:-2.09 [[ 9.99963842e-01 -3.31671929e-04 -8.49734092e-03 5.39659556e+00] [ 3.13698023e-04 9.99997711e-01 -2.11648434e-03 -3.56657780e-01] [ 8.49802345e-03 2.11374221e-03 9.99961657e-01 -2.09469416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.336502481 meters 0.10924307921361885 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.36, Z:-2.09 [[ 9.99968201e-01 -5.53606360e-05 -7.97463180e-03 5.39588181e+00] [ 4.69527760e-05 9.99999443e-01 -1.05450916e-03 -3.59966693e-01] [ 7.97468574e-03 1.05410119e-03 9.99967646e-01 -2.09496549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.366502481 meters 0.10981137230898567 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.36, Z:-2.10 [[ 9.99969552e-01 2.53887737e-04 -7.79938192e-03 5.39575572e+00] [-2.56435137e-04 9.99999914e-01 -3.25617222e-04 -3.61989751e-01] [ 7.79929858e-03 3.27607343e-04 9.99969531e-01 -2.09525395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.396502481 meters 0.11057683627107753 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.36, Z:-2.10 [[ 9.99960531e-01 -3.82533954e-03 -8.01898796e-03 5.39618161e+00] [ 3.79218541e-03 9.99984217e-01 -4.14558948e-03 -3.63048820e-01] [ 8.03471968e-03 4.11501637e-03 9.99959254e-01 -2.09529554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.426502481 meters 0.11087479023145572 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.37, Z:-2.10 [[ 9.99962614e-01 -3.32453568e-03 -7.98232842e-03 5.39659052e+00] [ 3.29893716e-03 9.99989381e-01 -3.21792587e-03 -3.65069539e-01] [ 7.99294176e-03 3.19147236e-03 9.99962963e-01 -2.09605195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.456502481 meters 0.11136634843518982 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.37, Z:-2.10 [[ 9.99965308e-01 -2.82185812e-03 -7.83711647e-03 5.39694760e+00] [ 2.80425646e-03 9.99993523e-01 -2.25601720e-03 -3.67301295e-01] [ 7.84343187e-03 2.23396165e-03 9.99966744e-01 -2.09698288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48650248099997 meters 0.11167799871380872 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.37, Z:-2.10 [[ 9.99964650e-01 -2.56845918e-03 -8.00638744e-03 5.39760017e+00] [ 2.55310578e-03 9.99994884e-01 -1.92727499e-03 -3.67631961e-01] [ 8.01129661e-03 1.90676570e-03 9.99966091e-01 -2.09748825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51650248099997 meters 0.1114658556016254 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.37, Z:-2.10 [[ 9.99964906e-01 -2.35029431e-03 -8.04133994e-03 5.39804501e+00] [ 2.33729779e-03 9.99995948e-01 -1.62522997e-03 -3.67984152e-01] [ 8.04512712e-03 1.60637792e-03 9.99966347e-01 -2.09805064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54650248099998 meters 0.1116331131485608 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.37, Z:-2.10 [[ 9.99964363e-01 -2.10894284e-03 -8.17462318e-03 5.39862897e+00] [ 2.09812969e-03 9.99996913e-01 -1.33112074e-03 -3.68349401e-01] [ 8.17740520e-03 1.31392189e-03 9.99965701e-01 -2.09860650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57650248099998 meters 0.11075658761916482 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.37, Z:-2.10 [[ 9.99963363e-01 -2.00827935e-03 -8.32103533e-03 5.39911507e+00] [ 1.99770785e-03 9.99997187e-01 -1.27857181e-03 -3.68128348e-01] [ 8.32357965e-03 1.26190197e-03 9.99964562e-01 -2.09893161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60650248099998 meters 0.11003442577562328 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.37, Z:-2.10 [[ 9.99960283e-01 -2.08150194e-03 -8.66605043e-03 5.39974087e+00] [ 2.06587527e-03 9.99996225e-01 -1.81176686e-03 -3.66251781e-01] [ 8.66978891e-03 1.79379192e-03 9.99960808e-01 -2.09900826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63650248099998 meters 0.10943378247632655 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.36, Z:-2.10 [[ 9.99954869e-01 -2.03403032e-03 -9.28021309e-03 5.40085235e+00] [ 2.01289925e-03 9.99995362e-01 -2.28577585e-03 -3.64121428e-01] [ 9.28481939e-03 2.26699256e-03 9.99954325e-01 -2.09912589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66650248099998 meters 0.10918817242301525 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.36, Z:-2.10 [[ 9.99953280e-01 -2.01058831e-03 -9.45493215e-03 5.40128329e+00] [ 1.98803891e-03 9.99995159e-01 -2.39372933e-03 -3.63548993e-01] [ 9.45969918e-03 2.37482073e-03 9.99952436e-01 -2.09927962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69650248099998 meters 0.10899194220565848 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.36, Z:-2.10 [[ 9.99952215e-01 -1.85517200e-03 -9.59818252e-03 5.40183955e+00] [ 1.83367758e-03 9.99995793e-01 -2.24774164e-03 -3.63458575e-01] [ 9.60231208e-03 2.23003426e-03 9.99951410e-01 -2.09972988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72650248099998 meters 0.10895102387214703 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.36, Z:-2.10 [[ 9.99952366e-01 -1.68719865e-03 -9.61345771e-03 5.40208257e+00] [ 1.66750734e-03 9.99996496e-01 -2.05595485e-03 -3.63748265e-01] [ 9.61689283e-03 2.03982641e-03 9.99951676e-01 -2.10006472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75650248099998 meters 0.10869733316805193 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.36, Z:-2.10 [[ 9.99953006e-01 -1.59545565e-03 -9.56243010e-03 5.40194594e+00] [ 1.57743869e-03 9.99996967e-01 -1.89138679e-03 -3.64265984e-01] [ 9.56541872e-03 1.87621376e-03 9.99952490e-01 -2.09998243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78650248099999 meters 0.10864517879083462 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.36, Z:-2.10 [[ 9.99952939e-01 -1.39514198e-03 -9.60068302e-03 5.40222893e+00] [ 1.38004425e-03 9.99997801e-01 -1.57901338e-03 -3.64788922e-01] [ 9.60286485e-03 1.56568971e-03 9.99952666e-01 -2.10029601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.816502481 meters 0.10864940797931333 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.37, Z:-2.10 [[ 9.99953919e-01 -1.04162091e-03 -9.54331401e-03 5.40265323e+00] [ 1.03229053e-03 9.99998984e-01 -9.82561595e-04 -3.65847295e-01] [ 9.54432778e-03 9.72664845e-04 9.99953979e-01 -2.10109183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.846502481 meters 0.10876258376267914 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.37, Z:-2.10 [[ 9.99954855e-01 -6.49993634e-04 -9.47971156e-03 5.40311540e+00] [ 6.46939511e-04 9.99999738e-01 -3.25237531e-04 -3.67098055e-01] [ 9.47992048e-03 3.19090049e-04 9.99955014e-01 -2.10196315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.876502481 meters 0.10942969134119246 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.37, Z:-2.10 [[ 9.99958675e-01 -1.79771913e-04 -9.08930267e-03 5.40323167e+00] [ 1.85990370e-04 9.99999749e-01 6.83310536e-04 -3.69588997e-01] [ 9.08917755e-03 -6.84972821e-04 9.99958458e-01 -2.10317721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.906502481 meters 0.10977736270888663 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.37, Z:-2.11 [[ 9.99994187e-01 2.67996228e-04 -3.39900221e-03 5.41333925e+00] [-2.89090373e-04 9.99980695e-01 -6.20700946e-03 -3.69079751e-01] [ 3.39727314e-03 6.20795600e-03 9.99974960e-01 -2.10669688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.936502481 meters 0.11018154237276029 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.37, Z:-2.11 [[ 9.99994639e-01 3.61779933e-04 -3.25441174e-03 5.41321191e+00] [-3.81102772e-04 9.99982293e-01 -5.93876953e-03 -3.69841735e-01] [ 3.25220559e-03 5.93997796e-03 9.99977070e-01 -2.10689298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.966502481 meters 0.11081349847494061 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.37, Z:-2.11 [[ 9.99994812e-01 3.71455782e-04 -3.19961856e-03 5.41318586e+00] [-3.90275863e-04 9.99982617e-01 -5.88336164e-03 -3.69962127e-01] [ 3.19737753e-03 5.88457985e-03 9.99977574e-01 -2.10696211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.996502481 meters 0.11048432715997918 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.37, Z:-2.11 [[ 9.99994565e-01 4.37622222e-04 -3.26773990e-03 5.41345915e+00] [-4.56678982e-04 9.99982882e-01 -5.83331895e-03 -3.69814836e-01] [ 3.26513117e-03 5.83477956e-03 9.99977647e-01 -2.10715314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.026502481 meters 0.11027415395370085 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.37, Z:-2.11 [[ 9.99993850e-01 2.34954119e-04 -3.49916562e-03 5.41359406e+00] [-2.57028679e-04 9.99980062e-01 -6.30940806e-03 -3.68552093e-01] [ 3.49761343e-03 6.31026865e-03 9.99973973e-01 -2.10674220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.056502481 meters 0.11035735615726314 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.37, Z:-2.11 [[ 9.99992399e-01 1.91516044e-04 -3.89430251e-03 5.41449243e+00] [-2.17963600e-04 9.99976910e-01 -6.79205621e-03 -3.66560937e-01] [ 3.89291180e-03 6.79285340e-03 9.99969351e-01 -2.10707719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.086502481 meters 0.10981186432244629 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.37, Z:-2.11 [[ 9.99991352e-01 2.97684181e-04 -4.14817027e-03 5.41519902e+00] [-3.25855217e-04 9.99976880e-01 -6.79217546e-03 -3.66049583e-01] [ 4.14605244e-03 6.79346843e-03 9.99968329e-01 -2.10748679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.116502481 meters 0.10915221689467168 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.36, Z:-2.11 [[ 9.99989878e-01 2.62861043e-04 -4.49153576e-03 5.41601433e+00] [-2.95283727e-04 9.99973896e-01 -7.21948085e-03 -3.64289718e-01] [ 4.48952079e-03 7.22073405e-03 9.99963852e-01 -2.10785244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.146502481 meters 0.1088837823391528 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.36, Z:-2.11 [[ 9.99989040e-01 2.94031451e-04 -4.67270631e-03 5.41645727e+00] [-3.28183081e-04 9.99973230e-01 -7.30966203e-03 -3.63726504e-01] [ 4.67043195e-03 7.31111542e-03 9.99962367e-01 -2.10803100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.176502481 meters 0.10877088515982464 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.36, Z:-2.11 [[ 9.99987758e-01 3.48368976e-04 -4.93593099e-03 5.41694469e+00] [-3.85202813e-04 9.99972074e-01 -7.46340437e-03 -3.63003739e-01] [ 4.93319313e-03 7.46521433e-03 9.99959966e-01 -2.10811787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.206502481 meters 0.10835876119905725 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.36, Z:-2.11 [[ 9.99986624e-01 4.22951946e-04 -5.15493170e-03 5.41738552e+00] [-4.61318084e-04 9.99972189e-01 -7.44369330e-03 -3.62803635e-01] [ 5.15164001e-03 7.44597179e-03 9.99959008e-01 -2.10823061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23650248099997 meters 0.1082600678219179 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.36, Z:-2.11 [[ 9.99984981e-01 5.19288345e-04 -5.45599124e-03 5.41802267e+00] [-5.60607436e-04 9.99971157e-01 -7.57436132e-03 -3.61957795e-01] [ 5.45190059e-03 7.57730623e-03 9.99956430e-01 -2.10845215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26650248099997 meters 0.10777387200980869 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.36, Z:-2.11 [[ 9.99988430e-01 -4.80043637e-03 -3.08122082e-04 5.42547297e+00] [ 4.80053700e-03 9.99988424e-01 3.26669294e-04 -3.63581784e-01] [ 3.06550360e-04 -3.28144666e-04 9.99999899e-01 -2.11130246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29650248099998 meters 0.10836381858287718 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.37, Z:-2.11 [[ 9.99992025e-01 -3.98586642e-03 -2.52046825e-04 5.42633696e+00] [ 3.98631235e-03 9.99990445e-01 1.79417052e-03 -3.66674836e-01] [ 2.44893093e-04 -1.79516095e-03 9.99998359e-01 -2.11283646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32650248099998 meters 0.10799208624083691 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.37, Z:-2.11 [[ 9.99994303e-01 -3.36512129e-03 -2.62930187e-04 5.42714378e+00] [ 3.36586090e-03 9.99990231e-01 2.86504518e-03 -3.68791684e-01] [ 2.53286394e-04 -2.86591384e-03 9.99995861e-01 -2.11409347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35650248099998 meters 0.10832983105590441 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.37, Z:-2.11 [[ 9.99995193e-01 -3.10063294e-03 1.99418597e-05 5.42695628e+00] [ 3.10053758e-03 9.99988307e-01 3.71125578e-03 -3.71266928e-01] [-3.14488684e-05 -3.71117611e-03 9.99993113e-01 -2.11457858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38650248099998 meters 0.10892253671154706 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.37, Z:-2.11 [[ 9.99996005e-01 -2.82526934e-03 -8.61955132e-05 5.42722309e+00] [ 2.82561387e-03 9.99986763e-01 4.29994151e-03 -3.72768215e-01] [ 7.40458793e-05 -4.30016788e-03 9.99990751e-01 -2.11467636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41650248099998 meters 0.10911717682580939 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.37, Z:-2.11 [[ 9.99996013e-01 -2.82074639e-03 -1.33267629e-04 5.42715921e+00] [ 2.82130346e-03 9.99986413e-01 4.38329693e-03 -3.73227449e-01] [ 1.20901650e-04 -4.38365544e-03 9.99990384e-01 -2.11445170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44650248099998 meters 0.10929411617168405 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.37, Z:-2.11 [[ 9.99974695e-01 -7.08006165e-03 -6.93789668e-04 5.42808312e+00] [ 7.07996818e-03 9.99974927e-01 -1.37081173e-04 -3.72070966e-01] [ 6.94742816e-04 1.32165696e-04 9.99999750e-01 -2.11432513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47650248099998 meters 0.10950357412460619 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.37, Z:-2.11 [[ 9.99976370e-01 -6.82844919e-03 -7.95031676e-04 5.42853438e+00] [ 6.82865290e-03 9.99976652e-01 2.53796772e-04 -3.72773449e-01] [ 7.93280076e-04 -2.59219771e-04 9.99999652e-01 -2.11473932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50650248099998 meters 0.10953448473542457 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.37, Z:-2.12 [[ 9.99977676e-01 -6.60183453e-03 -1.03140325e-03 5.42916148e+00] [ 6.60238765e-03 9.99978062e-01 5.33803129e-04 -3.73104228e-01] [ 1.02785655e-03 -5.40600937e-04 9.99999326e-01 -2.11505194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53650248099999 meters 0.10970077544814674 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.37, Z:-2.12 [[ 9.99978718e-01 -6.41723957e-03 -1.17558593e-03 5.42963266e+00] [ 6.41815727e-03 9.99979100e-01 7.78528895e-04 -3.73400319e-01] [ 1.17056535e-03 -7.86057422e-04 9.99999006e-01 -2.11535061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.566502481 meters 0.10970077544814674 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.37, Z:-2.12 [[ 9.99978718e-01 -6.41723957e-03 -1.17558593e-03 5.42963266e+00] [ 6.41815727e-03 9.99979100e-01 7.78528895e-04 -3.73400319e-01] [ 1.17056535e-03 -7.86057422e-04 9.99999006e-01 -2.11535061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.596502481 meters 0.10987074682738747 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.37, Z:-2.12 [[ 9.99979481e-01 -6.24788315e-03 -1.41482485e-03 5.43018611e+00] [ 6.24928109e-03 9.99979987e-01 9.85813316e-04 -3.73618538e-01] [ 1.40863729e-03 -9.94634726e-04 9.99998513e-01 -2.11551216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.626502481 meters 0.11013114082264729 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.37, Z:-2.12 [[ 9.99980757e-01 -5.98671168e-03 -1.62606043e-03 5.43098426e+00] [ 5.98883846e-03 9.99981214e-01 1.30622510e-03 -3.73851720e-01] [ 1.61820989e-03 -1.31593817e-03 9.99997825e-01 -2.11611149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.656502481 meters 0.11002715633846873 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.37, Z:-2.12 [[ 9.99981714e-01 -5.79434431e-03 -1.73129997e-03 5.43140707e+00] [ 5.79707934e-03 9.99981950e-01 1.57893607e-03 -3.74271681e-01] [ 1.72211982e-03 -1.58894368e-03 9.99997255e-01 -2.11643705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.686502481 meters 0.11064383918697608 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.38, Z:-2.12 [[ 9.99982975e-01 -5.51552240e-03 -1.90517731e-03 5.43184853e+00] [ 5.51940180e-03 9.99982693e-01 2.03702031e-03 -3.75255389e-01] [ 1.89390911e-03 -2.04750107e-03 9.99996110e-01 -2.11662970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.716502481 meters 0.11075813922476513 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.38, Z:-2.12 [[ 9.99983961e-01 -5.27551016e-03 -2.06092629e-03 5.43226154e+00] [ 5.28044598e-03 9.99983186e-01 2.39689601e-03 -3.75952282e-01] [ 2.04824679e-03 -2.40774017e-03 9.99995004e-01 -2.11683546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.746502481 meters 0.1105024994729452 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.38, Z:-2.12 [[ 9.99984085e-01 -5.10161745e-03 -2.40908393e-03 5.43298342e+00] [ 5.10773641e-03 9.99983728e-01 2.54066637e-03 -3.75892861e-01] [ 2.39608322e-03 -2.55293090e-03 9.99993871e-01 -2.11700096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.776502481 meters 0.11047431337524198 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.38, Z:-2.12 [[ 9.99984493e-01 -4.90997035e-03 -2.62773448e-03 5.43365437e+00] [ 4.91719780e-03 9.99984126e-01 2.75109539e-03 -3.75962631e-01] [ 2.61418497e-03 -2.76397382e-03 9.99992763e-01 -2.11741046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.806502481 meters 0.10990670181583918 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.38, Z:-2.12 [[ 9.99984624e-01 -4.70462424e-03 -2.93573046e-03 5.43443846e+00] [ 4.71325466e-03 9.99984571e-01 2.93982691e-03 -3.75873819e-01] [ 2.92185439e-03 -2.95361856e-03 9.99991369e-01 -2.11777016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.836502481 meters 0.11016119510570085 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.38, Z:-2.12 [[ 9.99985696e-01 -4.40050537e-03 -3.04039510e-03 5.43497549e+00] [ 4.41075144e-03 9.99984589e-01 3.37153173e-03 -3.76584851e-01] [ 3.02551181e-03 -3.38489393e-03 9.99989694e-01 -2.11829006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.866502481 meters 0.11007008698349051 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.38, Z:-2.12 [[ 9.99987234e-01 -3.99873574e-03 -3.08913491e-03 5.43561571e+00] [ 4.01092651e-03 9.99984154e-01 3.95027435e-03 -3.77559085e-01] [ 3.07328985e-03 -3.96261421e-03 9.99987426e-01 -2.11913652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.896502481 meters 0.11015267609467058 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.38, Z:-2.12 [[ 9.99987792e-01 -3.68719733e-03 -3.28955513e-03 5.43631917e+00] [ 3.70157111e-03 9.99983582e-01 4.37418546e-03 -3.78135790e-01] [ 3.27337264e-03 -4.38630858e-03 9.99985023e-01 -2.11964980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.926502481 meters 0.11067037190369011 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.38, Z:-2.12 [[ 9.99987351e-01 -3.71803215e-03 -3.38731208e-03 5.43647365e+00] [ 3.73227123e-03 9.99984185e-01 4.20707475e-03 -3.77586727e-01] [ 3.37161647e-03 -4.21966390e-03 9.99985413e-01 -2.11958642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.956502481 meters 0.1098265193315364 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.38, Z:-2.12 [[ 9.99987064e-01 -3.62989687e-03 -3.56297312e-03 5.43693084e+00] [ 3.64496912e-03 9.99984398e-01 4.23290908e-03 -3.77265077e-01] [ 3.54755251e-03 -4.24584125e-03 9.99984694e-01 -2.11978456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98650248099997 meters 0.10949219943223029 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.38, Z:-2.12 [[ 9.99986145e-01 -3.62046681e-03 -3.82133673e-03 5.43737907e+00] [ 3.63591311e-03 9.99985217e-01 4.04294246e-03 -3.76437886e-01] [ 3.80664290e-03 -4.05678050e-03 9.99984526e-01 -2.11978133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01650248099997 meters 0.10997197809385834 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.38, Z:-2.12 [[ 9.99985696e-01 -3.63943761e-03 -3.91939346e-03 5.43736894e+00] [ 3.65501412e-03 9.99985422e-01 3.97441179e-03 -3.76398251e-01] [ 3.90487170e-03 -3.98868038e-03 9.99984421e-01 -2.11950255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04650248099998 meters 0.10958780999748577 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.38, Z:-2.12 [[ 9.99985692e-01 -3.44756773e-03 -4.09034082e-03 5.43761418e+00] [ 3.46483266e-03 9.99985087e-01 4.22135291e-03 -3.77044140e-01] [ 4.07572642e-03 -4.23546485e-03 9.99982724e-01 -2.11947029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07650248099998 meters 0.1096306058418135 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.38, Z:-2.12 [[ 9.99986067e-01 -3.24989968e-03 -4.15990249e-03 5.43801818e+00] [ 3.26858262e-03 9.99984568e-01 4.49230320e-03 -3.77424710e-01] [ 4.14523876e-03 -4.50583759e-03 9.99981257e-01 -2.11988703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10650248099998 meters 0.1097752494353753 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.38, Z:-2.12 [[ 9.99986406e-01 -3.19624126e-03 -4.11966082e-03 5.43810813e+00] [ 3.21512887e-03 9.99984314e-01 4.58630716e-03 -3.77577907e-01] [ 4.10493726e-03 -4.59949006e-03 9.99980997e-01 -2.12010687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13650248099998 meters 0.11016073291917598 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.38, Z:-2.12 [[ 9.99961669e-01 -7.41648973e-03 -4.65353868e-03 5.43915517e+00] [ 7.41690107e-03 9.99972492e-01 7.11418764e-05 -3.76170604e-01] [ 4.65288305e-03 -1.05653985e-04 9.99989170e-01 -2.12023250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16650248099998 meters 0.11033035794494796 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.38, Z:-2.12 [[ 9.99964246e-01 -7.07132616e-03 -4.63717336e-03 5.43954433e+00] [ 7.07445922e-03 9.99974758e-01 6.59585260e-04 -3.77286325e-01] [ 4.63239216e-03 -6.92367171e-04 9.99989031e-01 -2.12086834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19650248099998 meters 0.11094905338172527 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.38, Z:-2.12 [[ 9.99967863e-01 -6.60536083e-03 -4.54346090e-03 5.43986007e+00] [ 6.61236435e-03 9.99976970e-01 1.52815886e-03 -3.79186956e-01] [ 4.53326223e-03 -1.55815277e-03 9.99988511e-01 -2.12159627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22650248099998 meters 0.11076563182765761 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.38, Z:-2.12 [[ 9.99968973e-01 -6.41013826e-03 -4.57855962e-03 5.44005087e+00] [ 6.41867397e-03 9.99977685e-01 1.85202388e-03 -3.79825725e-01] [ 4.56658573e-03 -1.88135470e-03 9.99987803e-01 -2.12177752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25650248099998 meters 0.11159520352069609 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.38, Z:-2.12 [[ 9.99970222e-01 -6.21220535e-03 -4.57863454e-03 5.44009762e+00] [ 6.22252604e-03 9.99978124e-01 2.24330869e-03 -3.80720386e-01] [ 4.56459848e-03 -2.27173256e-03 9.99987002e-01 -2.12179950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28650248099999 meters 0.11150425839064873 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.38, Z:-2.12 [[ 9.99972129e-01 -5.85705992e-03 -4.62982861e-03 5.44054691e+00] [ 5.87014965e-03 9.99978798e-01 2.81874425e-03 -3.81860906e-01] [ 4.61322089e-03 -2.84584348e-03 9.99985310e-01 -2.12233966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.316502481 meters 0.11168127085887014 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.38, Z:-2.12 [[ 9.99976594e-01 -5.16232710e-03 -4.49018979e-03 5.44107041e+00] [ 5.18048137e-03 9.99978417e-01 4.04090498e-03 -3.84555520e-01] [ 4.46923240e-03 -4.06407174e-03 9.99981754e-01 -2.12352307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.346502481 meters 0.11178179642537392 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.39, Z:-2.12 [[ 9.99979489e-01 -4.55330008e-03 -4.50437938e-03 5.44172498e+00] [ 4.57597328e-03 9.99976849e-01 5.03615465e-03 -3.86657709e-01] [ 4.48134397e-03 -5.05666327e-03 9.99977174e-01 -2.12452859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.376502481 meters 0.11175450302979914 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.39, Z:-2.12 [[ 9.99979542e-01 -4.46971905e-03 -4.57566291e-03 5.44188571e+00] [ 4.49322145e-03 9.99976700e-01 5.13906304e-03 -3.86927110e-01] [ 4.55258613e-03 -5.15951738e-03 9.99976326e-01 -2.12458361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.406502481 meters 0.11206339114317566 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.39, Z:-2.12 [[ 9.99977742e-01 -4.54255122e-03 -4.88674460e-03 5.44229173e+00] [ 4.56612143e-03 9.99977944e-01 4.82299967e-03 -3.85739227e-01] [ 4.86472810e-03 -4.84520579e-03 9.99976429e-01 -2.12437703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.436502481 meters 0.1119601605683621 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.39, Z:-2.12 [[ 9.99976685e-01 -4.59552935e-03 -5.05079221e-03 5.44239750e+00] [ 4.61865233e-03 9.99978864e-01 4.57600181e-03 -3.85162812e-01] [ 5.02965630e-03 -4.59922298e-03 9.99976775e-01 -2.12410490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.466502481 meters 0.11175247213222454 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.39, Z:-2.12 [[ 9.99977222e-01 -4.46403036e-03 -5.06244587e-03 5.44251391e+00] [ 4.48815228e-03 9.99978582e-01 4.76356553e-03 -3.85575194e-01] [ 5.04107275e-03 -4.78617805e-03 9.99975840e-01 -2.12426605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.496502481 meters 0.11178438446371199 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.39, Z:-2.12 [[ 9.99976685e-01 -4.40329176e-03 -5.21925261e-03 5.44266310e+00] [ 4.42840925e-03 9.99978623e-01 4.81072148e-03 -3.85809180e-01] [ 5.19795803e-03 -4.83372231e-03 9.99974808e-01 -2.12410942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.526502481 meters 0.1119952583653333 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.39, Z:-2.12 [[ 9.99996505e-01 1.48364827e-04 -2.63984368e-03 5.45235731e+00] [-1.47696774e-04 9.99999957e-01 2.53258437e-04 -3.85774413e-01] [ 2.63988114e-03 -2.52867655e-04 9.99996484e-01 -2.12359970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.556502481 meters 0.1115052328905108 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.39, Z:-2.12 [[ 9.99996736e-01 2.64653615e-04 -2.54114957e-03 5.45250004e+00] [-2.63616978e-04 9.99999882e-01 4.08266600e-04 -3.86073693e-01] [ 2.54125732e-03 -4.07595377e-04 9.99996688e-01 -2.12410382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.586502481 meters 0.11133602712552364 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.39, Z:-2.12 [[ 9.99996588e-01 4.74393084e-04 -2.56882811e-03 5.45278657e+00] [-4.72489157e-04 9.99999613e-01 7.41721498e-04 -3.86754494e-01] [ 2.56917898e-03 -7.40505224e-04 9.99996425e-01 -2.12450247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.616502481 meters 0.11137134011337667 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.39, Z:-2.13 [[ 9.99989179e-01 -3.40340029e-03 -3.17144321e-03 5.45436939e+00] [ 3.39265211e-03 9.99988505e-01 -3.38828884e-03 -3.85859193e-01] [ 3.18293845e-03 3.37749258e-03 9.99989231e-01 -2.12536765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.646502481 meters 0.11161082009707456 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.39, Z:-2.13 [[ 9.99991509e-01 -2.86046843e-03 -2.96625903e-03 5.45469736e+00] [ 2.85338834e-03 9.99993077e-01 -2.38836537e-03 -3.88106401e-01] [ 2.97307034e-03 2.37988120e-03 9.99992748e-01 -2.12647532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.676502481 meters 0.11172460498987381 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.39, Z:-2.13 [[ 9.99992468e-01 -2.48825899e-03 -2.97875168e-03 5.45508644e+00] [ 2.48304054e-03 9.99995378e-01 -1.75431103e-03 -3.89418971e-01] [ 2.98310309e-03 1.74690146e-03 9.99994025e-01 -2.12707466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.706502481 meters 0.11200645537498194 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.39, Z:-2.13 [[ 9.99992933e-01 -2.29436762e-03 -2.97810086e-03 5.45526258e+00] [ 2.29010478e-03 9.99996349e-01 -1.43401879e-03 -3.90076362e-01] [ 2.98138016e-03 1.42718849e-03 9.99994537e-01 -2.12734557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73650248099997 meters 0.11209287580652158 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.39, Z:-2.13 [[ 9.99992782e-01 -2.18437438e-03 -3.10875043e-03 5.45559652e+00] [ 2.18032604e-03 9.99996772e-01 -1.30503603e-03 -3.90121968e-01] [ 3.11159108e-03 1.29824852e-03 9.99994316e-01 -2.12751703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76650248099997 meters 0.11198797515731684 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.39, Z:-2.13 [[ 9.99992881e-01 -1.95761553e-03 -3.22584941e-03 5.45607249e+00] [ 1.95428364e-03 9.99997554e-01 -1.03569922e-03 -3.90480984e-01] [ 3.22786902e-03 1.02938762e-03 9.99994261e-01 -2.12794271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79650248099998 meters 0.11220295404616697 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.39, Z:-2.13 [[ 9.99993356e-01 -1.70058923e-03 -3.22424403e-03 5.45643725e+00] [ 1.69850703e-03 9.99998347e-01 -6.48424504e-04 -3.91125291e-01] [ 3.22534140e-03 6.42943795e-04 9.99994592e-01 -2.12851855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82650248099998 meters 0.1124199465722317 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.39, Z:-2.13 [[ 9.99994019e-01 -1.39270053e-03 -3.16568426e-03 5.45660547e+00] [ 1.39240179e-03 9.99999026e-01 -9.65706820e-05 -3.92382266e-01] [ 3.16581567e-03 9.21622000e-05 9.99994985e-01 -2.12893077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85650248099998 meters 0.11252936552642481 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.39, Z:-2.13 [[ 9.99994539e-01 -1.06508816e-03 -3.12859273e-03 5.45689766e+00] [ 1.06657608e-03 9.99999319e-01 4.73957088e-04 -3.93555997e-01] [ 3.12808580e-03 -4.77291381e-04 9.99994994e-01 -2.12949949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88650248099998 meters 0.11364855654267504 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.40, Z:-2.13 [[ 9.99995799e-01 -7.27621426e-04 -2.80564473e-03 5.45655591e+00] [ 7.31393353e-04 9.99998830e-01 1.34361510e-03 -3.96084106e-01] [ 2.80466380e-03 -1.34566149e-03 9.99995162e-01 -2.12987059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91650248099998 meters 0.11366695945445768 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.40, Z:-2.13 [[ 9.99996712e-01 -4.48015730e-04 -2.52504621e-03 5.45626622e+00] [ 4.53204947e-04 9.99997786e-01 2.05490048e-03 -3.98153184e-01] [ 2.52411999e-03 -2.05603808e-03 9.99994701e-01 -2.13020425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94650248099998 meters 0.11382775532913139 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.40, Z:-2.13 [[ 9.99996760e-01 -3.83564324e-04 -2.51632405e-03 5.45624785e+00] [ 3.89155999e-04 9.99997456e-01 2.22204691e-03 -3.98689055e-01] [ 2.51546535e-03 -2.22301896e-03 9.99994365e-01 -2.13020463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97650248099998 meters 0.114420527839585 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.40, Z:-2.13 [[ 9.99996651e-01 -8.55761649e-05 -2.58657788e-03 5.45675575e+00] [ 9.26123682e-05 9.99996296e-01 2.72027771e-03 -3.99513495e-01] [ 2.58633550e-03 -2.72050815e-03 9.99992955e-01 -2.13076817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00650248099998 meters 0.11443623740171531 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.40, Z:-2.13 [[ 9.99985951e-01 -4.16479206e-03 -3.27908282e-03 5.45815014e+00] [ 4.15921678e-03 9.99989896e-01 -1.70524504e-03 -3.98050838e-01] [ 3.28615168e-03 1.69158267e-03 9.99993170e-01 -2.13113436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03650248099999 meters 0.11390060993640923 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.40, Z:-2.13 [[ 9.99987668e-01 -3.75058695e-03 -3.25527023e-03 5.45839339e+00] [ 3.74745700e-03 9.99992511e-01 -9.67069960e-04 -3.99878684e-01] [ 3.25887293e-03 9.54859049e-04 9.99994234e-01 -2.13164794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.066502481 meters 0.11378416620349086 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.40, Z:-2.13 [[ 9.99988032e-01 -3.57513245e-03 -3.33967766e-03 5.45870941e+00] [ 3.57275312e-03 9.99993360e-01 -7.18137446e-04 -4.00357262e-01] [ 3.34222292e-03 7.06197008e-04 9.99994165e-01 -2.13193968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.096502481 meters 0.11362921414717549 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.40, Z:-2.13 [[ 9.99987952e-01 -3.31979211e-03 -3.61591138e-03 5.45953720e+00] [ 3.31811250e-03 9.99994384e-01 -4.70404023e-04 -4.00389059e-01] [ 3.61745271e-03 4.58400355e-04 9.99993352e-01 -2.13252768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.126502481 meters 0.11346758120674326 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.40, Z:-2.13 [[ 9.99987701e-01 -3.07274024e-03 -3.89312713e-03 5.46046376e+00] [ 3.07183965e-03 9.99995254e-01 -2.37288380e-04 -4.00315826e-01] [ 3.89383777e-03 2.25326399e-04 9.99992394e-01 -2.13320124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.156502481 meters 0.11296572546597652 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.40, Z:-2.13 [[ 9.99987188e-01 -2.74150814e-03 -4.25535717e-03 5.46174155e+00] [ 2.74145751e-03 9.99996242e-01 -1.77310642e-05 -3.99937457e-01] [ 4.25538979e-03 6.06495619e-06 9.99990946e-01 -2.13426735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.186502481 meters 0.11259561208393663 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.40, Z:-2.13 [[ 9.99987108e-01 -2.49955593e-03 -4.41996356e-03 5.46237609e+00] [ 2.50075724e-03 9.99996838e-01 2.66284636e-04 -4.00322995e-01] [ 4.41928399e-03 -2.77334459e-04 9.99990196e-01 -2.13484435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.216502481 meters 0.11259809380954561 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.40, Z:-2.14 [[ 9.99987533e-01 -2.12955527e-03 -4.51660044e-03 5.46297034e+00] [ 2.13332024e-03 9.99997381e-01 8.28930100e-04 -4.01324686e-01] [ 4.51482336e-03 -8.38555120e-04 9.99989457e-01 -2.13550750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.246502481 meters 0.11301621089317011 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.40, Z:-2.14 [[ 9.99988768e-01 -1.86630695e-03 -4.35671515e-03 5.46294033e+00] [ 1.87240165e-03 9.99997274e-01 1.39526141e-03 -4.02881410e-01] [ 4.35409929e-03 -1.40340326e-03 9.99989536e-01 -2.13590630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.276502481 meters 0.11352279934667453 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.40, Z:-2.14 [[ 9.99988604e-01 -1.64616126e-03 -4.48129867e-03 5.46334035e+00] [ 1.65399874e-03 9.99997108e-01 1.74578773e-03 -4.03427152e-01] [ 4.47841186e-03 -1.75317990e-03 9.99988435e-01 -2.13613443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.306502481 meters 0.11365565384880212 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.40, Z:-2.14 [[ 9.99988375e-01 -1.49488270e-03 -4.58418403e-03 5.46366742e+00] [ 1.50391616e-03 9.99996933e-01 1.96775838e-03 -4.03768354e-01] [ 4.58122841e-03 -1.97462973e-03 9.99987557e-01 -2.13632955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.336502481 meters 0.11402580163498487 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.40, Z:-2.14 [[ 9.99997485e-01 2.22776105e-03 -2.60179853e-04 5.47271813e+00] [-2.22848980e-03 9.99993498e-01 -2.83506603e-03 -4.04429646e-01] [ 2.53862311e-04 2.83563871e-03 9.99995947e-01 -2.13703331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.366502481 meters 0.11442829580509054 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.41, Z:-2.14 [[ 9.99996921e-01 2.46860617e-03 -2.53907507e-04 5.47293372e+00] [-2.46920982e-03 9.99994059e-01 -2.40527167e-03 -4.05412704e-01] [ 2.47968330e-04 2.40589122e-03 9.99997075e-01 -2.13737807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.396502481 meters 0.11482827812438431 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.41, Z:-2.14 [[ 9.99996670e-01 2.57811608e-03 -1.14159465e-04 5.47287622e+00] [-2.57834820e-03 9.99994508e-01 -2.08211679e-03 -4.06480809e-01] [ 1.08790899e-04 2.08240420e-03 9.99997826e-01 -2.13769273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.426502481 meters 0.11422334120434025 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.41, Z:-2.14 [[ 9.99996077e-01 2.78638644e-03 -2.87526170e-04 5.47364044e+00] [-2.78691750e-03 9.99994380e-01 -1.86344336e-03 -4.06496778e-01] [ 2.82332281e-04 1.86423736e-03 9.99998222e-01 -2.13839594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.456502481 meters 0.11422334120434025 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.41, Z:-2.14 [[ 9.99996077e-01 2.78638644e-03 -2.87526170e-04 5.47364044e+00] [-2.78691750e-03 9.99994380e-01 -1.86344336e-03 -4.06496778e-01] [ 2.82332281e-04 1.86423736e-03 9.99998222e-01 -2.13839594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48650248099997 meters 0.11452499658324482 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.40, Z:-2.14 [[ 9.99998999e-01 -2.00542607e-04 -1.40091115e-03 5.47639163e+00] [ 1.93383183e-04 9.99986931e-01 -5.10881525e-03 -4.03738249e-01] [ 1.40191738e-03 5.10853923e-03 9.99985969e-01 -2.13978609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51650248099997 meters 0.11447991798196361 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.40, Z:-2.14 [[ 9.99998752e-01 -1.46591626e-04 -1.57297766e-03 5.47679104e+00] [ 1.38550252e-04 9.99986929e-01 -5.11109016e-03 -4.03408793e-01] [ 1.57370634e-03 5.11086584e-03 9.99985701e-01 -2.13991241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54650248099998 meters 0.1141382623612666 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.40, Z:-2.14 [[ 9.99998255e-01 1.15265253e-05 -1.86799778e-03 5.47745302e+00] [-2.08752298e-05 9.99987476e-01 -5.00472356e-03 -4.03178762e-01] [ 1.86791669e-03 5.00475382e-03 9.99985732e-01 -2.14012234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57650248099998 meters 0.11412296298643171 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.40, Z:-2.14 [[ 9.99997826e-01 2.70092505e-04 -2.06752073e-03 5.47811975e+00] [-2.79812069e-04 9.99988905e-01 -4.70222742e-03 -4.03478270e-01] [ 2.06622776e-03 4.70279572e-03 9.99986807e-01 -2.14063794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60650248099998 meters 0.11375098450572349 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.40, Z:-2.14 [[ 9.99997397e-01 4.84350548e-04 -2.22970397e-03 5.47876105e+00] [-4.94320058e-04 9.99989875e-01 -4.47284806e-03 -4.03598498e-01] [ 2.22751497e-03 4.47393860e-03 9.99987511e-01 -2.14118969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63650248099998 meters 0.11358066472247778 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.40, Z:-2.14 [[ 9.99996794e-01 6.52338182e-04 -2.44671104e-03 5.47966929e+00] [-6.63234457e-04 9.99989855e-01 -4.45527315e-03 -4.02873023e-01] [ 2.44377987e-03 4.45688161e-03 9.99987082e-01 -2.14197045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66650248099998 meters 0.11385269530521445 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.40, Z:-2.14 [[ 9.99996122e-01 8.23544290e-04 -2.66031533e-03 5.48041847e+00] [-8.35030638e-04 9.99990323e-01 -4.31944306e-03 -4.02629491e-01] [ 2.65673233e-03 4.32164776e-03 9.99987132e-01 -2.14252019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69650248099998 meters 0.11347068871430907 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.40, Z:-2.14 [[ 9.99995217e-01 8.86428383e-04 -2.96322400e-03 5.48136470e+00] [-8.99649996e-04 9.99989634e-01 -4.46355030e-03 -4.01512236e-01] [ 2.95923667e-03 4.46619481e-03 9.99985648e-01 -2.14309712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72650248099998 meters 0.11374070152912497 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.40, Z:-2.14 [[ 9.99994743e-01 9.35945628e-04 -3.10454589e-03 5.48194747e+00] [-9.50031735e-04 9.99989248e-01 -4.53888447e-03 -4.00854569e-01] [ 3.10026437e-03 4.54181002e-03 9.99984880e-01 -2.14355684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75650248099998 meters 0.11414427262134007 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.40, Z:-2.14 [[ 9.99994290e-01 1.03251096e-03 -3.21759848e-03 5.48229073e+00] [-1.04675530e-03 9.99989646e-01 -4.42847571e-03 -4.00922720e-01] [ 3.21299272e-03 4.43181846e-03 9.99985018e-01 -2.14374938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78650248099999 meters 0.11489770640365317 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.40, Z:-2.14 [[ 9.99994096e-01 1.04774571e-03 -3.27279188e-03 5.48257618e+00] [-1.06228398e-03 9.99989563e-01 -4.44358530e-03 -4.00559345e-01] [ 3.26810197e-03 4.44703570e-03 9.99984772e-01 -2.14395233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.816502481 meters 0.11577638549768604 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.40, Z:-2.14 [[ 9.99993997e-01 1.13012023e-03 -3.27541780e-03 5.48279484e+00] [-1.14404011e-03 9.99990310e-01 -4.25104877e-03 -4.00805140e-01] [ 3.27058186e-03 4.25477047e-03 9.99985600e-01 -2.14421903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.846502481 meters 0.11658226884438411 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.40, Z:-2.14 [[ 9.99993840e-01 1.35533945e-03 -3.23790314e-03 5.48308851e+00] [-1.36784874e-03 9.99991598e-01 -3.86430902e-03 -4.01493229e-01] [ 3.23263848e-03 3.86871417e-03 9.99987291e-01 -2.14473903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.876502481 meters 0.11800244058991352 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.40, Z:-2.15 [[ 9.99993273e-01 1.67292139e-03 -3.26419797e-03 5.48361828e+00] [-1.68388953e-03 9.99992936e-01 -3.36028271e-03 -4.02287194e-01] [ 3.25855342e-03 3.36575666e-03 9.99989027e-01 -2.14546495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.906502481 meters 0.11979626261021381 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.40, Z:-2.15 [[ 9.99993294e-01 1.66746726e-03 -3.26045381e-03 5.48360353e+00] [-1.67828303e-03 9.99993089e-01 -3.31734087e-03 -4.02329605e-01] [ 3.25489972e-03 3.32279059e-03 9.99989182e-01 -2.14537802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.936502481 meters 0.11846244158853605 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.40, Z:-2.15 [[ 9.99992925e-01 1.68572993e-03 -3.36263662e-03 5.48388222e+00] [-1.69699310e-03 9.99992951e-01 -3.34946974e-03 -4.02022447e-01] [ 3.35696661e-03 3.35515242e-03 9.99988737e-01 -2.14549741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.966502481 meters 0.12038899650379162 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.40, Z:-2.15 [[ 9.99992454e-01 1.63305575e-03 -3.52502502e-03 5.48443393e+00] [-1.64580452e-03 9.99992105e-01 -3.61677930e-03 -4.00765823e-01] [ 3.51909079e-03 3.62255351e-03 9.99987246e-01 -2.14581684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.996502481 meters 0.11831962666720097 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.40, Z:-2.15 [[ 9.99991368e-01 1.47667793e-03 -3.88373978e-03 5.48518602e+00] [-1.49284016e-03 9.99990225e-01 -4.16191066e-03 -3.98708139e-01] [ 3.87755601e-03 4.16767253e-03 9.99983797e-01 -2.14591841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.026502481 meters 0.1182239286287715 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.40, Z:-2.15 [[ 9.99990225e-01 1.49772202e-03 -4.16002165e-03 5.48583987e+00] [-1.51590169e-03 9.99989301e-01 -4.37038048e-03 -3.97676711e-01] [ 4.15343152e-03 4.37664395e-03 9.99981797e-01 -2.14616649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.056502481 meters 0.11788962816974306 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.40, Z:-2.15 [[ 9.99989061e-01 1.74677558e-03 -4.33889606e-03 5.48663055e+00] [-1.76460707e-03 9.99990000e-01 -4.10926246e-03 -3.97716085e-01] [ 4.33167471e-03 4.11687396e-03 9.99982144e-01 -2.14690428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.086502481 meters 0.1174020059481154 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.40, Z:-2.15 [[ 9.99986878e-01 1.92522739e-03 -4.74725893e-03 5.48803135e+00] [-1.94538773e-03 9.99989094e-01 -4.24577837e-03 -3.96091152e-01] [ 4.73903307e-03 4.25495792e-03 9.99979718e-01 -2.14789692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.116502481 meters 0.11709700803046219 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.40, Z:-2.15 [[ 9.99985674e-01 1.93714604e-03 -4.98983751e-03 5.48874156e+00] [-1.95923056e-03 9.99988291e-01 -4.42482069e-03 -3.95047826e-01] [ 4.98120756e-03 4.43453355e-03 9.99977761e-01 -2.14826922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.146502481 meters 0.11643375577029111 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.39, Z:-2.15 [[ 9.99983944e-01 1.97681305e-03 -5.31079840e-03 5.48948497e+00] [-2.00125285e-03 9.99987415e-01 -4.60054171e-03 -3.94022393e-01] [ 5.30163715e-03 4.61109610e-03 9.99975315e-01 -2.14854341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.176502481 meters 0.11579828050480488 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.39, Z:-2.15 [[ 9.99982915e-01 2.08011503e-03 -5.46286538e-03 5.48995864e+00] [-2.10484599e-03 9.99987546e-01 -4.52526327e-03 -3.93909953e-01] [ 5.45338427e-03 4.53668444e-03 9.99974839e-01 -2.14886153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.206502481 meters 0.11560906335015601 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.39, Z:-2.15 [[ 9.99981224e-01 2.06352723e-03 -5.77008183e-03 5.49063746e+00] [-2.09123680e-03 9.99986291e-01 -4.80038045e-03 -3.92737244e-01] [ 5.76009701e-03 4.81235693e-03 9.99971831e-01 -2.14906267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23650248099997 meters 0.11539144203424014 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.39, Z:-2.15 [[ 9.99980099e-01 2.07173167e-03 -5.95891890e-03 5.49109293e+00] [-2.10100828e-03 9.99985734e-01 -4.91101771e-03 -3.92081739e-01] [ 5.94865957e-03 4.92343972e-03 9.99970186e-01 -2.14919249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26650248099997 meters 0.11502653020917028 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.39, Z:-2.15 [[ 9.99979251e-01 2.13610783e-03 -6.07734036e-03 5.49167751e+00] [-2.16631727e-03 9.99985310e-01 -4.96860031e-03 -3.91243947e-01] [ 6.06663761e-03 4.98166266e-03 9.99969189e-01 -2.14969853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29650248099998 meters 0.11575470564462327 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.39, Z:-2.15 [[ 9.99978801e-01 2.28789973e-03 -6.09614479e-03 5.49213249e+00] [-2.31711724e-03 9.99985843e-01 -4.79004080e-03 -3.91231958e-01] [ 6.08509936e-03 4.80406474e-03 9.99969946e-01 -2.15029090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32650248099998 meters 0.11586029194416617 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.39, Z:-2.15 [[ 9.99978383e-01 2.39809997e-03 -6.12231346e-03 5.49246589e+00] [-2.42660680e-03 9.99986230e-01 -4.65304344e-03 -3.91264079e-01] [ 6.11107069e-03 4.66779930e-03 9.99970433e-01 -2.15069315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35650248099998 meters 0.11624134172091713 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.39, Z:-2.15 [[ 9.99977804e-01 2.46850357e-03 -6.18851244e-03 5.49286464e+00] [-2.49708486e-03 9.99986233e-01 -4.61497775e-03 -3.90944505e-01] [ 6.17703516e-03 4.63032856e-03 9.99970202e-01 -2.15104842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38650248099998 meters 0.1165434810417598 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.39, Z:-2.15 [[ 9.99977215e-01 2.47523730e-03 -6.28041652e-03 5.49318715e+00] [-2.50459085e-03 9.99985958e-01 -4.67026973e-03 -3.90469825e-01] [ 6.26876831e-03 4.68589319e-03 9.99969372e-01 -2.15120986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41650248099998 meters 0.11731894700850454 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.39, Z:-2.15 [[ 9.99977251e-01 2.41876553e-03 -6.29655849e-03 5.49340016e+00] [-2.44936217e-03 9.99985209e-01 -4.85609681e-03 -3.89705298e-01] [ 6.28471960e-03 4.87140890e-03 9.99968385e-01 -2.15137961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44650248099998 meters 0.11840959882458946 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.39, Z:-2.15 [[ 9.99977051e-01 2.42635240e-03 -6.32539044e-03 5.49364473e+00] [-2.45738331e-03 9.99984963e-01 -4.90262236e-03 -3.89269025e-01] [ 6.31339984e-03 4.91805375e-03 9.99967976e-01 -2.15159644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47650248099998 meters 0.11818163217581733 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.39, Z:-2.15 [[ 9.99976630e-01 2.52643931e-03 -6.35275754e-03 5.49401733e+00] [-2.55687232e-03 9.99985274e-01 -4.78697035e-03 -3.89212986e-01] [ 6.34056999e-03 4.80310166e-03 9.99968363e-01 -2.15203068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50650248099998 meters 0.11930255297089076 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.39, Z:-2.15 [[ 9.99976151e-01 2.61788489e-03 -6.39096673e-03 5.49452975e+00] [-2.64809013e-03 9.99985343e-01 -4.72236098e-03 -3.88872064e-01] [ 6.37851046e-03 4.73917221e-03 9.99968427e-01 -2.15263155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53650248099999 meters 0.11891868301106326 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.39, Z:-2.16 [[ 9.99991977e-01 -3.96161423e-03 -5.93107181e-04 5.50225383e+00] [ 3.96231199e-03 9.99991454e-01 1.17992812e-03 -3.87633171e-01] [ 5.88427692e-04 -1.18226873e-03 9.99999128e-01 -2.15589845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.566502481 meters 0.11894491931109974 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.39, Z:-2.16 [[ 9.99991415e-01 -4.04024410e-03 -9.20016405e-04 5.50294502e+00] [ 4.04101744e-03 9.99991482e-01 8.40269627e-04 -3.86261120e-01] [ 9.16613674e-04 -8.43980216e-04 9.99999224e-01 -2.15598590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.596502481 meters 0.11855810103398276 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.38, Z:-2.16 [[ 9.99989484e-01 -4.39070681e-03 -1.32428089e-03 5.50358888e+00] [ 4.39052568e-03 9.99990352e-01 -1.39651242e-04 -3.83244212e-01] [ 1.32488128e-03 1.33835484e-04 9.99999113e-01 -2.15578974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.626502481 meters 0.11826765207744953 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.38, Z:-2.16 [[ 9.99988739e-01 -4.45694717e-03 -1.63016208e-03 5.50425406e+00] [ 4.45620145e-03 9.99989965e-01 -4.60796482e-04 -3.81915515e-01] [ 1.63219947e-03 4.53526963e-04 9.99998565e-01 -2.15590942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.656502481 meters 0.11753225495153395 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.38, Z:-2.16 [[ 9.99987598e-01 -4.52161152e-03 -2.08783407e-03 5.50525638e+00] [ 4.51949388e-03 9.99989269e-01 -1.01788067e-03 -3.79639746e-01] [ 2.09241412e-03 1.00843209e-03 9.99997302e-01 -2.15616856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.686502481 meters 0.11728267888135295 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.38, Z:-2.16 [[ 9.99986818e-01 -4.54700820e-03 -2.38515759e-03 5.50587523e+00] [ 4.54403401e-03 9.99988893e-01 -1.25089926e-03 -3.78646592e-01] [ 2.39081894e-03 1.24004454e-03 9.99996373e-01 -2.15625095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.716502481 meters 0.11686872606338047 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.38, Z:-2.16 [[ 9.99984679e-01 -4.73705555e-03 -2.86400531e-03 5.50677660e+00] [ 4.73151014e-03 9.99986925e-01 -1.93992756e-03 -3.76140980e-01] [ 2.87315741e-03 1.92634676e-03 9.99994017e-01 -2.15627639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.746502481 meters 0.11692165747434587 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.38, Z:-2.16 [[ 9.99984459e-01 -4.65257042e-03 -3.07173756e-03 5.50755860e+00] [ 4.64649212e-03 9.99987239e-01 -1.98296215e-03 -3.75311660e-01] [ 3.08092423e-03 1.96865853e-03 9.99993316e-01 -2.15680930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.776502481 meters 0.1164148548097834 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.37, Z:-2.16 [[ 9.99983041e-01 -4.79425582e-03 -3.30654002e-03 5.50816685e+00] [ 4.78612298e-03 9.99985513e-01 -2.46316650e-03 -3.73469392e-01] [ 3.31830117e-03 2.44729922e-03 9.99991500e-01 -2.15700603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.806502481 meters 0.11739314814284232 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.37, Z:-2.16 [[ 9.99981078e-01 -4.93690561e-03 -3.67013460e-03 5.50894804e+00] [ 4.92590639e-03 9.99983368e-01 -2.99997545e-03 -3.71298137e-01] [ 3.68488416e-03 2.98183994e-03 9.99988765e-01 -2.15710851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.836502481 meters 0.11640911381129845 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.37, Z:-2.16 [[ 9.99980339e-01 -4.88551377e-03 -3.93119523e-03 5.50964389e+00] [ 4.87334375e-03 9.99983322e-01 -3.09940108e-03 -3.70530606e-01] [ 3.94627183e-03 3.08018207e-03 9.99987470e-01 -2.15739677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.866502481 meters 0.11614170880408702 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.37, Z:-2.16 [[ 9.99977944e-01 -4.97603647e-03 -4.39888435e-03 5.51076561e+00] [ 4.95991861e-03 9.99980974e-01 -3.66742618e-03 -3.68010778e-01] [ 4.41704991e-03 3.64552718e-03 9.99983600e-01 -2.15776443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.896502481 meters 0.11514567445291263 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.37, Z:-2.16 [[ 9.99989622e-01 -7.89178146e-04 -4.48688496e-03 5.51109828e+00] [ 7.90313627e-04 9.99999656e-01 2.51299252e-04 -3.66561734e-01] [ 4.48668510e-03 -2.54842690e-04 9.99989902e-01 -2.15796470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.926502481 meters 0.11533718181074235 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.37, Z:-2.16 [[ 9.99988001e-01 -7.88272809e-04 -4.83494179e-03 5.51200543e+00] [ 7.88078832e-04 9.99999689e-01 -4.20248438e-05 -3.65012299e-01] [ 4.83497341e-03 3.82140242e-05 9.99988311e-01 -2.15832381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.956502481 meters 0.11458830898368592 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.36, Z:-2.16 [[ 9.99984731e-01 -8.48836042e-04 -5.46043749e-03 5.51334292e+00] [ 8.45055935e-04 9.99999402e-01 -6.94541741e-04 -3.62253149e-01] [ 5.46102378e-03 6.89916761e-04 9.99984851e-01 -2.15864562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98650248099997 meters 0.11435235853693883 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.36, Z:-2.16 [[ 9.99983286e-01 -8.23814321e-04 -5.72273485e-03 5.51414193e+00] [ 8.18729871e-04 9.99999268e-01 -8.90751015e-04 -3.61055567e-01] [ 5.72346448e-03 8.86050752e-04 9.99983228e-01 -2.15908081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01650248099997 meters 0.11385025430044472 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.36, Z:-2.16 [[ 9.99980007e-01 -8.81923650e-04 -6.26166187e-03 5.51545686e+00] [ 8.72433103e-04 9.99998467e-01 -1.51822912e-03 -3.58285350e-01] [ 6.26299123e-03 1.51273589e-03 9.99979243e-01 -2.15951886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04650248099998 meters 0.11381233745612218 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.36, Z:-2.16 [[ 9.99978400e-01 -8.58145751e-04 -6.51638729e-03 5.51627494e+00] [ 8.47183971e-04 9.99998222e-01 -1.68476080e-03 -3.57146053e-01] [ 6.51782148e-03 1.67920383e-03 9.99977349e-01 -2.15999969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07650248099998 meters 0.11380148290817024 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-2.16 [[ 9.99974846e-01 -1.01116055e-03 -7.02030008e-03 5.51756518e+00] [ 9.94563466e-04 9.99996703e-01 -2.36724502e-03 -3.53955543e-01] [ 7.02267060e-03 2.36020334e-03 9.99972555e-01 -2.16043071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10650248099998 meters 0.11411726076439255 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-2.16 [[ 9.99972940e-01 -1.07600899e-03 -7.27739895e-03 5.51840256e+00] [ 1.05604400e-03 9.99995670e-01 -2.74671110e-03 -3.52079031e-01] [ 7.28032293e-03 2.73895152e-03 9.99969747e-01 -2.16087878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13650248099998 meters 0.11393390649665441 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-2.16 [[ 9.99971678e-01 -1.07813730e-03 -7.44858062e-03 5.51886296e+00] [ 1.05677730e-03 9.99995320e-01 -2.87100154e-03 -3.51359529e-01] [ 7.45164110e-03 2.86304873e-03 9.99968137e-01 -2.16104914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16650248099998 meters 0.11441872427262252 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-2.16 [[ 9.99970008e-01 -1.28084320e-03 -7.63817936e-03 5.51932127e+00] [ 1.25532183e-03 9.99993617e-01 -3.34514867e-03 -3.49492429e-01] [ 7.64241521e-03 3.33545997e-03 9.99965233e-01 -2.16106642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19650248099998 meters 0.11492671256435269 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-2.16 [[ 9.99969832e-01 -1.33536508e-03 -7.65192265e-03 5.51941113e+00] [ 1.30896556e-03 9.99993178e-01 -3.45402007e-03 -3.48960393e-01] [ 7.65648283e-03 3.44389977e-03 9.99964758e-01 -2.16108631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22650248099998 meters 0.11666405259996328 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-2.16 [[ 9.99970452e-01 -1.65151995e-03 -7.50783896e-03 5.51895637e+00] [ 1.62261634e-03 9.99991256e-01 -3.85425326e-03 -3.48060410e-01] [ 7.51413868e-03 3.84195703e-03 9.99964388e-01 -2.16061290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25650248099998 meters 0.11770981311044536 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-2.16 [[ 9.99971336e-01 -1.62281163e-03 -7.39549501e-03 5.51902554e+00] [ 1.59487812e-03 9.99991579e-01 -3.78143183e-03 -3.47991930e-01] [ 7.40156928e-03 3.76952853e-03 9.99965503e-01 -2.16095762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28650248099999 meters 0.11875197227677292 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-2.16 [[ 9.99971593e-01 -1.70878626e-03 -7.34115023e-03 5.51943772e+00] [ 1.67987487e-03 9.99990817e-01 -3.94262755e-03 -3.46794422e-01] [ 7.34781993e-03 3.93018334e-03 9.99965281e-01 -2.16157546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.316502481 meters 0.11982226734633052 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-2.16 [[ 9.99971456e-01 -1.70928739e-03 -7.35976713e-03 5.51986193e+00] [ 1.67986852e-03 9.99990583e-01 -4.00158385e-03 -3.46068918e-01] [ 7.36653767e-03 3.98910619e-03 9.99964910e-01 -2.16207511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.346502481 meters 0.12267124644852644 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.34, Z:-2.16 [[ 9.99971414e-01 -2.11880116e-03 -7.25826055e-03 5.52081831e+00] [ 2.08573297e-03 9.99987426e-01 -4.56048192e-03 -3.41599803e-01] [ 7.26783204e-03 4.54521276e-03 9.99963259e-01 -2.16362188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.376502481 meters 0.12267124644852644 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.34, Z:-2.16 [[ 9.99971414e-01 -2.11880116e-03 -7.25826055e-03 5.52081831e+00] [ 2.08573297e-03 9.99987426e-01 -4.56048192e-03 -3.41599803e-01] [ 7.26783204e-03 4.54521276e-03 9.99963259e-01 -2.16362188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.406502481 meters 0.1203647954489248 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.34, Z:-2.16 [[ 9.99970195e-01 -2.23325673e-03 -7.39062318e-03 5.52136856e+00] [ 2.19711620e-03 9.99985608e-01 -4.89456249e-03 -3.40062904e-01] [ 7.40144762e-03 4.87817855e-03 9.99960710e-01 -2.16398236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.436502481 meters 0.12189410660757577 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.33, Z:-2.17 [[ 9.99998060e-01 1.54708260e-03 -1.21939990e-03 5.53155446e+00] [-1.55753534e-03 9.99961650e-01 -8.61821159e-03 -3.34469934e-01] [ 1.20602005e-03 8.62009412e-03 9.99962119e-01 -2.16733494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.466502481 meters 0.12152919531078374 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.33, Z:-2.17 [[ 9.99997911e-01 1.29691756e-03 -1.57994773e-03 5.53234849e+00] [-1.31162414e-03 9.99955492e-01 -9.34307153e-03 -3.31753036e-01] [ 1.56776022e-03 9.34512431e-03 9.99955104e-01 -2.16736805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.496502481 meters 0.12209215396296912 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.33, Z:-2.17 [[ 9.99987282e-01 -5.02246926e-03 -4.60016969e-04 5.54053129e+00] [ 5.02148496e-03 9.99985153e-01 -2.11644588e-03 -3.25622295e-01] [ 4.70639924e-04 2.11410900e-03 9.99997655e-01 -2.16828084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.526502481 meters 0.12039648375048032 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.32, Z:-2.17 [[ 9.99986485e-01 -5.13156530e-03 -8.34257518e-04 5.54162260e+00] [ 5.12933662e-03 9.99983328e-01 -2.65198822e-03 -3.22965773e-01] [ 8.47852460e-04 2.64767319e-03 9.99996135e-01 -2.16878197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.556502481 meters 0.12046051788763618 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.32, Z:-2.17 [[ 9.99988555e-01 -4.37829838e-03 -1.92902982e-03 5.54487783e+00] [ 4.37328681e-03 9.99987071e-01 -2.59458063e-03 -3.17034405e-01] [ 1.94036473e-03 2.58611474e-03 9.99994773e-01 -2.17079529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.586502481 meters 0.11953041392307316 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.31, Z:-2.17 [[ 9.99987312e-01 -4.42285482e-03 -2.41113208e-03 5.54618984e+00] [ 4.41527689e-03 9.99985325e-01 -3.13921097e-03 -3.14344513e-01] [ 2.42498097e-03 3.12852532e-03 9.99992166e-01 -2.17133020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.616502481 meters 0.11904598490706293 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.31, Z:-2.17 [[ 9.99996203e-01 -4.94087524e-04 -2.71111331e-03 5.54746896e+00] [ 4.94911386e-04 9.99999832e-01 3.03220999e-04 -3.09070581e-01] [ 2.71096303e-03 -3.04561608e-04 9.99996279e-01 -2.17232705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.646502481 meters 0.11818091172788736 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.30, Z:-2.17 [[ 9.99991032e-01 3.09392034e-03 -2.89213384e-03 5.54814282e+00] [-3.08461097e-03 9.99990065e-01 3.21779480e-03 -3.03298801e-01] [ 2.90206070e-03 -3.20884483e-03 9.99990641e-01 -2.17261439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.676502481 meters 0.1177685014643457 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.30, Z:-2.17 [[ 9.99990740e-01 2.80208522e-03 -3.26611760e-03 5.54889724e+00] [-2.79445865e-03 9.99993364e-01 2.33728725e-03 -3.00237103e-01] [ 3.27264521e-03 -2.32813857e-03 9.99991935e-01 -2.17254638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.706502481 meters 0.11733916239537043 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.29, Z:-2.17 [[ 9.99990916e-01 2.23339702e-03 -3.63027072e-03 5.54978627e+00] [-2.22975496e-03 9.99997007e-01 1.00698526e-03 -2.94800857e-01] [ 3.63250885e-03 -9.98881503e-04 9.99992904e-01 -2.17273162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73650248099997 meters 0.11696394840425818 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.29, Z:-2.17 [[ 9.99990508e-01 1.97906053e-03 -3.88168048e-03 5.55045910e+00] [-1.97790682e-03 9.99997999e-01 3.01033401e-04 -2.92146826e-01] [ 3.88226848e-03 -2.93352941e-04 9.99992421e-01 -2.17291741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76650248099997 meters 0.11689723187724868 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.29, Z:-2.17 [[ 9.99985225e-01 2.45670316e-03 -4.84906962e-03 5.55343099e+00] [-2.45590964e-03 9.99996970e-01 1.69591444e-04 -2.85619848e-01] [ 4.84947156e-03 -1.57680061e-04 9.99988229e-01 -2.17473076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79650248099998 meters 0.11742210725719239 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.28, Z:-2.17 [[ 9.99984596e-01 2.10667153e-03 -5.13517985e-03 5.55411586e+00] [-2.11046464e-03 9.99997504e-01 -7.33345323e-04 -2.82352252e-01] [ 5.13362211e-03 7.44171642e-04 9.99986546e-01 -2.17478736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82650248099998 meters 0.1163936836671534 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.28, Z:-2.18 [[ 9.99976572e-01 2.60890479e-03 -6.32835712e-03 5.55718372e+00] [-2.61510213e-03 9.99996109e-01 -9.71219882e-04 -2.75158263e-01] [ 6.32579867e-03 9.87746428e-04 9.99979504e-01 -2.17620264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85650248099998 meters 0.11705601379459397 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.27, Z:-2.18 [[ 9.99972679e-01 2.61986414e-03 -6.91213768e-03 5.55945825e+00] [-2.62861927e-03 9.99995754e-01 -1.25785079e-03 -2.69317612e-01] [ 6.90881293e-03 1.27598581e-03 9.99975320e-01 -2.17802070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88650248099998 meters 0.11603944401964524 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.27, Z:-2.18 [[ 9.99971755e-01 2.42243032e-03 -7.11489490e-03 5.56020581e+00] [-2.43532855e-03 9.99995406e-01 -1.80474565e-03 -2.66867509e-01] [ 7.11049034e-03 1.82202178e-03 9.99973060e-01 -2.17843583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91650248099998 meters 0.11596035142578129 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.26, Z:-2.18 [[ 9.99969191e-01 2.02085899e-03 -7.58511685e-03 5.56166982e+00] [-2.04025030e-03 9.99994668e-01 -2.54962833e-03 -2.60406883e-01] [ 7.57992397e-03 2.56502531e-03 9.99967982e-01 -2.17934693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94650248099998 meters 0.11583444933824703 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.25, Z:-2.18 [[ 9.99965672e-01 1.79070086e-03 -8.08998669e-03 5.56350879e+00] [-1.81617379e-03 9.99993413e-01 -3.14244937e-03 -2.54453921e-01] [ 8.08430622e-03 3.15703432e-03 9.99962338e-01 -2.18071388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97650248099998 meters 0.115767611089775 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.25, Z:-2.18 [[ 9.99963032e-01 1.66523586e-03 -8.43575261e-03 5.56467745e+00] [-1.69632384e-03 9.99991792e-01 -3.67945027e-03 -2.51698913e-01] [ 8.42955622e-03 3.69362402e-03 9.99957649e-01 -2.18132014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00650248099998 meters 0.11549846257494668 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.24, Z:-2.18 [[ 9.99948745e-01 2.30249952e-03 -9.85929679e-03 5.56799357e+00] [-2.34236143e-03 9.99989122e-01 -4.03344168e-03 -2.43432598e-01] [ 9.84990255e-03 4.05632898e-03 9.99943261e-01 -2.18248256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03650248099999 meters 0.11554851532689232 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.24, Z:-2.19 [[ 9.99980104e-01 1.44674542e-03 6.13993583e-03 5.56803564e+00] [-1.42395125e-03 9.99992085e-01 -3.71519383e-03 -2.38610840e-01] [-6.14526217e-03 3.70637694e-03 9.99974249e-01 -2.19046220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.066502481 meters 0.1151960356128031 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.23, Z:-2.19 [[ 9.99986393e-01 1.35383350e-03 5.03803401e-03 5.57007145e+00] [-1.33023413e-03 9.99988142e-01 -4.68464957e-03 -2.31641071e-01] [-5.04431651e-03 4.67788406e-03 9.99976336e-01 -2.19048062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.096502481 meters 0.11504223464165138 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.23, Z:-2.19 [[ 9.99988737e-01 1.10429341e-03 4.61598467e-03 5.57084140e+00] [-1.07889749e-03 9.99984290e-01 -5.50060866e-03 -2.28837979e-01] [-4.62198644e-03 5.49556653e-03 9.99974218e-01 -2.19024275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.126502481 meters 0.11502350869435911 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.22, Z:-2.19 [[ 9.99992094e-01 8.64808529e-04 3.88120250e-03 5.57259252e+00] [-8.40309241e-04 9.99979742e-01 -6.30949102e-03 -2.22230684e-01] [-3.88658038e-03 6.30617973e-03 9.99972563e-01 -2.19091814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.156502481 meters 0.11493024708819882 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.22, Z:-2.19 [[ 9.99993129e-01 6.83859119e-04 3.64336648e-03 5.57328040e+00] [-6.58712753e-04 9.99975987e-01 -6.89869389e-03 -2.19800141e-01] [-3.64799673e-03 6.89624656e-03 9.99969566e-01 -2.19113314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.186502481 meters 0.11515876679772351 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.21, Z:-2.19 [[ 9.99994765e-01 2.39542754e-04 3.22689044e-03 5.57447316e+00] [-2.14670693e-04 9.99970286e-01 -7.70589133e-03 -2.14218685e-01] [-3.22864045e-03 7.70515827e-03 9.99965103e-01 -2.19183148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.216502481 meters 0.11567304346033017 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.21, Z:-2.19 [[ 9.99960314e-01 -8.18165093e-03 3.52576487e-03 5.58045506e+00] [ 8.18530898e-03 9.99965975e-01 -1.02434156e-03 -2.07482863e-01] [-3.51726410e-03 1.05316038e-03 9.99993260e-01 -2.19225895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.246502481 meters 0.11600298094220073 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.21, Z:-2.19 [[ 9.99958565e-01 -8.46441945e-03 3.35002256e-03 5.58070750e+00] [ 8.47013685e-03 9.99962689e-01 -1.69618145e-03 -2.05271181e-01] [-3.33554038e-03 1.72448631e-03 9.99992950e-01 -2.19199450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.276502481 meters 0.11565314280089554 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.20, Z:-2.19 [[ 9.99982714e-01 -4.33452750e-03 3.97287082e-03 5.58018929e+00] [ 4.32405914e-03 9.99987167e-01 2.63977318e-03 -2.04953817e-01] [-3.98426200e-03 -2.62254862e-03 9.99988624e-01 -2.19309200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.306502481 meters 0.11629626527446507 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.20, Z:-2.19 [[ 9.99983699e-01 -4.31466528e-03 3.73969654e-03 5.58089534e+00] [ 4.30548221e-03 9.99987705e-01 2.46014763e-03 -2.03802211e-01] [-3.75026527e-03 -2.44400633e-03 9.99989981e-01 -2.19343140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.336502481 meters 0.11676543552576855 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.20, Z:-2.19 [[ 9.99983260e-01 -4.50932932e-03 3.62574126e-03 5.58146391e+00] [ 4.50221525e-03 9.99987929e-01 1.96787662e-03 -2.01360057e-01] [-3.63457129e-03 -1.95151981e-03 9.99991491e-01 -2.19389661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.366502481 meters 0.1177279209093865 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.20, Z:-2.19 [[ 9.99983133e-01 -4.43837935e-03 3.74631076e-03 5.58143674e+00] [ 4.42974385e-03 9.99987520e-01 2.31022753e-03 -2.02146157e-01] [-3.75651768e-03 -2.29359336e-03 9.99990314e-01 -2.19429506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.396502481 meters 0.11803211768802986 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.20, Z:-2.19 [[ 9.99983866e-01 -4.29830958e-03 3.71387193e-03 5.58169529e+00] [ 4.28890424e-03 9.99987585e-01 2.53675226e-03 -2.02509845e-01] [-3.72472956e-03 -2.52078289e-03 9.99989886e-01 -2.19458317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.426502481 meters 0.11840507113417599 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.20, Z:-2.20 [[ 9.99985044e-01 -4.04562173e-03 3.68032307e-03 5.58229693e+00] [ 4.03490978e-03 9.99987616e-01 2.91338422e-03 -2.03013036e-01] [-3.69206394e-03 -2.89849088e-03 9.99988984e-01 -2.19541686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45650248099997 meters 0.11877881962065813 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.20, Z:-2.20 [[ 9.99986511e-01 -3.77406344e-03 3.56851039e-03 5.58288081e+00] [ 3.76243523e-03 9.99987609e-01 3.25967830e-03 -2.03606155e-01] [-3.58076841e-03 -3.24620804e-03 9.99988320e-01 -2.19598759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48650248099997 meters 0.11872951819138332 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.20, Z:-2.20 [[ 9.99988462e-01 -3.48235505e-03 3.30883682e-03 5.58360174e+00] [ 3.47072229e-03 9.99987800e-01 3.51492810e-03 -2.04305916e-01] [-3.32103668e-03 -3.50340349e-03 9.99988348e-01 -2.19627934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51650248099997 meters 0.11866636512889595 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.20, Z:-2.19 [[ 9.99990339e-01 -3.74815875e-03 2.29654211e-03 5.58444917e+00] [ 3.74344916e-03 9.99990889e-01 2.05160943e-03 -2.01408416e-01] [-2.30421095e-03 -2.04299262e-03 9.99995258e-01 -2.19402678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54650248099998 meters 0.11701323429133752 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.20, Z:-2.19 [[ 9.99991150e-01 -3.81209749e-03 1.77996327e-03 5.58493920e+00] [ 3.80944873e-03 9.99991635e-01 1.48912203e-03 -2.00379290e-01] [-1.78562506e-03 -1.48232817e-03 9.99997307e-01 -2.19299012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57650248099998 meters 0.11670856166387318 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.20, Z:-2.19 [[ 9.99992421e-01 -3.77333659e-03 9.58859864e-04 5.58595971e+00] [ 3.77263655e-03 9.99992617e-01 7.30838311e-04 -1.98892832e-01] [-9.61610483e-04 -7.27215343e-04 9.99999273e-01 -2.19174907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60650248099998 meters 0.11614089045223093 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.20, Z:-2.19 [[ 9.99993143e-01 -3.67135391e-03 4.85364735e-04 5.58681330e+00] [ 3.67112200e-03 9.99993147e-01 4.77845512e-04 -1.98161563e-01] [-4.87115749e-04 -4.76060402e-04 9.99999768e-01 -2.19149797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63650248099998 meters 0.1159244746563044 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.20, Z:-2.19 [[ 9.99994409e-01 -3.34403772e-03 1.50447492e-05 5.58758027e+00] [ 3.34402727e-03 9.99994199e-01 6.48045046e-04 -1.99002132e-01] [-1.72117490e-05 -6.47991113e-04 9.99999790e-01 -2.19117221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66650248099998 meters 0.11544463971236035 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.20, Z:-2.19 [[ 9.99995736e-01 -2.83215742e-03 -7.11558346e-04 5.58937277e+00] [ 2.83276903e-03 9.99995618e-01 8.59998236e-04 -1.99050920e-01] [ 7.09119578e-04 -8.62010249e-04 9.99999377e-01 -2.19165451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69650248099998 meters 0.11544575393764846 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.20, Z:-2.19 [[ 9.99996010e-01 -2.55243305e-03 -1.21064273e-03 5.59049928e+00] [ 2.55358617e-03 9.99996287e-01 9.51902008e-04 -1.98948717e-01] [ 1.20820856e-03 -9.54989691e-04 9.99998814e-01 -2.19183459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72650248099998 meters 0.1149315664998742 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.20, Z:-2.19 [[ 9.99995098e-01 -2.24008359e-03 -2.18765456e-03 5.59222257e+00] [ 2.24151101e-03 9.99997276e-01 6.50253640e-04 -1.98021038e-01] [ 2.18619198e-03 -6.55154105e-04 9.99997396e-01 -2.19141129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75650248099998 meters 0.11463910307378787 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.20, Z:-2.19 [[ 9.99994280e-01 -2.05523227e-03 -2.68639208e-03 5.59322162e+00] [ 2.05682447e-03 9.99997711e-01 5.90061985e-04 -1.97605809e-01] [ 2.68517322e-03 -5.95584047e-04 9.99996218e-01 -2.19136257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78650248099999 meters 0.11461469957505202 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.20, Z:-2.19 [[ 9.99992828e-01 -1.75075855e-03 -3.35826085e-03 5.59449256e+00] [ 1.75257255e-03 9.99998320e-01 5.37294985e-04 -1.97459756e-01] [ 3.35731453e-03 -5.43176727e-04 9.99994217e-01 -2.19115064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.816502481 meters 0.11445949642824045 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99992144e-01 -1.59839451e-03 -3.62731843e-03 5.59501615e+00] [ 1.60049635e-03 9.99998553e-01 5.76620046e-04 -1.97664087e-01] [ 3.62639152e-03 -5.82421026e-04 9.99993255e-01 -2.19106742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.846502481 meters 0.1143284396784764 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99989838e-01 -1.55453591e-03 -4.23171285e-03 5.59588296e+00] [ 1.55506943e-03 9.99998783e-01 1.22788223e-04 -1.96701272e-01] [ 4.23151682e-03 -1.29367582e-04 9.99991039e-01 -2.19039911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.876502481 meters 0.11422430883552574 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99986990e-01 -1.52061366e-03 -4.86895943e-03 5.59674225e+00] [ 1.51884754e-03 9.99998779e-01 -3.66407629e-04 -1.95656243e-01] [ 4.86951065e-03 3.59007655e-04 9.99988079e-01 -2.18960321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.906502481 meters 0.1141220813853399 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99985988e-01 -1.34571953e-03 -5.11976429e-03 5.59737665e+00] [ 1.34448250e-03 9.99999066e-01 -2.45052978e-04 -1.95759182e-01] [ 5.12008928e-03 2.38166111e-04 9.99986864e-01 -2.18978096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.936502481 meters 0.11406197444364329 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99983691e-01 -1.28954149e-03 -5.56369549e-03 5.59804223e+00] [ 1.28708690e-03 9.99999073e-01 -4.44737527e-04 -1.95241618e-01] [ 5.56426384e-03 4.37569314e-04 9.99984424e-01 -2.18935168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.966502481 meters 0.11413213354794505 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99982389e-01 -1.11043831e-03 -5.83001435e-03 5.59866426e+00] [ 1.10860567e-03 9.99999335e-01 -3.17567809e-04 -1.95412636e-01] [ 5.83036312e-03 3.11099030e-04 9.99982955e-01 -2.18945561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.996502481 meters 0.11402589409096864 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99982470e-01 -1.07780842e-03 -5.82223398e-03 5.59854076e+00] [ 1.07621225e-03 9.99999382e-01 -2.77275380e-04 -1.96032598e-01] [ 5.82252924e-03 2.71004560e-04 9.99983012e-01 -2.18921769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.026502481 meters 0.11410558891078146 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99982263e-01 -1.02737683e-03 -5.86661620e-03 5.59851985e+00] [ 1.02634290e-03 9.99999457e-01 -1.79249025e-04 -1.96657836e-01] [ 5.86679717e-03 1.73224686e-04 9.99982775e-01 -2.18901503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.056502481 meters 0.1139809467305692 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99982383e-01 -7.69048336e-04 -5.88569272e-03 5.59898946e+00] [ 7.70641506e-04 9.99999667e-01 2.68422115e-04 -1.97441744e-01] [ 5.88548433e-03 -2.72953145e-04 9.99982643e-01 -2.18971816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.086502481 meters 0.11369760412838827 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99983565e-01 -5.97020065e-04 -5.70195884e-03 5.59901834e+00] [ 6.01154110e-04 9.99999558e-01 7.23335598e-04 -1.98615628e-01] [ 5.70152448e-03 -7.26751466e-04 9.99983482e-01 -2.19035981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.116502481 meters 0.11372874054871344 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99983290e-01 -3.43460245e-04 -5.77069795e-03 5.59957711e+00] [ 3.50105467e-04 9.99999277e-01 1.15057488e-03 -1.99241263e-01] [ 5.77029860e-03 -1.15257600e-03 9.99982687e-01 -2.19104338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.146502481 meters 0.11358153697267462 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99981742e-01 -2.47245677e-04 -6.03783844e-03 5.60024766e+00] [ 2.54154017e-04 9.99999314e-01 1.14343386e-03 -1.98836992e-01] [ 6.03755159e-03 -1.14494752e-03 9.99981118e-01 -2.19120319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.176502481 meters 0.11350615083850135 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99979811e-01 -1.53761679e-04 -6.35248212e-03 5.60097716e+00] [ 1.60729231e-04 9.99999386e-01 1.09632758e-03 -1.98373578e-01] [ 6.35230965e-03 -1.09732647e-03 9.99979222e-01 -2.19131804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20650248099997 meters 0.11324677501607501 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99977710e-01 -7.23320123e-05 -6.67635590e-03 5.60178775e+00] [ 7.87539729e-05 9.99999535e-01 9.61638196e-04 -1.97455091e-01] [ 6.67628324e-03 -9.62142551e-04 9.99977251e-01 -2.19148986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23650248099997 meters 0.11324337132431576 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99974330e-01 1.52910518e-05 -7.16508039e-03 5.60274749e+00] [-9.79933291e-06 9.99999706e-01 7.66490490e-04 -1.96437945e-01] [ 7.16509000e-03 -7.66400602e-04 9.99974037e-01 -2.19141897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26650248099997 meters 0.11324337132431576 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99974330e-01 1.52910518e-05 -7.16508039e-03 5.60274749e+00] [-9.79933291e-06 9.99999706e-01 7.66490490e-04 -1.96437945e-01] [ 7.16509000e-03 -7.66400602e-04 9.99974037e-01 -2.19141897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29650248099998 meters 0.11313110448253495 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99972679e-01 1.68721809e-04 -7.39003004e-03 5.60351502e+00] [-1.62365010e-04 9.99999616e-01 8.60777322e-04 -1.96166790e-01] [ 7.39017243e-03 -8.59553923e-04 9.99972323e-01 -2.19187352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32650248099998 meters 0.11321044584312862 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99969943e-01 2.57558236e-04 -7.74900571e-03 5.60443663e+00] [-2.51842026e-04 9.99999695e-01 7.38636839e-04 -1.95156543e-01] [ 7.74919359e-03 -7.36663113e-04 9.99969703e-01 -2.19215580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35650248099998 meters 0.11312239233441808 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99969827e-01 3.27397580e-04 -7.76124534e-03 5.60443091e+00] [-3.20510197e-04 9.99999554e-01 8.88634172e-04 -1.95702687e-01] [ 7.76153281e-03 -8.86119801e-04 9.99969486e-01 -2.19210671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38650248099998 meters 0.11308940483059388 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.20, Z:-2.19 [[ 9.99968883e-01 5.77253800e-04 -7.86768085e-03 5.60487278e+00] [-5.67161830e-04 9.99999014e-01 1.28488290e-03 -1.96631483e-01] [ 7.86841480e-03 -1.28038067e-03 9.99968224e-01 -2.19250914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41650248099998 meters 0.1130537029377884 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.20, Z:-2.19 [[ 9.99954139e-01 -3.71968835e-03 -8.82517103e-03 5.60610969e+00] [ 3.68789989e-03 9.99986663e-01 -3.61556521e-03 -1.95046233e-01] [ 8.83850211e-03 3.58285305e-03 9.99954521e-01 -2.19148587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44650248099998 meters 0.11299541821475616 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.20, Z:-2.19 [[ 9.99953008e-01 -3.53825551e-03 -9.02566331e-03 5.60655491e+00] [ 3.50752432e-03 9.99988006e-01 -3.41842747e-03 -1.95565634e-01] [ 9.03765032e-03 3.38660910e-03 9.99953425e-01 -2.19155143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47650248099998 meters 0.11302650527174156 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.20, Z:-2.19 [[ 9.99951712e-01 -3.33766656e-03 -9.24298522e-03 5.60706928e+00] [ 3.30792045e-03 9.99989307e-01 -3.23165542e-03 -1.96007763e-01] [ 9.25367258e-03 3.20092431e-03 9.99952061e-01 -2.19166181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50650248099998 meters 0.11314200329833643 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.20, Z:-2.19 [[ 9.99950946e-01 -3.10062293e-03 -9.40703488e-03 5.60752933e+00] [ 3.07322130e-03 9.99990997e-01 -2.92594529e-03 -1.96736131e-01] [ 9.41602244e-03 2.89689186e-03 9.99951472e-01 -2.19189996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53650248099999 meters 0.1131730299374661 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.20, Z:-2.19 [[ 9.99951257e-01 -3.02540532e-03 -9.39839529e-03 5.60746095e+00] [ 2.99945161e-03 9.99991653e-01 -2.77437337e-03 -1.97516432e-01] [ 9.40671044e-03 2.74604811e-03 9.99951985e-01 -2.19181557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.566502481 meters 0.11329709397611859 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.20, Z:-2.19 [[ 9.99951700e-01 -2.79638777e-03 -9.42223520e-03 5.60778555e+00] [ 2.77485812e-03 9.99993511e-01 -2.29728135e-03 -1.98481784e-01] [ 9.42859815e-03 2.27102503e-03 9.99952971e-01 -2.19234112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.596502481 meters 0.11343226702175636 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.20, Z:-2.19 [[ 9.99951272e-01 -2.57064434e-03 -9.53127818e-03 5.60825073e+00] [ 2.55224142e-03 9.99994856e-01 -1.94245399e-03 -1.99163647e-01] [ 9.53622252e-03 1.91803321e-03 9.99952690e-01 -2.19275288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.626502481 meters 0.11350872692027694 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.20, Z:-2.19 [[ 9.99950996e-01 -2.08921402e-03 -9.67677925e-03 5.60936151e+00] [ 2.07837328e-03 9.99997201e-01 -1.13020491e-03 -2.00241136e-01] [ 9.67911341e-03 1.11003756e-03 9.99952540e-01 -2.19414765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.656502481 meters 0.11342574495599844 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.20, Z:-2.20 [[ 9.99953245e-01 -1.85658064e-03 -9.49008456e-03 5.60970920e+00] [ 1.85095203e-03 9.99998106e-01 -6.01852819e-04 -2.00936096e-01] [ 9.49118397e-03 5.84258987e-04 9.99954787e-01 -2.19531468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.686502481 meters 0.1134897265595233 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.20, Z:-2.20 [[ 9.99954127e-01 -1.41173125e-03 -9.47374247e-03 5.61048433e+00] [ 1.41419778e-03 9.99998968e-01 2.53660842e-04 -2.02350204e-01] [ 9.47337459e-03 -2.67046951e-04 9.99955091e-01 -2.19671412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.716502481 meters 0.1135886011582403 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.20, Z:-2.20 [[ 9.99954118e-01 -1.23173539e-03 -9.49974276e-03 5.61086592e+00] [ 1.23729038e-03 9.99999067e-01 5.78896208e-04 -2.02796846e-01] [ 9.49902085e-03 -5.90623587e-04 9.99954709e-01 -2.19725178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.746502481 meters 0.11367324138826354 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.20, Z:-2.20 [[ 9.99948534e-01 -1.59294222e-03 -1.00195517e-02 5.61084960e+00] [ 1.58940275e-03 9.99998672e-01 -3.61209175e-04 -2.01017816e-01] [ 1.00201137e-02 3.45265482e-04 9.99949738e-01 -2.19550893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.776502481 meters 0.11371261931126171 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.20, Z:-2.20 [[ 9.99947002e-01 -1.51558204e-03 -1.01831379e-02 5.61114908e+00] [ 1.51207790e-03 9.99998795e-01 -3.51801799e-04 -2.01033370e-01] [ 1.01836588e-02 3.36385457e-04 9.99948089e-01 -2.19543129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.806502481 meters 0.1137638922064006 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.20, Z:-2.20 [[ 9.99944617e-01 -1.31300728e-03 -1.04421864e-02 5.61171166e+00] [ 1.31095959e-03 9.99999120e-01 -2.02940179e-04 -2.01494466e-01] [ 1.04424437e-02 1.89239655e-04 9.99945458e-01 -2.19546044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.836502481 meters 0.11382672657846886 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.20, Z:-2.19 [[ 9.99959850e-01 3.13128161e-03 -8.39609513e-03 5.62392226e+00] [-3.17562562e-03 9.99981053e-01 -5.27338353e-03 -2.01830047e-01] [ 8.37942361e-03 5.29983465e-03 9.99950847e-01 -2.19330045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.866502481 meters 0.11372576769458492 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.20, Z:-2.19 [[ 9.99959313e-01 3.25390439e-03 -8.41335355e-03 5.62408009e+00] [-3.29692498e-03 9.99981537e-01 -5.10456681e-03 -2.02362093e-01] [ 8.39658843e-03 5.13209732e-03 9.99951578e-01 -2.19347893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.896502481 meters 0.11354751497938499 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.20, Z:-2.20 [[ 9.99995288e-01 -1.36149563e-03 -2.75138350e-03 5.63659248e+00] [ 1.36046553e-03 9.99999004e-01 -3.76230613e-04 -2.03934900e-01] [ 2.75189300e-03 3.72485678e-04 9.99996144e-01 -2.19600556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.926502481 meters 0.11378812311420608 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.20, Z:-2.20 [[ 9.99994629e-01 -1.28145524e-03 -3.01665440e-03 5.63700224e+00] [ 1.28020544e-03 9.99999094e-01 -4.16193314e-04 -2.03863819e-01] [ 3.01718500e-03 4.12329141e-04 9.99995363e-01 -2.19577698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95650248099997 meters 0.11372867305073482 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.20, Z:-2.19 [[ 9.99992724e-01 -1.46776844e-03 -3.52103921e-03 5.63731287e+00] [ 1.46373096e-03 9.99998269e-01 -1.14897479e-03 -2.02363451e-01] [ 3.52271955e-03 1.14381258e-03 9.99993141e-01 -2.19453319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98650248099997 meters 0.11381918496435103 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.20, Z:-2.19 [[ 9.99991483e-01 -1.42520830e-03 -3.87322406e-03 5.63785277e+00] [ 1.42002439e-03 9.99998093e-01 -1.34081613e-03 -2.01837926e-01] [ 3.87512761e-03 1.33530463e-03 9.99991600e-01 -2.19419299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01650248099997 meters 0.11383306807538728 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.20, Z:-2.19 [[ 9.99990281e-01 -1.35285303e-03 -4.19622753e-03 5.63854230e+00] [ 1.34668614e-03 9.99998010e-01 -1.47210266e-03 -2.01114895e-01] [ 4.19821071e-03 1.46643736e-03 9.99990112e-01 -2.19420831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04650248099998 meters 0.11402969382400503 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.20, Z:-2.19 [[ 9.99988532e-01 -9.85157072e-04 -4.68672755e-03 5.63994811e+00] [ 9.79389099e-04 9.99998760e-01 -1.23283953e-03 -2.00835375e-01] [ 4.68793628e-03 1.22823527e-03 9.99988257e-01 -2.19487777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07650248099998 meters 0.11399776368946846 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.20, Z:-2.20 [[ 9.99987923e-01 -7.45947472e-04 -4.85762541e-03 5.64071137e+00] [ 7.41316948e-04 9.99999269e-01 -9.54979288e-04 -2.00990456e-01] [ 4.85833422e-03 9.51366715e-04 9.99987746e-01 -2.19552717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10650248099998 meters 0.11385916812675208 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.20, Z:-2.20 [[ 9.99987433e-01 -3.21052668e-04 -5.00313292e-03 5.64189135e+00] [ 3.19012326e-04 9.99999866e-01 -4.08605489e-04 -2.01355395e-01] [ 5.00326343e-03 4.07004293e-04 9.99987401e-01 -2.19692831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13650248099998 meters 0.11396772890587373 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.20, Z:-2.20 [[ 9.99986686e-01 2.74775855e-05 -5.16010620e-03 5.64263565e+00] [-2.70561216e-05 9.99999996e-01 8.17471571e-05 -2.02155237e-01] [ 5.16010842e-03 -8.16064563e-05 9.99986683e-01 -2.19761243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16650248099998 meters 0.11401499136699202 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.20, Z:-2.20 [[ 9.99986089e-01 1.64716508e-04 -5.27205894e-03 5.64285948e+00] [-1.63443839e-04 9.99999957e-01 2.41828888e-04 -2.02683317e-01] [ 5.27209854e-03 -2.40963838e-04 9.99986073e-01 -2.19759560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19650248099998 meters 0.11410878182052131 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.20, Z:-2.20 [[ 9.99985627e-01 7.41900353e-05 -5.36099893e-03 5.64252762e+00] [-7.41676414e-05 9.99999997e-01 4.37599609e-06 -2.02861116e-01] [ 5.36099924e-03 -3.97832055e-06 9.99985630e-01 -2.19672113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22650248099998 meters 0.1143113123484036 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.20, Z:-2.20 [[ 9.99985216e-01 2.29037745e-04 -5.43278863e-03 5.64262083e+00] [-2.27923375e-04 9.99999953e-01 2.05737575e-04 -2.03718495e-01] [ 5.43283550e-03 -2.04496274e-04 9.99985221e-01 -2.19663756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25650248099998 meters 0.114225475469875 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.20, Z:-2.20 [[ 9.99973650e-01 -4.02897006e-03 -6.03873156e-03 5.64345611e+00] [ 4.00204331e-03 9.99982026e-01 -4.46447830e-03 -2.02733549e-01] [ 6.05661026e-03 4.44019340e-03 9.99971801e-01 -2.19599839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28650248099999 meters 0.1144640072679299 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.20, Z:-2.20 [[ 9.99974109e-01 -3.71075674e-03 -6.16528138e-03 5.64389986e+00] [ 3.68650201e-03 9.99985440e-01 -3.94080077e-03 -2.03962577e-01] [ 6.17981496e-03 3.91797041e-03 9.99973229e-01 -2.19637269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.316502481 meters 0.11425414143508335 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.21, Z:-2.20 [[ 9.99975989e-01 -3.40274135e-03 -6.03676777e-03 5.64395990e+00] [ 3.38335300e-03 9.99989095e-01 -3.21901977e-03 -2.05827544e-01] [ 6.04765543e-03 3.19851796e-03 9.99976597e-01 -2.19693636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.346502481 meters 0.11396608672739256 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.21, Z:-2.20 [[ 9.99980430e-01 -2.89951340e-03 -5.54364308e-03 5.64387877e+00] [ 2.88892701e-03 9.99993990e-01 -1.91669878e-03 -2.09181572e-01] [ 5.54916726e-03 1.90064609e-03 9.99982797e-01 -2.19843782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.376502481 meters 0.1139376399336911 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.21, Z:-2.20 [[ 9.99982554e-01 -2.45252446e-03 -5.37364345e-03 5.64421479e+00] [ 2.44744878e-03 9.99996553e-01 -9.50923179e-04 -2.11318704e-01] [ 5.37595709e-03 9.37754872e-04 9.99985110e-01 -2.19961296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.406502481 meters 0.11401833719352081 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.21, Z:-2.20 [[ 9.99986045e-01 -2.19303843e-03 -4.80630029e-03 5.64352951e+00] [ 2.19373671e-03 9.99997584e-01 1.40017100e-04 -2.14582548e-01] [ 4.80598161e-03 -1.50558904e-04 9.99988440e-01 -2.20037074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.436502481 meters 0.11416063630735208 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.22, Z:-2.20 [[ 9.99987396e-01 -1.94054255e-03 -4.63058967e-03 5.64358180e+00] [ 1.94400989e-03 9.99997833e-01 7.44406441e-04 -2.15987799e-01] [ 4.62913508e-03 -7.53398970e-04 9.99989002e-01 -2.20104140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.466502481 meters 0.11434300590330251 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.22, Z:-2.20 [[ 9.99968556e-01 -6.15797793e-03 -4.99672379e-03 5.64416357e+00] [ 6.14066839e-03 9.99975118e-01 -3.47215520e-03 -2.15919674e-01] [ 5.01798092e-03 3.44136279e-03 9.99981488e-01 -2.20081598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.496502481 meters 0.11455130890613138 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.22, Z:-2.20 [[ 9.99971549e-01 -5.88120304e-03 -4.72358676e-03 5.64407386e+00] [ 5.86856903e-03 9.99979178e-01 -2.68408485e-03 -2.17850625e-01] [ 4.73927405e-03 2.65628779e-03 9.99985242e-01 -2.20157907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.526502481 meters 0.11549799874840776 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.22, Z:-2.20 [[ 9.99978664e-01 -5.31968011e-03 -3.79115481e-03 5.64392003e+00] [ 5.31802632e-03 9.99985760e-01 -4.46171694e-04 -2.22478148e-01] [ 3.79347432e-03 4.26000713e-04 9.99992714e-01 -2.20457433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.556502481 meters 0.11714182876923697 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.22, Z:-2.21 [[ 9.99951492e-01 -9.18423301e-03 -3.55854421e-03 5.64434921e+00] [ 9.17153692e-03 9.99951576e-01 -3.56781730e-03 -2.24790070e-01] [ 3.59113956e-03 3.53500691e-03 9.99987304e-01 -2.20604951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.586502481 meters 0.1180668399660657 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.23, Z:-2.21 [[ 9.99955925e-01 -8.84746691e-03 -3.14180183e-03 5.64426704e+00] [ 8.83956635e-03 9.99957756e-01 -2.51970410e-03 -2.27134692e-01] [ 3.16396210e-03 2.49182088e-03 9.99991890e-01 -2.20729220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.616502481 meters 0.12014966531514554 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.23, Z:-2.21 [[ 9.99958865e-01 -8.69295664e-03 -2.58848555e-03 5.64360539e+00] [ 8.68911487e-03 9.99961136e-01 -1.49174054e-03 -2.29933528e-01] [ 2.60135259e-03 1.46918753e-03 9.99995537e-01 -2.20799229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.646502481 meters 0.12107977681430765 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.23, Z:-2.21 [[ 9.99960950e-01 -8.54125662e-03 -2.26836797e-03 5.64335365e+00] [ 8.53908929e-03 9.99963077e-01 -9.63426880e-04 -2.31211318e-01] [ 2.27651309e-03 9.44019461e-04 9.99996963e-01 -2.20862482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.676502481 meters 0.12097538880271919 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.23, Z:-2.21 [[ 9.99962277e-01 -8.48843268e-03 -1.84125336e-03 5.64280934e+00] [ 8.48761406e-03 9.99963877e-01 -4.51958341e-04 -2.32532224e-01] [ 1.84502327e-03 4.36313444e-04 9.99998203e-01 -2.20910880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70650248099997 meters 0.12242015002866119 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.23, Z:-2.21 [[ 9.99963998e-01 -8.29360433e-03 -1.79432653e-03 5.64313326e+00] [ 8.29346700e-03 9.99965605e-01 -8.39645666e-05 -2.33027966e-01] [ 1.79496119e-03 6.90803558e-05 9.99998387e-01 -2.20975949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73650248099997 meters 0.12257428628584088 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.23, Z:-2.21 [[ 9.99964483e-01 -8.22665340e-03 -1.83163922e-03 5.64331798e+00] [ 8.22677331e-03 9.99966158e-01 5.79412571e-05 -2.33137413e-01] [ 1.83110057e-03 -7.30076799e-05 9.99998321e-01 -2.20992355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76650248099997 meters 0.12212605317881113 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.23, Z:-2.21 [[ 9.99965158e-01 -8.11974616e-03 -1.93693533e-03 5.64369244e+00] [ 8.12006171e-03 9.99967020e-01 1.55106099e-04 -2.33122979e-01] [ 1.93561203e-03 -1.70828729e-04 9.99998112e-01 -2.21013219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79650248099998 meters 0.12257351280586903 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.23, Z:-2.21 [[ 9.99963424e-01 -8.25474187e-03 -2.23843063e-03 5.64406742e+00] [ 8.25419249e-03 9.99965901e-01 -2.54560431e-04 -2.31836747e-01] [ 2.24045563e-03 2.36074682e-04 9.99997462e-01 -2.20970704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82650248099998 meters 0.12259094171824522 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.23, Z:-2.21 [[ 9.99962570e-01 -8.24615752e-03 -2.61892427e-03 5.64484866e+00] [ 8.24478951e-03 9.99965869e-01 -5.32724191e-04 -2.30517594e-01] [ 2.62322781e-03 5.11111772e-04 9.99996429e-01 -2.20968676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85650248099998 meters 0.12206743988110039 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.23, Z:-2.21 [[ 9.99962933e-01 -8.08643713e-03 -2.95672488e-03 5.64569859e+00] [ 8.08493208e-03 9.99967181e-01 -5.20627231e-04 -2.30115500e-01] [ 2.96083787e-03 4.96703013e-04 9.99995493e-01 -2.20990060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88650248099998 meters 0.12189299325177935 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.23, Z:-2.21 [[ 9.99963225e-01 -7.84393528e-03 -3.46727629e-03 5.64721950e+00] [ 7.84191328e-03 9.99969074e-01 -5.96378517e-04 -2.28701665e-01] [ 3.47184701e-03 5.69166505e-04 9.99993811e-01 -2.21060662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91650248099998 meters 0.12106151704323728 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.23, Z:-2.21 [[ 9.99966004e-01 -7.41518221e-03 -3.60641038e-03 5.64794427e+00] [ 7.41525640e-03 9.99972507e-01 7.20171654e-06 -2.29908521e-01] [ 3.60625782e-03 -3.39439293e-05 9.99993497e-01 -2.21129236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94650248099998 meters 0.12267670550604641 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.23, Z:-2.21 [[ 9.99967761e-01 -6.93434778e-03 -4.04855966e-03 5.64960431e+00] [ 6.93619391e-03 9.99975847e-01 4.42132117e-04 -2.29763291e-01] [ 4.04539597e-03 -4.70199458e-04 9.99991707e-01 -2.21248525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97650248099998 meters 0.119063768046032 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.23, Z:-2.21 [[ 9.99967496e-01 -6.63283587e-03 -4.58394221e-03 5.65106359e+00] [ 6.63500470e-03 9.99977883e-01 4.58090531e-04 -2.29010015e-01] [ 4.58080239e-03 -4.88490119e-04 9.99989389e-01 -2.21301738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00650248099998 meters 0.11726030091883728 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.23, Z:-2.21 [[ 9.99962063e-01 -6.61885864e-03 -5.66246058e-03 5.65271213e+00] [ 6.61454272e-03 9.99977819e-01 -7.80585640e-04 -2.25051267e-01] [ 5.66750157e-03 7.43101439e-04 9.99983663e-01 -2.21225265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03650248099999 meters 0.1157709020733995 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.22, Z:-2.21 [[ 9.99960134e-01 -6.55837758e-03 -6.05958495e-03 5.65340758e+00] [ 6.55230609e-03 9.99978012e-01 -1.02127468e-03 -2.24189336e-01] [ 6.06614961e-03 9.81529706e-04 9.99981119e-01 -2.21203193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.066502481 meters 0.11481358639869857 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.22, Z:-2.21 [[ 9.99978764e-01 -2.01401898e-03 -6.19806631e-03 5.65414377e+00] [ 2.03520427e-03 9.99992102e-01 3.41364134e-03 -2.23858581e-01] [ 6.19114223e-03 -3.42618317e-03 9.99974965e-01 -2.21275802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.096502481 meters 0.11411289448947716 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.22, Z:-2.21 [[ 9.99969734e-01 -1.99654780e-03 -7.51958543e-03 5.65572062e+00] [ 2.01239819e-03 9.99995768e-01 2.10090508e-03 -2.20829691e-01] [ 7.51535905e-03 -2.11597390e-03 9.99969521e-01 -2.21082115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.126502481 meters 0.11425968803204709 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.22, Z:-2.21 [[ 9.99968998e-01 -1.99333539e-03 -7.61771135e-03 5.65572506e+00] [ 2.00851027e-03 9.99996013e-01 1.98492182e-03 -2.20841504e-01] [ 7.61372436e-03 -2.00016054e-03 9.99969015e-01 -2.21046248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.156502481 meters 0.11379642109724612 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.22, Z:-2.21 [[ 9.99965889e-01 -1.75611381e-03 -8.07076444e-03 5.65653367e+00] [ 1.77179995e-03 9.99996555e-01 1.93683751e-03 -2.20830738e-01] [ 8.06733533e-03 -1.95107122e-03 9.99965555e-01 -2.21021556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.186502481 meters 0.11379642109724612 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.22, Z:-2.21 [[ 9.99965889e-01 -1.75611381e-03 -8.07076444e-03 5.65653367e+00] [ 1.77179995e-03 9.99996555e-01 1.93683751e-03 -2.20830738e-01] [ 8.06733533e-03 -1.95107122e-03 9.99965555e-01 -2.21021556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.216502481 meters 0.11369157743958605 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.22, Z:-2.21 [[ 9.99965691e-01 -1.56108420e-03 -8.13512410e-03 5.65697621e+00] [ 1.57884287e-03 9.99996384e-01 2.17699735e-03 -2.21105390e-01] [ 8.13169620e-03 -2.18976674e-03 9.99964540e-01 -2.21072138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.246502481 meters 0.11354635879790048 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.22, Z:-2.21 [[ 9.99963378e-01 -1.65297222e-03 -8.39701823e-03 5.65723415e+00] [ 1.66756422e-03 9.99997111e-01 1.73105550e-03 -2.20095279e-01] [ 8.39413259e-03 -1.74499468e-03 9.99963246e-01 -2.21020651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.276502481 meters 0.11350110822706472 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.22, Z:-2.21 [[ 9.99962526e-01 -1.52860180e-03 -8.52110041e-03 5.65771180e+00] [ 1.54430904e-03 9.99997120e-01 1.83705920e-03 -2.19977114e-01] [ 8.51826774e-03 -1.85014957e-03 9.99962007e-01 -2.21056752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.306502481 meters 0.11351926037662366 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.22, Z:-2.21 [[ 9.99964233e-01 -1.35329967e-03 -8.34878616e-03 5.65791032e+00] [ 1.37212538e-03 9.99996528e-01 2.24958836e-03 -2.20543406e-01] [ 8.34571280e-03 -2.26096348e-03 9.99962618e-01 -2.21146565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.336502481 meters 0.11390905983507127 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.22, Z:-2.21 [[ 9.99940520e-01 -5.95063034e-03 -9.14042990e-03 5.65876041e+00] [ 5.92308656e-03 9.99977845e-01 -3.03752091e-03 -2.17568134e-01] [ 9.15830256e-03 2.98320068e-03 9.99953612e-01 -2.21020269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.366502481 meters 0.11447808326988174 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.22, Z:-2.21 [[ 9.99941445e-01 -5.86180168e-03 -9.09642609e-03 5.65875613e+00] [ 5.83667323e-03 9.99979084e-01 -2.78654644e-03 -2.18120565e-01] [ 9.11257001e-03 2.73329041e-03 9.99954744e-01 -2.21036605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.396502481 meters 0.11519893174479025 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.22, Z:-2.21 [[ 9.99941995e-01 -5.89881369e-03 -9.01165623e-03 5.65844352e+00] [ 5.87452675e-03 9.99979048e-01 -2.71915547e-03 -2.18386771e-01] [ 9.02750721e-03 2.66605853e-03 9.99955697e-01 -2.21016068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.426502481 meters 0.11576958216675201 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.22, Z:-2.21 [[ 9.99943697e-01 -5.77716254e-03 -8.90099487e-03 5.65843003e+00] [ 5.75623713e-03 9.99980613e-01 -2.37473437e-03 -2.19154737e-01] [ 8.91454153e-03 2.32336443e-03 9.99957566e-01 -2.21053795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45650248099997 meters 0.1172888260734963 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.23, Z:-2.21 [[ 9.99952683e-01 -5.29741960e-03 -8.15893025e-03 5.65769338e+00] [ 5.29038410e-03 9.99985615e-01 -8.83647643e-04 -2.25412627e-01] [ 8.16349394e-03 8.40441957e-04 9.99966325e-01 -2.21136436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48650248099997 meters 0.11740458369892567 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.23, Z:-2.21 [[ 9.99954561e-01 -4.87294351e-03 -8.19331535e-03 5.65801628e+00] [ 4.87240354e-03 9.99988126e-01 -8.58638545e-05 -2.27445352e-01] [ 8.19363648e-03 4.59388142e-05 9.99966431e-01 -2.21188206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51650248099997 meters 0.1169684178648128 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.23, Z:-2.21 [[ 9.99954921e-01 -4.48592169e-03 -8.36855458e-03 5.65855128e+00] [ 4.49013700e-03 9.99989802e-01 4.84987483e-04 -2.28985910e-01] [ 8.36629362e-03 -5.22541576e-04 9.99964865e-01 -2.21224767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54650248099998 meters 0.11610813715339921 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.23, Z:-2.21 [[ 9.99955443e-01 -3.88151753e-03 -8.60499443e-03 5.65954960e+00] [ 3.89236744e-03 9.99991650e-01 1.24449668e-03 -2.30980396e-01] [ 8.60009204e-03 -1.27793503e-03 9.99962202e-01 -2.21309824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57650248099998 meters 0.11535290640769115 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.23, Z:-2.21 [[ 9.99948840e-01 -3.75346398e-03 -9.39301963e-03 5.66081798e+00] [ 3.76128394e-03 9.99992594e-01 8.15002239e-04 -2.29702617e-01] [ 9.38989098e-03 -8.50290357e-04 9.99955552e-01 -2.21258886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60650248099998 meters 0.11456480588815225 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.23, Z:-2.21 [[ 9.99939673e-01 -3.63237931e-03 -1.03661102e-02 5.66200035e+00] [ 3.63389180e-03 9.99993389e-01 1.27075150e-04 -2.28244239e-01] [ 1.03655801e-02 -1.64736807e-04 9.99946262e-01 -2.21133260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63650248099998 meters 0.11389110805354533 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.23, Z:-2.21 [[ 9.99932432e-01 -3.14279599e-03 -1.11916947e-02 5.66361694e+00] [ 3.14609461e-03 9.99995013e-01 2.77144717e-04 -2.28470952e-01] [ 1.11907679e-02 -3.12336121e-04 9.99937333e-01 -2.21131899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66650248099998 meters 0.11364880891610042 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.23, Z:-2.21 [[ 9.99927906e-01 -2.93126366e-03 -1.16443659e-02 5.66462838e+00] [ 2.93464921e-03 9.99995656e-01 2.73669474e-04 -2.28107032e-01] [ 1.16435131e-02 -3.07821873e-04 9.99932165e-01 -2.21144263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69650248099998 meters 0.11324617917294247 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.23, Z:-2.21 [[ 9.99918856e-01 -2.38768994e-03 -1.25131874e-02 5.66650308e+00] [ 2.39447223e-03 9.99996994e-01 5.27057572e-04 -2.28242554e-01] [ 1.25118914e-02 -5.56977285e-04 9.99921568e-01 -2.21169159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72650248099998 meters 0.11309037813087189 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.23, Z:-2.21 [[ 9.99915755e-01 -2.09547830e-03 -1.28098240e-02 5.66731947e+00] [ 2.10581169e-03 9.99997468e-01 7.93241509e-04 -2.28735821e-01] [ 1.28081293e-02 -8.20149759e-04 9.99917636e-01 -2.21205444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75650248099998 meters 0.11284669427364707 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.23, Z:-2.21 [[ 9.99907763e-01 -1.41614236e-03 -1.35078107e-02 5.66934357e+00] [ 1.43650086e-03 9.99997847e-01 1.49758221e-03 -2.29501347e-01] [ 1.35056608e-02 -1.51684806e-03 9.99907644e-01 -2.21316866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78650248099999 meters 0.11276768792210531 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.23, Z:-2.21 [[ 9.99904386e-01 -1.02838683e-03 -1.37898938e-02 5.67039191e+00] [ 1.05563221e-03 9.99997505e-01 1.96861586e-03 -2.30083326e-01] [ 1.37878349e-02 -1.98298469e-03 9.99902977e-01 -2.21394609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.816502481 meters 0.11284860961253891 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.23, Z:-2.21 [[ 9.99895571e-01 -9.97349780e-04 -1.44171058e-02 5.67101349e+00] [ 1.01987425e-03 9.99998271e-01 1.55507547e-03 -2.29591715e-01] [ 1.44155299e-02 -1.56961671e-03 9.99894859e-01 -2.21293636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.846502481 meters 0.11298895128759623 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.23, Z:-2.21 [[ 9.99885734e-01 -9.18712384e-04 -1.50888722e-02 5.67199164e+00] [ 9.37208673e-04 9.99998818e-01 1.21879779e-03 -2.28685484e-01] [ 1.50877346e-02 -1.23279995e-03 9.99885414e-01 -2.21235187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.876502481 meters 0.11336139114139165 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.23, Z:-2.21 [[ 9.99873241e-01 -1.03554539e-03 -1.58880637e-02 5.67275880e+00] [ 1.04079103e-03 9.99999407e-01 3.21897042e-04 -2.26634003e-01] [ 1.58877210e-02 -3.38392393e-04 9.99873725e-01 -2.21102067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.906502481 meters 0.11385104613859572 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.23, Z:-2.21 [[ 9.99857999e-01 -9.92571414e-04 -1.68224807e-02 5.67375790e+00] [ 9.86255611e-04 9.99999440e-01 -3.83730345e-04 -2.25399261e-01] [ 1.68228522e-02 3.67084589e-04 9.99858418e-01 -2.20957623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.936502481 meters 0.11416467191120588 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.23, Z:-2.21 [[ 9.99888711e-01 3.63841109e-03 -1.44681861e-02 5.68617348e+00] [-3.71234547e-03 9.99980172e-01 -5.08656551e-03 -2.25030507e-01] [ 1.44493923e-02 5.13971033e-03 9.99882392e-01 -2.20826167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.966502481 meters 0.1146504674880272 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.23, Z:-2.21 [[ 0.99987262 0.0087298 -0.01336147 5.69855548] [-0.00884907 0.9999213 -0.00889335 -0.22595263] [ 0.01328278 0.00901045 0.99987118 -2.20670954] [ 0. 0. 0. 1. ]] SLAMing on 203.996502481 meters 0.114801276494043 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.23, Z:-2.21 [[ 0.99987029 0.00862268 -0.01360358 5.69857274] [-0.00874898 0.99991892 -0.00925207 -0.2256329 ] [ 0.0135227 0.00936989 0.99986466 -2.20592792] [ 0. 0. 0. 1. ]] SLAMing on 204.026502481 meters 0.11570107771319475 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.22, Z:-2.21 [[ 9.99959994e-01 -6.45051990e-04 -8.92161529e-03 5.70451667e+00] [ 6.07328284e-04 9.99990867e-01 -4.23041245e-03 -2.23318790e-01] [ 8.92426265e-03 4.22482486e-03 9.99951253e-01 -2.20855718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.056502481 meters 0.11588583224651768 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.22, Z:-2.21 [[ 9.99953990e-01 -6.05357746e-04 -9.57350397e-03 5.70539741e+00] [ 5.61235944e-04 9.99989213e-01 -4.61075636e-03 -2.22291181e-01] [ 9.57619186e-03 4.60517122e-03 9.99943543e-01 -2.20788493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.086502481 meters 0.11623134944942619 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.22, Z:-2.21 [[ 9.99950383e-01 -5.05602652e-04 -9.94868436e-03 5.70616072e+00] [ 4.58828820e-04 9.99988834e-01 -4.70323020e-03 -2.21680897e-01] [ 9.95095125e-03 4.69843209e-03 9.99939450e-01 -2.20790095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.116502481 meters 0.11665137185368854 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.22, Z:-2.21 [[ 9.99944007e-01 -4.16656652e-04 -1.05739600e-02 5.70740208e+00] [ 3.62501142e-04 9.99986812e-01 -5.12299198e-03 -2.19858872e-01] [ 1.05759550e-02 5.11887206e-03 9.99930971e-01 -2.20793026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.146502481 meters 0.11759037388854894 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.22, Z:-2.21 [[ 9.99938701e-01 -1.93196118e-04 -1.10705838e-02 5.70880384e+00] [ 1.35560201e-04 9.99986436e-01 -5.20673592e-03 -2.18678190e-01] [ 1.10714396e-02 5.20491601e-03 9.99925163e-01 -2.20857409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.176502481 meters 0.11673285049710172 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.22, Z:-2.21 [[ 9.99938985e-01 1.33004524e-04 -1.10457215e-02 5.70904379e+00] [-1.82662600e-04 9.99989882e-01 -4.49479708e-03 -2.20339349e-01] [ 1.10450119e-02 4.49654047e-03 9.99928892e-01 -2.20913326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20650248099997 meters 0.11690393763669678 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.22, Z:-2.21 [[ 9.99936246e-01 4.14091660e-04 -1.12841403e-02 5.70987427e+00] [-4.61029235e-04 9.99991252e-01 -4.15732200e-03 -2.20684952e-01] [ 1.12823201e-02 4.16225927e-03 9.99927690e-01 -2.20969497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23650248099997 meters 0.1166306510314826 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.22, Z:-2.21 [[ 9.99935307e-01 5.49719920e-04 -1.13613401e-02 5.71028306e+00] [-5.94742159e-04 9.99991983e-01 -3.95975908e-03 -2.20905939e-01] [ 1.13590723e-02 3.96625998e-03 9.99927618e-01 -2.21010028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26650248099997 meters 0.11702216753684543 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.22, Z:-2.21 [[ 9.99934631e-01 5.92115460e-04 -1.14185325e-02 5.71059881e+00] [-6.37198999e-04 9.99992015e-01 -3.94504404e-03 -2.20704573e-01] [ 1.14161054e-02 3.95206203e-03 9.99927024e-01 -2.21038488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29650248099998 meters 0.1164998455061466 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.22, Z:-2.21 [[ 9.99974265e-01 -4.30780288e-03 -5.73689784e-03 5.72247486e+00] [ 4.31167591e-03 9.99990485e-01 6.62911897e-04 -2.21521200e-01] [ 5.73398756e-03 -6.87630481e-04 9.99983324e-01 -2.21231455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32650248099998 meters 0.11560013044029625 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.22, Z:-2.21 [[ 9.99975920e-01 -4.37629641e-03 -5.38577185e-03 5.72163880e+00] [ 4.38210570e-03 9.99989829e-01 1.06731075e-03 -2.23037263e-01] [ 5.38104620e-03 -1.09088607e-03 9.99984927e-01 -2.21212321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35650248099998 meters 0.11508545047742752 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.22, Z:-2.21 [[ 9.99976094e-01 -4.30741897e-03 -5.40900856e-03 5.72125456e+00] [ 4.31503337e-03 9.99989715e-01 1.39684457e-03 -2.24522737e-01] [ 5.40293613e-03 -1.42015123e-03 9.99984396e-01 -2.21150767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38650248099998 meters 0.1146798364810236 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.23, Z:-2.21 [[ 9.99977332e-01 -4.52510603e-03 -4.98593559e-03 5.72003020e+00] [ 4.53265409e-03 9.99988597e-01 1.50361167e-03 -2.25762037e-01] [ 4.97907474e-03 -1.52617711e-03 9.99986440e-01 -2.21088354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41650248099998 meters 0.11421527304340612 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.23, Z:-2.21 [[ 9.99981592e-01 -4.29551291e-03 -4.28543332e-03 5.71934050e+00] [ 4.30617049e-03 9.99987651e-01 2.48081286e-03 -2.28934168e-01] [ 4.27472403e-03 -2.49922100e-03 9.99987740e-01 -2.21190263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44650248099998 meters 0.11395398614729796 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.23, Z:-2.21 [[ 9.99983783e-01 -3.96275431e-03 -4.09034063e-03 5.71950715e+00] [ 3.97597075e-03 9.99986886e-01 3.22807664e-03 -2.30731260e-01] [ 4.07749491e-03 -3.24428737e-03 9.99986424e-01 -2.21282369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47650248099998 meters 0.11353278541437574 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.23, Z:-2.21 [[ 9.99956585e-01 -8.06242285e-03 -4.67181085e-03 5.72095900e+00] [ 8.05737128e-03 9.99966935e-01 -1.09910051e-03 -2.29708769e-01] [ 4.68051779e-03 1.06141028e-03 9.99988483e-01 -2.21322584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50650248099998 meters 0.11356230551428337 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.23, Z:-2.21 [[ 9.99959613e-01 -7.68692580e-03 -4.65652833e-03 5.72167087e+00] [ 7.68519227e-03 9.99970392e-01 -3.90058050e-04 -2.30733153e-01] [ 4.65938880e-03 3.54255981e-04 9.99989082e-01 -2.21446029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53650248099999 meters 0.1132116013408865 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.23, Z:-2.22 [[ 9.99962188e-01 -7.41644009e-03 -4.54079422e-03 5.72215459e+00] [ 7.41762142e-03 9.99972459e-01 2.43372701e-04 -2.31522537e-01] [ 4.53886421e-03 -2.77045392e-04 9.99989661e-01 -2.21568490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.566502481 meters 0.113130396017252 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.23, Z:-2.22 [[ 9.99963131e-01 -7.22704150e-03 -4.63746498e-03 5.72293522e+00] [ 7.22977764e-03 9.99973700e-01 5.73515079e-04 -2.31343718e-01] [ 4.63319819e-03 -6.07021774e-04 9.99989082e-01 -2.21666173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.596502481 meters 0.11299168001606733 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.23, Z:-2.22 [[ 9.99968412e-01 -6.63791645e-03 -4.37180564e-03 5.72342421e+00] [ 6.64638694e-03 9.99976058e-01 1.92585554e-03 -2.34089451e-01] [ 4.35891730e-03 -1.95485141e-03 9.99988589e-01 -2.21839766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.626502481 meters 0.11288908772840839 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.23, Z:-2.22 [[ 9.99968617e-01 -6.29789549e-03 -4.80647818e-03 5.72476178e+00] [ 6.30828360e-03 9.99977793e-01 2.14918112e-03 -2.33909619e-01] [ 4.79283612e-03 -2.17943430e-03 9.99986139e-01 -2.21912462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.656502481 meters 0.11276684175562202 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99969215e-01 -6.05374603e-03 -4.99207177e-03 5.72568116e+00] [ 6.06552932e-03 9.99978846e-01 2.34864882e-03 -2.33751279e-01] [ 4.97774805e-03 -2.37885607e-03 9.99984781e-01 -2.21995750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.686502481 meters 0.11273366002614328 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99969623e-01 -5.86537011e-03 -5.13328334e-03 5.72612393e+00] [ 5.87840225e-03 9.99979528e-01 2.52735811e-03 -2.34244731e-01] [ 5.11835436e-03 -2.55745684e-03 9.99983631e-01 -2.22017717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.716502481 meters 0.11306377164775729 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99965832e-01 -6.08603482e-03 -5.59412341e-03 5.72643587e+00] [ 6.09591194e-03 9.99979888e-01 1.75027156e-03 -2.32440382e-01] [ 5.58335868e-03 -1.78431304e-03 9.99982821e-01 -2.21913100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.746502481 meters 0.11297287528679796 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99963185e-01 -6.38399177e-03 -5.73356761e-03 5.72602963e+00] [ 6.39038070e-03 9.99978980e-01 1.09667499e-03 -2.31402994e-01] [ 5.72644592e-03 -1.13327430e-03 9.99982962e-01 -2.21791749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.776502481 meters 0.11313387332231907 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99962835e-01 -6.43082737e-03 -5.74227545e-03 5.72600087e+00] [ 6.43655467e-03 9.99978805e-01 9.79468892e-04 -2.31132946e-01] [ 5.73585495e-03 -1.01639296e-03 9.99983033e-01 -2.21780939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.806502481 meters 0.11302584317869872 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99959692e-01 -6.64066251e-03 -6.04283942e-03 5.72589344e+00] [ 6.64301754e-03 9.99977867e-01 3.69733475e-04 -2.30037299e-01] [ 6.04025040e-03 -4.09861260e-04 9.99981674e-01 -2.21659216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.836502481 meters 0.11309223774634211 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.23, Z:-2.22 [[ 9.99962594e-01 -6.61087792e-03 -5.57732870e-03 5.72492084e+00] [ 6.61631673e-03 9.99977654e-01 9.57277169e-04 -2.32407328e-01] [ 5.57087562e-03 -9.94142735e-04 9.99983988e-01 -2.21657038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.866502481 meters 0.11299871267371595 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99963990e-01 -6.35789785e-03 -5.62100465e-03 5.72531158e+00] [ 6.36559404e-03 9.99978825e-01 1.35235502e-03 -2.33230760e-01] [ 5.61228749e-03 -1.38808736e-03 9.99983288e-01 -2.21705690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.896502481 meters 0.11319553256262263 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99965896e-01 -6.25921089e-03 -5.38792717e-03 5.72526365e+00] [ 6.26811293e-03 9.99979015e-01 1.63692270e-03 -2.33897548e-01] [ 5.37756826e-03 -1.67063901e-03 9.99984145e-01 -2.21769064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.926502481 meters 0.113270969899327 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99963839e-01 -6.19778090e-03 -5.82306664e-03 5.72603047e+00] [ 6.20575580e-03 9.99979830e-01 1.35246782e-03 -2.32971961e-01] [ 5.81456689e-03 -1.38855545e-03 9.99982131e-01 -2.21749073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95650248099997 meters 0.11350314522494766 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99959753e-01 -6.28659059e-03 -6.40086536e-03 5.72681818e+00] [ 6.29047510e-03 9.99980043e-01 5.86920738e-04 -2.30702976e-01] [ 6.39704789e-03 -6.27161601e-04 9.99979342e-01 -2.21686004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98650248099997 meters 0.11329490269358505 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99958704e-01 -6.18826948e-03 -6.65544225e-03 5.72743123e+00] [ 6.19221132e-03 9.99980665e-01 5.71829040e-04 -2.30151353e-01] [ 6.65177493e-03 -6.13017331e-04 9.99977689e-01 -2.21698944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01650248099997 meters 0.11332860666289664 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99959584e-01 -5.91918862e-03 -6.76707774e-03 5.72820431e+00] [ 5.92569967e-03 9.99981999e-01 9.42520588e-04 -2.30377359e-01] [ 6.76137696e-03 -9.82582165e-04 9.99976659e-01 -2.21785948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04650248099998 meters 0.11332684124408411 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99962620e-01 -5.35382183e-03 -6.78934355e-03 5.72925539e+00] [ 5.36716851e-03 9.99983697e-01 1.94913385e-03 -2.31824021e-01] [ 6.77879755e-03 -1.98550055e-03 9.99975053e-01 -2.21956362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07650248099998 meters 0.11332684124408411 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99962620e-01 -5.35382183e-03 -6.78934355e-03 5.72925539e+00] [ 5.36716851e-03 9.99983697e-01 1.94913385e-03 -2.31824021e-01] [ 6.77879755e-03 -1.98550055e-03 9.99975053e-01 -2.21956362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10650248099998 meters 0.1131261647499007 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99963803e-01 -5.03303259e-03 -6.86007150e-03 5.72991806e+00] [ 5.04990382e-03 9.99984262e-01 2.44423870e-03 -2.32542139e-01] [ 6.84766161e-03 -2.47879293e-03 9.99973482e-01 -2.22040454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13650248099998 meters 0.11318793864177186 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99966007e-01 -4.68288506e-03 -6.78644823e-03 5.73043955e+00] [ 4.70409006e-03 9.99984093e-01 3.11202366e-03 -2.33636739e-01] [ 6.77176703e-03 -3.14384194e-03 9.99972129e-01 -2.22153393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16650248099998 meters 0.11301527521809424 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99967000e-01 -4.39419689e-03 -6.83301321e-03 5.73076287e+00] [ 4.41892234e-03 9.99983729e-01 3.60765003e-03 -2.34818610e-01] [ 6.81704930e-03 -3.63772553e-03 9.99970147e-01 -2.22195465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19650248099998 meters 0.1130672003416862 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.24, Z:-2.22 [[ 9.99965607e-01 -4.26877340e-03 -7.11065889e-03 5.73109404e+00] [ 4.29468123e-03 9.99984181e-01 3.63224528e-03 -2.35149851e-01] [ 7.09504118e-03 -3.66265837e-03 9.99968122e-01 -2.22158840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22650248099998 meters 0.11330042412872444 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.24, Z:-2.22 [[ 9.99965530e-01 -4.34318997e-03 -7.07642818e-03 5.73086253e+00] [ 4.36812467e-03 9.99984293e-01 3.51199053e-03 -2.35088746e-01] [ 7.06106379e-03 -3.54278019e-03 9.99968795e-01 -2.22131278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25650248099998 meters 0.11348262012991761 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99962506e-01 -4.72398805e-03 -7.25740485e-03 5.73016228e+00] [ 4.74389767e-03 9.99985025e-01 2.72859264e-03 -2.34276984e-01] [ 7.24440633e-03 -2.76291872e-03 9.99969942e-01 -2.21950714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28650248099999 meters 0.11357488080693184 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.23, Z:-2.22 [[ 9.99963002e-01 -4.77185072e-03 -7.15709458e-03 5.72981052e+00] [ 4.79145445e-03 9.99984810e-01 2.72442073e-03 -2.34709883e-01] [ 7.14398533e-03 -2.75861283e-03 9.99970676e-01 -2.21924718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.316502481 meters 0.11350575541792739 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.24, Z:-2.22 [[ 9.99964479e-01 -4.52094054e-03 -7.11354403e-03 5.73016643e+00] [ 4.54374313e-03 9.99984581e-01 3.19262847e-03 -2.35527470e-01] [ 7.09900066e-03 -3.22483718e-03 9.99969602e-01 -2.21997285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.346502481 meters 0.11350792765804033 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.24, Z:-2.22 [[ 9.99966954e-01 -3.98770061e-03 -7.08449064e-03 5.73097528e+00] [ 4.01724216e-03 9.99983276e-01 4.16056447e-03 -2.37311257e-01] [ 7.06778107e-03 -4.18888709e-03 9.99966249e-01 -2.22141873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.376502481 meters 0.11340299218918933 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.24, Z:-2.22 [[ 9.99968242e-01 -3.74777087e-03 -7.03342403e-03 5.73144610e+00] [ 3.78002388e-03 9.99982377e-01 4.57799960e-03 -2.37865719e-01] [ 7.01614278e-03 -4.60444073e-03 9.99964786e-01 -2.22231448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.406502481 meters 0.1134423989601452 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.24, Z:-2.22 [[ 9.99969558e-01 -3.50353530e-03 -6.97192535e-03 5.73174658e+00] [ 3.53873726e-03 9.99981022e-01 5.04318649e-03 -2.38750732e-01] [ 6.95412406e-03 -5.06770478e-03 9.99962979e-01 -2.22299311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.436502481 meters 0.11339381068123526 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.24, Z:-2.22 [[ 9.99971969e-01 -3.18907687e-03 -6.77429131e-03 5.73193704e+00] [ 3.22854829e-03 9.99977830e-01 5.82372724e-03 -2.40391441e-01] [ 6.75556881e-03 -5.84543512e-03 9.99960096e-01 -2.22397026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.466502481 meters 0.11324639411079511 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.24, Z:-2.22 [[ 9.99944305e-01 -7.37647886e-03 -7.54812163e-03 5.73321620e+00] [ 7.38571520e-03 9.99972009e-01 1.19651826e-03 -2.39211621e-01] [ 7.53908426e-03 -1.25219989e-03 9.99970797e-01 -2.22351397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.496502481 meters 0.11352729449673643 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.24, Z:-2.23 [[ 9.99950801e-01 -6.92048316e-03 -7.10651625e-03 5.73332910e+00] [ 6.93880787e-03 9.99972657e-01 2.55716797e-03 -2.42109835e-01] [ 7.08862509e-03 -2.60635291e-03 9.99971479e-01 -2.22524897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.526502481 meters 0.11336902442792189 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.24, Z:-2.23 [[ 9.99953732e-01 -6.62301890e-03 -6.97632169e-03 5.73356354e+00] [ 6.64576905e-03 9.99972658e-01 3.24293301e-03 -2.43562029e-01] [ 6.95465293e-03 -3.28914599e-03 9.99970407e-01 -2.22610013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.556502481 meters 0.11358268966788812 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.25, Z:-2.23 [[ 9.99958358e-01 -5.86786846e-03 -6.98935708e-03 5.73470504e+00] [ 5.90077660e-03 9.99971559e-01 4.69704197e-03 -2.46253315e-01] [ 6.96159667e-03 -4.73808901e-03 9.99964543e-01 -2.22808605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.586502481 meters 0.11365325871389143 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.25, Z:-2.23 [[ 9.99960694e-01 -5.39439152e-03 -7.03646032e-03 5.73543822e+00] [ 5.43338393e-03 9.99969925e-01 5.53418606e-03 -2.47891508e-01] [ 7.00639514e-03 -5.57220032e-03 9.99959930e-01 -2.22919292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.616502481 meters 0.11374578572610257 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.25, Z:-2.23 [[ 9.99963688e-01 -4.89865795e-03 -6.97315339e-03 5.73593801e+00] [ 4.94386859e-03 9.99966776e-01 6.48112508e-03 -2.50181109e-01] [ 6.94117290e-03 -6.51536410e-03 9.99954684e-01 -2.23024972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.646502481 meters 0.11372052895834502 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.25, Z:-2.23 [[ 9.99963040e-01 -4.68924075e-03 -7.20627769e-03 5.73634350e+00] [ 4.73770728e-03 9.99966175e-01 6.72330958e-03 -2.50904520e-01] [ 7.17450672e-03 -6.75720231e-03 9.99951432e-01 -2.23021549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.676502481 meters 0.11394193161139614 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.25, Z:-2.23 [[ 9.99963604e-01 -4.53027950e-03 -7.22957374e-03 5.73616388e+00] [ 4.58146849e-03 9.99964443e-01 7.07971645e-03 -2.52393648e-01] [ 7.19724358e-03 -7.11258084e-03 9.99948804e-01 -2.22990921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70650248099997 meters 0.1142800044838674 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.25, Z:-2.23 [[ 9.99960396e-01 -4.44389592e-03 -7.71088193e-03 5.73669165e+00] [ 4.49651008e-03 9.99966637e-01 6.81949799e-03 -2.52068261e-01] [ 7.68031954e-03 -6.85389997e-03 9.99947017e-01 -2.22919348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73650248099997 meters 0.11407864963650505 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.25, Z:-2.23 [[ 9.99959580e-01 -4.20874110e-03 -7.94506735e-03 5.73746950e+00] [ 4.26466902e-03 9.99966156e-01 7.03555781e-03 -2.52174616e-01] [ 7.91518762e-03 -7.06915652e-03 9.99943687e-01 -2.22968654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76650248099997 meters 0.1138917232130787 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.25, Z:-2.23 [[ 9.99956918e-01 -3.60410753e-03 -8.55407771e-03 5.73943091e+00] [ 3.66851731e-03 9.99964950e-01 7.52600758e-03 -2.52388572e-01] [ 8.52665334e-03 -7.55706413e-03 9.99935091e-01 -2.23090767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79650248099998 meters 0.11403817351536334 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.25, Z:-2.23 [[ 9.99952731e-01 -3.40757095e-03 -9.10625443e-03 5.74063996e+00] [ 3.47484883e-03 9.99966711e-01 7.38251581e-03 -2.51585662e-01] [ 9.08079485e-03 -7.41380970e-03 9.99931285e-01 -2.23105049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82650248099998 meters 0.11417775086422333 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.25, Z:-2.23 [[ 9.99942813e-01 -3.59102013e-03 -1.00735230e-02 5.74214430e+00] [ 3.65052203e-03 9.99975963e-01 5.89460674e-03 -2.47211860e-01] [ 1.00521132e-02 -5.93104326e-03 9.99931887e-01 -2.23039589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85650248099998 meters 0.11422437276486543 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.25, Z:-2.23 [[ 9.99938475e-01 -3.52046208e-03 -1.05191410e-02 5.74309229e+00] [ 3.57946186e-03 9.99977940e-01 5.59524941e-03 -2.46004387e-01] [ 1.04992111e-02 -5.63255802e-03 9.99929018e-01 -2.23042968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88650248099998 meters 0.11460287697563605 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.24, Z:-2.23 [[ 9.99963035e-01 2.54107737e-03 -8.21416080e-03 5.75863345e+00] [-2.52852467e-03 9.99995620e-01 1.53820130e-03 -2.39577559e-01] [ 8.21803351e-03 -1.51737473e-03 9.99965080e-01 -2.23068128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91650248099998 meters 0.1149132222534639 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.24, Z:-2.23 [[ 9.99959948e-01 2.18060420e-03 -8.68025168e-03 5.75892917e+00] [-2.17582813e-03 9.99997476e-01 5.59627452e-04 -2.36948617e-01] [ 8.68145010e-03 -5.40718303e-04 9.99962169e-01 -2.22957500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94650248099998 meters 0.11525756144495214 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.23, Z:-2.23 [[ 9.99955674e-01 2.00871486e-03 -9.19864124e-03 5.75960462e+00] [-2.01113470e-03 9.99997945e-01 -2.53822300e-04 -2.34660452e-01] [ 9.19811248e-03 2.72310756e-04 9.99957659e-01 -2.22883289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97650248099998 meters 0.11555367757441208 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.23, Z:-2.23 [[ 0.99995033 0.0060826 -0.00789506 5.77329988] [-0.00613226 0.99996147 -0.00628171 -0.23375638] [ 0.00785655 0.00632981 0.9999491 -2.22603045] [ 0. 0. 0. 1. ]] SLAMing on 206.00650248099998 meters 0.11546912498487089 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.23, Z:-2.23 [[ 9.99959790e-01 1.68544225e-03 -8.80785376e-03 5.77452243e+00] [-1.78560914e-03 9.99933686e-01 -1.13769903e-02 -2.31435789e-01] [ 8.78809441e-03 1.13922602e-02 9.99896488e-01 -2.22503930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03650248099999 meters 0.11545814989516366 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.23, Z:-2.23 [[ 9.99957802e-01 1.77367700e-03 -9.01376738e-03 5.77525700e+00] [-1.87670581e-03 9.99932862e-01 -1.14345854e-02 -2.30803399e-01] [ 8.99288095e-03 1.14510191e-02 9.99893996e-01 -2.22547694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.066502481 meters 0.11576467858559666 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.23, Z:-2.22 [[ 9.99958295e-01 1.57958711e-03 -8.99517679e-03 5.77492775e+00] [-1.68523834e-03 9.99929548e-01 -1.17498781e-02 -2.30199180e-01] [ 8.97598310e-03 1.17645471e-02 9.99890508e-01 -2.22499845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.096502481 meters 0.11638711691988848 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.23, Z:-2.22 [[ 9.99994534e-01 3.14414531e-04 -3.29151555e-03 5.78638701e+00] [-3.30366282e-04 9.99988199e-01 -4.84690244e-03 -2.27696075e-01] [ 3.28995277e-03 4.84796335e-03 9.99982837e-01 -2.22475086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.126502481 meters 0.11663751413789232 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.23, Z:-2.22 [[ 9.99994015e-01 3.72080467e-04 -3.43959183e-03 5.78641782e+00] [-3.88660540e-04 9.99988304e-01 -4.82094937e-03 -2.28011629e-01] [ 3.43775782e-03 4.82225735e-03 9.99982464e-01 -2.22431376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.156502481 meters 0.11663296727530771 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.23, Z:-2.22 [[ 9.99992917e-01 3.30599826e-04 -3.74912912e-03 5.78679569e+00] [-3.49867842e-04 9.99986730e-01 -5.13984043e-03 -2.27267190e-01] [ 3.74738014e-03 5.14111572e-03 9.99979763e-01 -2.22381884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.186502481 meters 0.11674922899102619 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.23, Z:-2.22 [[ 9.99991482e-01 5.28436705e-04 -4.09343052e-03 5.78761055e+00] [-5.49430939e-04 9.99986694e-01 -5.12933719e-03 -2.27079952e-01] [ 4.09066552e-03 5.13154256e-03 9.99978467e-01 -2.22396071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.216502481 meters 0.11691483738382921 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.23, Z:-2.22 [[ 9.99990271e-01 8.28972220e-04 -4.33243837e-03 5.78845168e+00] [-8.49831847e-04 9.99988046e-01 -4.81513344e-03 -2.27475078e-01] [ 4.32839497e-03 4.81876844e-03 9.99979022e-01 -2.22456698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.246502481 meters 0.1171931328011724 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.23, Z:-2.22 [[ 9.99987824e-01 1.03868069e-03 -4.82419134e-03 5.78940217e+00] [-1.06185938e-03 9.99987894e-01 -4.80460601e-03 -2.27304083e-01] [ 4.81914249e-03 4.80967012e-03 9.99976821e-01 -2.22448502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.276502481 meters 0.11784488507309793 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.23, Z:-2.22 [[ 9.99984160e-01 1.45315259e-03 -5.43757670e-03 5.79090016e+00] [-1.47834799e-03 9.99988177e-01 -4.63242495e-03 -2.27355318e-01] [ 5.43078079e-03 4.64039020e-03 9.99974486e-01 -2.22494032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.306502481 meters 0.12033335662206157 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.22, Z:-2.22 [[ 9.99981592e-01 1.23675094e-03 -5.94026418e-03 5.79198280e+00] [-1.27422309e-03 9.99979289e-01 -6.30852434e-03 -2.22462512e-01] [ 5.93233908e-03 6.31597743e-03 9.99962457e-01 -2.22491698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.336502481 meters 0.12109550714912105 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.22, Z:-2.22 [[ 9.99979484e-01 1.23901068e-03 -6.28454504e-03 5.79242250e+00] [-1.28097618e-03 9.99976882e-01 -6.67794780e-03 -2.21594332e-01] [ 6.27612570e-03 6.68586115e-03 9.99957954e-01 -2.22439706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.366502481 meters 0.12164641363824402 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.22, Z:-2.22 [[ 9.99974914e-01 9.76913382e-04 -7.01553392e-03 5.79280435e+00] [-1.02984054e-03 9.99971009e-01 -7.54463594e-03 -2.19639732e-01] [ 7.00796007e-03 7.55167156e-03 9.99946929e-01 -2.22267880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.396502481 meters 0.12225427224318075 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.22, Z:-2.22 [[ 9.99972738e-01 9.72241221e-04 -7.31963480e-03 5.79336128e+00] [-1.02946221e-03 9.99968911e-01 -7.81776076e-03 -2.18657614e-01] [ 7.31180649e-03 7.82508293e-03 9.99942651e-01 -2.22251633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.426502481 meters 0.12360986630780457 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.22, Z:-2.22 [[ 9.99969721e-01 1.20351222e-03 -7.68822424e-03 5.79438091e+00] [-1.26360532e-03 9.99968655e-01 -7.81618212e-03 -2.18188281e-01] [ 7.67857638e-03 7.82566034e-03 9.99939897e-01 -2.22295500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45650248099997 meters 0.12354189427050383 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.22, Z:-2.22 [[ 9.99968938e-01 1.46031688e-03 -7.74531324e-03 5.79485205e+00] [-1.51710041e-03 9.99971980e-01 -7.33053930e-03 -2.19025727e-01] [ 7.73439131e-03 7.34206202e-03 9.99943135e-01 -2.22359116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48650248099997 meters 0.12445697092560402 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-2.22 [[ 9.99967247e-01 1.54275887e-03 -7.94515984e-03 5.79522808e+00] [-1.60078971e-03 9.99972053e-01 -7.30275190e-03 -2.19052516e-01] [ 7.93367141e-03 7.31523124e-03 9.99941770e-01 -2.22352150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51650248099997 meters 0.1266276201400763 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-2.22 [[ 9.99963693e-01 1.26908962e-03 -8.42623770e-03 5.79552793e+00] [-1.33881334e-03 9.99964873e-01 -8.27411848e-03 -2.16709068e-01] [ 8.41544111e-03 8.28509923e-03 9.99930266e-01 -2.22235840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54650248099998 meters 0.12781437236123874 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-2.22 [[ 9.99961245e-01 1.20669618e-03 -8.72081661e-03 5.79594055e+00] [-1.28189589e-03 9.99962003e-01 -8.62257362e-03 -2.15663135e-01] [ 8.71008042e-03 8.63341863e-03 9.99924796e-01 -2.22199359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57650248099998 meters 0.1283786799636923 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-2.22 [[ 9.99958863e-01 1.35625150e-03 -8.96843828e-03 5.79671102e+00] [-1.43271657e-03 9.99962634e-01 -8.52509768e-03 -2.15320693e-01] [ 8.95654099e-03 8.53759621e-03 9.99923442e-01 -2.22237978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60650248099998 meters 0.12751378541574038 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-2.23 [[ 9.99968439e-01 -3.66796283e-04 7.93639012e-03 5.79559368e+00] [ 3.97190847e-04 9.99992592e-01 -3.82853471e-03 -2.15234511e-01] [-7.93492703e-03 3.83156614e-03 9.99961177e-01 -2.23220666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63650248099998 meters 0.12835220957435928 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-2.23 [[ 9.99970825e-01 -2.04367795e-04 7.63587701e-03 5.79633757e+00] [ 2.33058764e-04 9.99992916e-01 -3.75668924e-03 -2.15051602e-01] [-7.63505517e-03 3.75835925e-03 9.99963790e-01 -2.23241632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66650248099998 meters 0.1265049377033214 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-2.23 [[ 9.99971757e-01 -6.84282191e-05 7.51541485e-03 5.79685234e+00] [ 9.51521778e-05 9.99993674e-01 -3.55558604e-03 -2.15129408e-01] [-7.51512401e-03 3.55620072e-03 9.99965438e-01 -2.23289091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69650248099998 meters 0.12950233230777763 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-2.23 [[ 9.99972969e-01 2.31591851e-04 7.34897903e-03 5.79779139e+00] [-2.07526698e-04 9.99994615e-01 -3.27521900e-03 -2.15450901e-01] [-7.34969797e-03 3.27360536e-03 9.99967632e-01 -2.23381162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72650248099998 meters 0.1290467957193101 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-2.23 [[ 9.99973443e-01 5.39585186e-04 7.26790848e-03 5.79852351e+00] [-5.20146709e-04 9.99996284e-01 -2.67618739e-03 -2.16300531e-01] [-7.26932550e-03 2.67233594e-03 9.99970007e-01 -2.23485205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75650248099998 meters 0.12783481006297376 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-2.23 [[ 9.99974922e-01 5.23750890e-04 7.06261790e-03 5.79889707e+00] [-5.03051256e-04 9.99995574e-01 -2.93233066e-03 -2.15438481e-01] [-7.06412245e-03 2.92870427e-03 9.99970760e-01 -2.23473625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78650248099999 meters 0.1279648471661036 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-2.24 [[ 9.99975495e-01 7.92990065e-04 6.95560127e-03 5.79942685e+00] [-7.76986696e-04 9.99997046e-01 -2.30318920e-03 -2.16504218e-01] [-6.95740713e-03 2.29772835e-03 9.99973157e-01 -2.23542544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.816502481 meters 0.13193271088208972 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-2.24 [[ 9.99977562e-01 8.69752295e-04 6.64214172e-03 5.80000635e+00] [-8.53000968e-04 9.99996450e-01 -2.52439339e-03 -2.15822728e-01] [-6.64431374e-03 2.51867100e-03 9.99974754e-01 -2.23529322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.846502481 meters 0.1291118335287792 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-2.24 [[ 9.99977770e-01 9.98144383e-04 6.59265542e-03 5.80001926e+00] [-9.83463386e-04 9.99997031e-01 -2.22973813e-03 -2.16978357e-01] [-6.59486144e-03 2.22320493e-03 9.99975782e-01 -2.23521148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.876502481 meters 0.131037346462175 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-2.23 [[ 9.99980440e-01 1.12701641e-03 6.15220613e-03 5.80079062e+00] [-1.11165635e-03 9.99996258e-01 -2.49952400e-03 -2.16160137e-01] [-6.15500012e-03 2.49263597e-03 9.99977951e-01 -2.23497163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.906502481 meters 0.13115740185238484 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-2.23 [[ 9.99979390e-01 -3.15893461e-03 5.58935272e-03 5.80135369e+00] [ 3.20038168e-03 9.99967335e-01 -7.42202266e-03 -2.14836240e-01] [-5.56572446e-03 7.43975775e-03 9.99956835e-01 -2.23404601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.936502481 meters 0.13205836376203917 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-2.24 [[ 9.99982196e-01 -2.69612900e-03 5.32341161e-03 5.80254373e+00] [ 2.73254633e-03 9.99972835e-01 -6.84559504e-03 -2.15699204e-01] [-5.30481039e-03 6.86001963e-03 9.99962399e-01 -2.23513405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.966502481 meters 0.13548581923016823 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-2.24 [[ 9.99984141e-01 -2.35846412e-03 5.11424726e-03 5.80359843e+00] [ 2.39279957e-03 9.99974571e-01 -6.71799176e-03 -2.15601363e-01] [-5.09827306e-03 6.73012259e-03 9.99964356e-01 -2.23607681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.996502481 meters 0.13548581923016823 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.22, Z:-2.24 [[ 9.99984141e-01 -2.35846412e-03 5.11424726e-03 5.80359843e+00] [ 2.39279957e-03 9.99974571e-01 -6.71799176e-03 -2.15601363e-01] [-5.09827306e-03 6.73012259e-03 9.99964356e-01 -2.23607681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.026502481 meters 0.13549637093614542 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-2.24 [[ 9.99986448e-01 -2.44877240e-03 4.59434129e-03 5.80404905e+00] [ 2.48216593e-03 9.99970443e-01 -7.27683562e-03 -2.14249030e-01] [-4.57638618e-03 7.28814092e-03 9.99962969e-01 -2.23509993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.056502481 meters 0.1376251909252737 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-2.23 [[ 9.99988151e-01 -2.67889743e-03 4.06473673e-03 5.80452845e+00] [ 2.71206449e-03 9.99962896e-01 -8.17625411e-03 -2.11859003e-01] [-4.04268256e-03 8.18718106e-03 9.99958313e-01 -2.23410587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.086502481 meters 0.13643907041700906 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.21, Z:-2.23 [[ 9.99988855e-01 -2.25801002e-03 4.14612047e-03 5.80466298e+00] [ 2.28787267e-03 9.99971376e-01 -7.21199290e-03 -2.14386326e-01] [-4.12971704e-03 7.22139832e-03 9.99965398e-01 -2.23471520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.116502481 meters 0.13890699500032566 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.21, Z:-2.24 [[ 9.99990278e-01 -2.05488478e-03 3.90136236e-03 5.80551726e+00] [ 2.08276305e-03 9.99972232e-01 -7.15521421e-03 -2.14043241e-01] [-3.88655089e-03 7.16327026e-03 9.99966791e-01 -2.23528428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.146502481 meters 0.13621104975463016 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99989451e-01 -1.48318393e-03 4.34708934e-03 5.80573066e+00] [ 1.50778879e-03 9.99982832e-01 -5.66227567e-03 -2.17572453e-01] [-4.33861652e-03 5.66877044e-03 9.99974520e-01 -2.23726491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.176502481 meters 0.13916231141075416 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99990693e-01 -1.39227010e-03 4.08350217e-03 5.80642940e+00] [ 1.41592582e-03 9.99982202e-01 -5.79583951e-03 -2.16824910e-01] [-4.07536011e-03 5.80156751e-03 9.99974866e-01 -2.23752348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20650248099997 meters 0.1404787842597296 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99989377e-01 -1.27885398e-03 4.42846965e-03 5.80590219e+00] [ 1.30145497e-03 9.99986125e-01 -5.10445268e-03 -2.18845516e-01] [-4.42188036e-03 5.11016191e-03 9.99977166e-01 -2.23788506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23650248099997 meters 0.13460720983952595 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99990024e-01 -1.04011577e-03 4.34387972e-03 5.80627169e+00] [ 1.06021265e-03 9.99988735e-01 -4.62674417e-03 -2.19868611e-01] [-4.33901843e-03 4.63130345e-03 9.99979862e-01 -2.23828755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26650248099997 meters 0.1378028266118167 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99990824e-01 -1.11347229e-03 4.13677741e-03 5.80689746e+00] [ 1.13449821e-03 9.99986434e-01 -5.08381474e-03 -2.18084071e-01] [-4.13106061e-03 5.08846125e-03 9.99978521e-01 -2.23858594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29650248099998 meters 0.13447688388337342 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99990583e-01 -8.19302992e-04 4.26173245e-03 5.80729866e+00] [ 8.37711471e-04 9.99990320e-01 -4.31949245e-03 -2.19324287e-01] [-4.25815223e-03 4.32302188e-03 9.99981590e-01 -2.23976490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32650248099998 meters 0.1381517378838495 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99991343e-01 -7.31219564e-04 4.09624423e-03 5.80769570e+00] [ 7.48925174e-04 9.99990377e-01 -4.32253598e-03 -2.19109427e-01] [-4.09304409e-03 4.32556634e-03 9.99982268e-01 -2.23983675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35650248099998 meters 0.13361007834847322 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99991096e-01 -4.12772716e-04 4.19963490e-03 5.80797526e+00] [ 4.27533841e-04 9.99993732e-01 -3.51456856e-03 -2.21004556e-01] [-4.19815786e-03 3.51633275e-03 9.99985005e-01 -2.24075353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38650248099998 meters 0.1347109935932206 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99991499e-01 -1.39488159e-04 4.12090529e-03 5.80855489e+00] [ 1.52249767e-04 9.99995194e-01 -3.09664600e-03 -2.21706505e-01] [-4.12045354e-03 3.09724708e-03 9.99986714e-01 -2.24147731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41650248099998 meters 0.13405453331022868 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99992320e-01 1.00702677e-04 3.91777276e-03 5.80895362e+00] [-9.02791403e-05 9.99996456e-01 -2.66066296e-03 -2.22782648e-01] [-3.91802681e-03 2.66028883e-03 9.99988786e-01 -2.24152910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44650248099998 meters 0.1321458422002066 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99992679e-01 2.97213787e-04 3.81492533e-03 5.80913124e+00] [-2.88367181e-04 9.99997269e-01 -2.31928653e-03 -2.23916826e-01] [-3.81560424e-03 2.31816945e-03 9.99990034e-01 -2.24153672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47650248099998 meters 0.13421215034040884 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99992552e-01 3.04657095e-04 3.84742595e-03 5.80878459e+00] [-2.95585904e-04 9.99997176e-01 -2.35807850e-03 -2.24998657e-01] [-3.84813349e-03 2.35692369e-03 9.99989818e-01 -2.24101301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50650248099998 meters 0.13231286853128085 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-2.24 [[ 9.99992681e-01 3.96923653e-04 3.80538754e-03 5.80865924e+00] [-3.88728985e-04 9.99997605e-01 -2.15393631e-03 -2.26017918e-01] [-3.80623338e-03 2.15244128e-03 9.99990440e-01 -2.24071825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53650248099999 meters 0.13621709353796718 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-2.24 [[ 9.99993834e-01 6.36480053e-04 3.45353989e-03 5.80930269e+00] [-6.29584617e-04 9.99997807e-01 -1.99734857e-03 -2.26503496e-01] [-3.45480359e-03 1.99516196e-03 9.99992042e-01 -2.24066228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.566502481 meters 0.1410445252321907 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-2.24 [[ 9.99995090e-01 7.43539045e-04 3.04428512e-03 5.80995947e+00] [-7.36085428e-04 9.99996731e-01 -2.44878520e-03 -2.25934446e-01] [-3.04609594e-03 2.44653232e-03 9.99992368e-01 -2.24033253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.596502481 meters 0.1400709714397444 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99995920e-01 7.32577385e-04 2.76097778e-03 5.81049229e+00] [-7.24812946e-04 9.99995783e-01 -2.81215860e-03 -2.24867416e-01] [-2.76302626e-03 2.81014593e-03 9.99992234e-01 -2.24026338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.626502481 meters 0.14620320780998008 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99997399e-01 5.62633977e-04 2.21048335e-03 5.81130687e+00] [-5.53270537e-04 9.99990882e-01 -4.23425465e-03 -2.20770830e-01] [-2.21284553e-03 4.23302064e-03 9.99988592e-01 -2.23973438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.656502481 meters 0.14531083177440127 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99997555e-01 7.81350443e-04 2.06893052e-03 5.81187696e+00] [-7.73215056e-04 9.99991978e-01 -3.93005480e-03 -2.21177422e-01] [-2.07198467e-03 3.92844546e-03 9.99990137e-01 -2.24020780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.686502481 meters 0.1472321423425135 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99998246e-01 8.66964380e-04 1.66010505e-03 5.81282548e+00] [-8.60102042e-04 9.99991102e-01 -4.12993879e-03 -2.19803054e-01] [-1.66367079e-03 4.12850369e-03 9.99990094e-01 -2.24042861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.716502481 meters 0.147089686394598 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99998251e-01 1.06389698e-03 1.53836334e-03 5.81347906e+00] [-1.05793972e-03 9.99991959e-01 -3.86811114e-03 -2.19818482e-01] [-1.54246624e-03 3.86647688e-03 9.99991336e-01 -2.24109419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.746502481 meters 0.14905239117157673 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99998313e-01 1.25581686e-03 1.34021220e-03 5.81448646e+00] [-1.25067538e-03 9.99991882e-01 -3.83028508e-03 -2.18875413e-01] [-1.34501146e-03 3.82860245e-03 9.99991766e-01 -2.24204180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.776502481 meters 0.14780805710100306 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99997971e-01 1.41006941e-03 1.43873878e-03 5.81452540e+00] [-1.40522019e-03 9.99993348e-01 -3.36592415e-03 -2.19835859e-01] [-1.44347539e-03 3.36389558e-03 9.99993300e-01 -2.24241427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.806502481 meters 0.1464064368056386 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99998211e-01 1.32928479e-03 1.34579155e-03 5.81478605e+00] [-1.32440401e-03 9.99992567e-01 -3.62111266e-03 -2.18842718e-01] [-1.35059504e-03 3.61932381e-03 9.99992538e-01 -2.24245860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.836502481 meters 0.14717751443276159 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99997411e-01 1.54617995e-03 1.66961527e-03 5.81451496e+00] [-1.54137211e-03 9.99994673e-01 -2.87706830e-03 -2.20811978e-01] [-1.67405484e-03 2.87448735e-03 9.99994467e-01 -2.24303170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.866502481 meters 0.14579325753974648 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99996788e-01 1.63581994e-03 1.93584345e-03 5.81413316e+00] [-1.63122390e-03 9.99995853e-01 -2.37338179e-03 -2.22239305e-01] [-1.93971785e-03 2.37021638e-03 9.99995310e-01 -2.24326160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.896502481 meters 0.14395750353731396 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99994618e-01 -2.90137440e-03 1.53168028e-03 5.81392073e+00] [ 2.91224382e-03 9.99970251e-01 -7.14252380e-03 -2.21487186e-01] [-1.51091157e-03 7.14694599e-03 9.99973319e-01 -2.24172926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.926502481 meters 0.14193916462803324 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.22, Z:-2.24 [[ 9.99995301e-01 -2.52526394e-03 1.73801395e-03 5.81408769e+00] [ 2.53604078e-03 9.99977398e-01 -6.22664575e-03 -2.23531175e-01] [-1.72225074e-03 6.23102417e-03 9.99979104e-01 -2.24272648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95650248099997 meters 0.14408336868165875 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-2.24 [[ 9.99995903e-01 -2.04071827e-03 2.00712169e-03 5.81407212e+00] [ 2.05090804e-03 9.99984953e-01 -5.08791852e-03 -2.26932985e-01] [-1.99670848e-03 5.09201409e-03 9.99985042e-01 -2.24357178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98650248099997 meters 0.14028926133465053 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.23, Z:-2.24 [[ 9.99996711e-01 -1.64306198e-03 1.96951123e-03 5.81461125e+00] [ 1.65200694e-03 9.99988290e-01 -4.54872627e-03 -2.28321890e-01] [-1.96201433e-03 4.55196495e-03 9.99987715e-01 -2.24426005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01650248099997 meters 0.13802706809567258 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-2.24 [[ 9.99997261e-01 -1.41287654e-03 1.86574006e-03 5.81502262e+00] [ 1.42084652e-03 9.99989843e-01 -4.27735938e-03 -2.28941655e-01] [-1.85967773e-03 4.27999860e-03 9.99989112e-01 -2.24458127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04650248099998 meters 0.14421797920177998 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-2.24 [[ 9.99997712e-01 -1.09008028e-03 1.84031216e-03 5.81527878e+00] [ 1.09688935e-03 9.99992542e-01 -3.70300925e-03 -2.30380781e-01] [-1.83626186e-03 3.70501940e-03 9.99991450e-01 -2.24496278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07650248099998 meters 0.1471974437216377 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.23, Z:-2.24 [[ 9.99997834e-01 -1.08486710e-03 1.77637861e-03 5.81520702e+00] [ 1.09157485e-03 9.99992262e-01 -3.77947758e-03 -2.30472383e-01] [-1.77226463e-03 3.78140844e-03 9.99991280e-01 -2.24458713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5974.32 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%| | 0/6936 [00:00